+ python -m lidar_slam --result /working/result.json --no-model /working/8413e641-da62-4ee8-950b-0970645c0faa
Lidar SLAM 0.0.25
=====================================================
 The recording path: /working/8413e641-da62-4ee8-950b-0970645c0faa
 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 0.02327356
Adjusted end_distance from 9.223372036854776e+18 to 469.17327356
Slamming from 0.02327356 to 469.17327356 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<00:23,  1.22it/s]
 12%|█▎        | 4/32 [00:03<00:16,  1.69it/s]
 16%|█▌        | 5/32 [00:03<00:12,  2.18it/s]
 19%|█▉        | 6/32 [00:03<00:09,  2.61it/s]
 22%|██▏       | 7/32 [00:04<00:08,  2.97it/s]
 25%|██▌       | 8/32 [00:04<00:07,  3.24it/s]
 28%|██▊       | 9/32 [00:04<00:06,  3.49it/s]
 31%|███▏      | 10/32 [00:04<00:05,  3.73it/s]
 34%|███▍      | 11/32 [00:05<00:05,  3.82it/s]
 38%|███▊      | 12/32 [00:05<00:05,  3.96it/s]
 41%|████      | 13/32 [00:05<00:04,  4.01it/s]
 44%|████▍     | 14/32 [00:05<00:04,  4.04it/s]
 47%|████▋     | 15/32 [00:06<00:04,  4.09it/s]
 50%|█████     | 16/32 [00:06<00:03,  4.17it/s]
 53%|█████▎    | 17/32 [00:06<00:03,  4.03it/s]
 56%|█████▋    | 18/32 [00:06<00:03,  4.01it/s]
 59%|█████▉    | 19/32 [00:07<00:03,  4.05it/s]
 62%|██████▎   | 20/32 [00:07<00:02,  4.12it/s]
 66%|██████▌   | 21/32 [00:07<00:02,  4.09it/s]
 69%|██████▉   | 22/32 [00:07<00:02,  4.15it/s]
 72%|███████▏  | 23/32 [00:08<00:02,  4.23it/s]
 75%|███████▌  | 24/32 [00:08<00:01,  4.21it/s]
 78%|███████▊  | 25/32 [00:08<00:01,  4.22it/s]
 81%|████████▏ | 26/32 [00:08<00:01,  4.30it/s]
 84%|████████▍ | 27/32 [00:08<00:01,  4.40it/s]
 88%|████████▊ | 28/32 [00:09<00:00,  4.28it/s]
 91%|█████████ | 29/32 [00:09<00:00,  4.23it/s]
 94%|█████████▍| 30/32 [00:09<00:00,  4.17it/s]
 97%|█████████▋| 31/32 [00:09<00:00,  4.20it/s]
100%|██████████| 32/32 [00:10<00:00,  4.87it/s]
100%|██████████| 32/32 [00:10<00:00,  3.18it/s]
Averaged over 500 frames
Shape size (median max width): 2.1430
=====================================================
 Detecting centerlines in parallel with 20 job(s)
Centerline goodness : 0.755556 with order 3
Centerline goodness : 0.781590 with order 3
Centerline goodness : 0.756302 with order 3
Centerline goodness : 0.790454 with order 3
Centerline goodness : 0.766302 with order 3
Centerline goodness : 0.772072 with order 3
Centerline goodness : 0.778805 with order 1
Centerline goodness : 0.799975 with order 3
Centerline goodness : 0.787511 with order 1
Centerline goodness : 0.803518 with order 2
Centerline goodness : 0.000000 with order 1
Centerline goodness : 0.790111 with order 2
Centerline goodness : 0.792945 with order 3
Centerline goodness : 0.823622 with order 3
Centerline goodness : 0.000000 with order 1
Centerline goodness : 0.814905 with order 3
Centerline goodness : 0.829053 with order 3
Centerline goodness : 0.879555 with order 2
Centerline goodness : 0.787434 with order 2
Centerline goodness : 0.891424 with order 2
SLAMing on frame at distance 0.02327356
Centerline is valid?  [0, False]
SLAMing on frame at distance 0.08327356
Centerline is valid?  [False, False]
Translation: X:0.06, Y:0.01, Z:0.00
[[ 9.99994729e-01  3.01102326e-03  1.21503931e-03  6.44820216e-02]
 [-3.01365162e-03  9.99993111e-01  2.16719068e-03  5.48474395e-03]
 [-1.20850548e-03 -2.17084096e-03  9.99996913e-01  8.70464223e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.14327356
Centerline is valid?  [False, False]
Translation: X:0.13, Y:0.01, Z:0.00
[[ 9.99986862e-01  5.12104896e-03 -2.27287208e-04  1.28373293e-01]
 [-5.11979853e-03  9.99973385e-01  5.19781962e-03  9.49115730e-03]
 [ 2.53899448e-04 -5.19658766e-03  9.99986465e-01  1.62808331e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.20327356
Centerline is valid?  [False, False]
Translation: X:0.17, Y:0.01, Z:0.00
[[ 9.99981938e-01  5.97843219e-03 -6.17302285e-04  1.68681714e-01]
 [-5.97508484e-03  9.99968162e-01  5.28901485e-03  1.26806317e-02]
 [ 6.48902648e-04 -5.28523089e-03  9.99985823e-01  3.74226022e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.26327356
Centerline is valid?  [False, False]
Translation: X:0.23, Y:0.02, Z:-0.00
[[ 9.99972193e-01  7.44161331e-03 -4.85131873e-04  2.32158310e-01]
 [-7.43911102e-03  9.99959977e-01  4.97041373e-03  1.69708031e-02]
 [ 5.22100353e-04 -4.96666657e-03  9.99987530e-01 -1.09164558e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.32327355999999996
Centerline is valid?  [False, False]
Translation: X:0.30, Y:0.02, Z:-0.00
[[ 0.99995101  0.00959391  0.0024377   0.2969221 ]
 [-0.00960409  0.99994507  0.00419746  0.02189697]
 [-0.0023973  -0.00422067  0.99998822 -0.00189224]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.38327356
Centerline is valid?  [False, False]
Translation: X:0.34, Y:0.02, Z:-0.00
[[ 0.9999147   0.01254045  0.00365055  0.33962282]
 [-0.01256137  0.99990449  0.00576417  0.02491213]
 [-0.00357792 -0.00580953  0.99997672 -0.00112615]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.44327355999999996
Centerline is valid?  [False, False]
Translation: X:0.40, Y:0.03, Z:-0.00
[[ 0.99982926  0.01822032  0.00307702  0.40478818]
 [-0.01824673  0.99979494  0.00878267  0.02974753]
 [-0.00291637 -0.00883732  0.9999567  -0.00138958]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.50327356
Centerline is valid?  [False, False]
Translation: X:0.47, Y:0.03, Z:-0.00
[[ 0.99971507  0.02381869  0.00156603  0.46952936]
 [-0.0238327   0.99966954  0.00963404  0.03475176]
 [-0.00133605 -0.00966861  0.99995237 -0.00330577]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.5632735600000001
Centerline is valid?  [False, False]
Translation: X:0.54, Y:0.04, Z:-0.00
[[ 0.99961067  0.02780884  0.00227426  0.53604944]
 [-0.02782719  0.99957675  0.00848377  0.04000673]
 [-0.00203738 -0.00854375  0.99996143 -0.00491422]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.62327356
Centerline is valid?  [False, False]
Translation: X:0.58, Y:0.04, Z:-0.01
[[ 0.99954218  0.02997948  0.00408096  0.57873414]
 [-0.03001574  0.99950768  0.00913575  0.0432644 ]
 [-0.00380507 -0.00925406  0.99994994 -0.00531153]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.68327356
Centerline is valid?  [False, False]
Translation: X:0.64, Y:0.05, Z:-0.01
[[ 0.99944093  0.03305821  0.0049982   0.64363674]
 [-0.03310777  0.99939994  0.01017997  0.04771886]
 [-0.00465867 -0.01033976  0.99993569 -0.00525636]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.74327356
Centerline is valid?  [False, False]
Translation: X:0.68, Y:0.05, Z:-0.01
[[ 0.99938313  0.03474412  0.00511948  0.68465397]
 [-0.03480017  0.99933042  0.01129862  0.05072393]
 [-0.00472349 -0.01146981  0.99992306 -0.00514768]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.80327356
Centerline is valid?  [False, False]
Translation: X:0.75, Y:0.06, Z:-0.01
[[ 0.99927224  0.03791921  0.0041391   0.74912588]
 [-0.03796663  0.99920636  0.01204962  0.0559793 ]
 [-0.0036789  -0.01219799  0.99991883 -0.0059384 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.86327356
Centerline is valid?  [False, False]
Translation: X:0.77, Y:0.06, Z:-0.01
[[ 0.9992092   0.03958855  0.00370381  0.76843168]
 [-0.03963109  0.99913968  0.01221764  0.05700855]
 [-0.00321694 -0.01235476  0.9999185  -0.00555655]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.9232735599999999
Centerline is valid?  [False, False]
Translation: X:0.83, Y:0.06, Z:-0.01
[[ 0.99908722  0.04250052  0.0042928   0.83228609]
 [-0.04254776  0.99902723  0.01158819  0.06238049]
 [-0.00379612 -0.01176026  0.99992364 -0.00592295]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.98327356
Centerline is valid?  [False, False]
Translation: X:0.87, Y:0.07, Z:-0.01
[[ 0.99902276  0.04390883  0.00505302  0.87436853]
 [-0.04396449  0.99896704  0.0114882   0.0662019 ]
 [-0.00454337 -0.01169912  0.99992124 -0.00644109]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.04327356
Centerline is valid?  [False, False]
Translation: X:0.94, Y:0.07, Z:-0.01
[[ 0.99891354  0.04635618  0.00478049  0.93911855]
 [-0.04641398  0.99884047  0.01278488  0.07146543]
 [-0.00418228 -0.01299287  0.99990684 -0.00707832]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.10327356
Centerline is valid?  [False, False]
Translation: X:0.98, Y:0.07, Z:-0.01
[[ 0.99887848  0.04705707  0.00523552  0.98091386]
 [-0.04712595  0.99879198  0.01391885  0.07485278]
 [-0.00457421 -0.01414997  0.99988942 -0.00761824]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.16327356
Centerline is valid?  [False, False]
Translation: X:1.05, Y:0.08, Z:-0.01
[[ 0.99881913  0.04829296  0.00530466  1.04794606]
 [-0.0483631   0.99873166  0.01400306  0.0797605 ]
 [-0.00462169 -0.01424307  0.99988788 -0.00815307]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.922938 with order 1
Centerline goodness : 0.920051 with order 1
Centerline goodness : 0.921216 with order 1
Centerline goodness : 0.910547 with order 3
Centerline goodness : 0.903116 with order 3
Centerline goodness : 0.882904 with order 1
Centerline goodness : 0.920196 with order 3
Centerline goodness : 0.925526 with order 2
Centerline goodness : 0.905814 with order 3
Centerline goodness : 0.888746 with order 1
Centerline goodness : 0.906315 with order 3
Centerline goodness : 0.918751 with order 3
Centerline goodness : 0.914670 with order 2
Centerline goodness : 0.881660 with order 2
Centerline goodness : 0.890884 with order 2
Centerline goodness : 0.899888 with order 1
Centerline goodness : 0.914713 with order 2
Centerline goodness : 0.913140 with order 2
Centerline goodness : 0.906781 with order 1
Centerline goodness : 0.900929 with order 2
SLAMing on frame at distance 1.22327356
Centerline is valid?  [False, False]
Translation: X:1.09, Y:0.08, Z:-0.01
[[ 0.99879681  0.04870333  0.00573778  1.08987972]
 [-0.04878314  0.99870115  0.01470454  0.08297331]
 [-0.00501417 -0.01496675  0.99987542 -0.00859267]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.28327356
Centerline is valid?  [False, False]
Translation: X:1.16, Y:0.09, Z:-0.01
[[ 0.99873308  0.05005914  0.00513022  1.15642413]
 [-0.05013187  0.99862705  0.01519273  0.08809524]
 [-0.00436264 -0.01543067  0.99987142 -0.0101042 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.3432735599999999
Centerline is valid?  [False, False]
Translation: X:1.22, Y:0.09, Z:-0.01
[[ 0.99866193  0.05134734  0.00614774  1.22117133]
 [-0.05143791  0.99855415  0.01561232  0.09222948]
 [-0.0053372  -0.01590766  0.99985922 -0.0109235 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.40327356
Centerline is valid?  [False, False]
Translation: X:1.26, Y:0.10, Z:-0.01
[[ 0.99861596  0.05200519  0.00785031  1.26301807]
 [-0.05212358  0.99851698  0.01571556  0.09517628]
 [-0.00702137 -0.016103    0.99984569 -0.01070007]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.46327356
Centerline is valid?  [False, False]
Translation: X:1.33, Y:0.10, Z:-0.01
[[ 0.99848928  0.0542657   0.00862531  1.32969431]
 [-0.0544013   0.99838524  0.01635242  0.09910398]
 [-0.00772401 -0.01679694  0.99982909 -0.01130067]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.52327356
Centerline is valid?  [False, False]
Translation: X:1.37, Y:0.10, Z:-0.01
[[ 0.99841688  0.05563185  0.00829592  1.37151576]
 [-0.05577468  0.99827906  0.01811374  0.10159081]
 [-0.00727394 -0.01854776  0.99980152 -0.01172001]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.58327356
Centerline is valid?  [False, False]
Translation: X:1.44, Y:0.11, Z:-0.01
[[ 0.99829615  0.05793081  0.00698745  1.43769978]
 [-0.05805353  0.99813515  0.01886848  0.10533604]
 [-0.00588135 -0.01924197  0.99979756 -0.01377485]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.64327356
Centerline is valid?  [False, False]
Translation: X:1.50, Y:0.11, Z:-0.02
[[ 0.99809087  0.06119407  0.0083606   1.50408884]
 [-0.06133151  0.99796732  0.01731139  0.10889818]
 [-0.00728425 -0.0177911   0.99981519 -0.01529731]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.70327356
Centerline is valid?  [False, False]
Translation: X:1.55, Y:0.11, Z:-0.02
[[ 0.99791978  0.06369438  0.00995732  1.54570527]
 [-0.06386814  0.99779177  0.01823282  0.11082267]
 [-0.008774   -0.01883084  0.99978418 -0.0155851 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.76327356
Centerline is valid?  [False, False]
Translation: X:1.61, Y:0.11, Z:-0.02
[[ 0.99757954  0.06868728  0.01082235  1.61211041]
 [-0.0688962   0.99741756  0.02028625  0.1137627 ]
 [-0.00940099 -0.02098276  0.99973564 -0.01626856]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.8232735599999998
Centerline is valid?  [False, False]
Translation: X:1.68, Y:0.12, Z:-0.02
[[ 0.99713982  0.07482807  0.01062684  1.68160994]
 [-0.07503434  0.99696903  0.02055724  0.11659753]
 [-0.00905638 -0.02129582  0.9997322  -0.01695228]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.88327356
Centerline is valid?  [False, False]
Translation: X:1.73, Y:0.12, Z:-0.02
[[ 0.99684647  0.07861179  0.01083077  1.72614237]
 [-0.07883386  0.99664756  0.02188307  0.11799152]
 [-0.00907419 -0.0226679   0.99970187 -0.01710491]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 1.94327356
Centerline is valid?  [False, False]
Translation: X:1.80, Y:0.12, Z:-0.02
[[ 0.99649852  0.08287636  0.01105522  1.79614951]
 [-0.08311049  0.99628098  0.02273447  0.12014105]
 [-0.00912996 -0.02357367  0.99968041 -0.01915471]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.00327356
Centerline is valid?  [False, False]
Translation: X:1.84, Y:0.12, Z:-0.02
[[ 0.99639998  0.08385966  0.01243528  1.84169963]
 [-0.0841407   0.99616181  0.02412451  0.12070426]
 [-0.01036448 -0.02508397  0.99963162 -0.02013672]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.06327356
Centerline is valid?  [False, False]
Translation: X:1.91, Y:0.12, Z:-0.02
[[ 0.99631608  0.08473541  0.01319773  1.91140707]
 [-0.08502153  0.99611632  0.02288273  0.12063636]
 [-0.0112075  -0.02392053  0.99965104 -0.0218666 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.12327356
Centerline is valid?  [False, False]
Translation: X:1.98, Y:0.12, Z:-0.02
[[ 0.99631454  0.08466302  0.01376657  1.98361558]
 [-0.08497481  0.99609624  0.02390725  0.11967048]
 [-0.01168877 -0.02498895  0.99961939 -0.02288139]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.18327356
Centerline is valid?  [False, False]
Translation: X:2.03, Y:0.12, Z:-0.02
[[ 0.99634971  0.08422396  0.01391342  2.03211689]
 [-0.08455648  0.99609627  0.02534597  0.11859161]
 [-0.01172437 -0.02642992  0.99958191 -0.02392343]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.2432735599999996
Centerline is valid?  [False, False]
Translation: X:2.10, Y:0.12, Z:-0.03
[[ 0.99644625  0.08305014  0.01405473  2.104475  ]
 [-0.08340486  0.99615312  0.02688101  0.11598284]
 [-0.01176819 -0.02795772  0.99953983 -0.02554412]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.3032735599999996
Centerline is valid?  [False, False]
Translation: X:2.18, Y:0.11, Z:-0.03
[[ 0.99657492  0.08133776  0.01491964  2.17685139]
 [-0.08171621  0.99629514  0.02680394  0.11268104]
 [-0.01268419 -0.02793131  0.99952937 -0.02719028]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.3632735599999997
Centerline is valid?  [False, False]
Translation: X:2.22, Y:0.11, Z:-0.03
[[ 0.99666781  0.08012135  0.01529228  2.22489464]
 [-0.08051718  0.996379    0.02731075  0.10958118]
 [-0.01304874 -0.02845104  0.99951001 -0.02760945]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.917266 with order 1
Centerline goodness : 0.912326 with order 1
Centerline goodness : 0.916714 with order 1
Centerline goodness : 0.908849 with order 1
Centerline goodness : 0.915193 with order 1
Centerline goodness : 0.918680 with order 1
Centerline goodness : 0.919116 with order 1
Centerline goodness : 0.928374 with order 1
Centerline goodness : 0.918275 with order 1
Centerline goodness : 0.912274 with order 1
Centerline goodness : 0.909171 with order 1
Centerline goodness : 0.914418 with order 1
Centerline goodness : 0.925402 with order 1
Centerline goodness : 0.928790 with order 1
Centerline goodness : 0.911883 with order 1
Centerline goodness : 0.913425 with order 1
Centerline goodness : 0.908984 with order 1
Centerline goodness : 0.931644 with order 1
Centerline goodness : 0.926376 with order 1
Centerline goodness : 0.908819 with order 1
SLAMing on frame at distance 2.4232735599999997
Centerline is valid?  [False, False]
Translation: X:2.30, Y:0.11, Z:-0.03
[[ 0.99677496  0.07874882  0.01543702  2.29686303]
 [-0.07915811  0.99646908  0.02798866  0.10554398]
 [-0.01317844 -0.02912036  0.99948904 -0.02984216]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.4832735599999998
Centerline is valid?  [False, False]
Translation: X:2.37, Y:0.10, Z:-0.03
[[ 0.99674344  0.07884163  0.01692674  2.36572301]
 [-0.07930853  0.99642948  0.0289561   0.1017108 ]
 [-0.01458336 -0.03020424  0.99943736 -0.03187565]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.54327356
Centerline is valid?  [False, False]
Translation: X:2.41, Y:0.10, Z:-0.03
[[ 0.9966234   0.07998051  0.01857216  2.41015566]
 [-0.0805431   0.99624281  0.03182889  0.0990988 ]
 [-0.01595669 -0.03321728  0.99932077 -0.03151072]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.60327356
Centerline is valid?  [False, False]
Translation: X:2.48, Y:0.10, Z:-0.03
[[ 0.99634819  0.08311909  0.01953208  2.47735529]
 [-0.08370943  0.99598749  0.03164875  0.09607133]
 [-0.01682309 -0.0331682   0.99930819 -0.03239995]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.6632735599999995
Centerline is valid?  [False, False]
Translation: X:2.52, Y:0.09, Z:-0.03
[[ 0.99619368  0.08493299  0.01960948  2.51936254]
 [-0.08554744  0.99578843  0.0329703   0.09358506]
 [-0.01672663 -0.03452234  0.99926394 -0.03253398]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.7232735599999995
Centerline is valid?  [False, False]
Translation: X:2.54, Y:0.09, Z:-0.03
[[ 0.99608684  0.0865616   0.01783547  2.53580239]
 [-0.08711249  0.99565655  0.03285493  0.09204447]
 [-0.01491403 -0.03428005  0.99930098 -0.0320224 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.7832735599999996
Centerline is valid?  [False, False]
Translation: X:2.60, Y:0.09, Z:-0.03
[[ 0.99583163  0.08938905  0.01813753  2.60114731]
 [-0.08997711  0.99533855  0.03471715  0.08883196]
 [-0.01494965 -0.0362044   0.99923258 -0.0338981 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.8432735599999996
Centerline is valid?  [False, False]
Translation: X:2.66, Y:0.09, Z:-0.03
[[ 0.995661    0.09106167  0.01915573  2.66455968]
 [-0.09170491  0.99513821  0.03591875  0.08514009]
 [-0.01579178 -0.03751957  0.99917111 -0.03446817]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.9032735599999997
Centerline is valid?  [False, False]
Translation: X:2.67, Y:0.08, Z:-0.03
[[ 0.99567492  0.09096213  0.01890336  2.67171835]
 [-0.09160214  0.99513321  0.03631725  0.08385437]
 [-0.01550787 -0.03789176  0.99916151 -0.03440374]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 2.9632735599999998
Centerline is valid?  [False, False]
Translation: X:2.68, Y:0.08, Z:-0.03
[[ 0.99572069  0.09040396  0.01916851  2.67666805]
 [-0.091053    0.99518667  0.03623315  0.08281397]
 [-0.01580062 -0.03782345  0.99915951 -0.03469787]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.02327356
Centerline is valid?  [False, False]
Translation: X:2.68, Y:0.08, Z:-0.04
[[ 0.995713    0.09073868  0.01794772  2.68451705]
 [-0.09134859  0.99514149  0.03672662  0.08266801]
 [-0.01452799 -0.03820867  0.99916417 -0.03551135]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.08327356
Centerline is valid?  [False, False]
Translation: X:2.69, Y:0.08, Z:-0.04
[[ 0.99560921  0.09205209  0.01699175  2.69146601]
 [-0.09261562  0.99504895  0.03605461  0.08314541]
 [-0.01358872 -0.03747     0.99920536 -0.03615458]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.14327356
Centerline is valid?  [False, False]
Translation: X:2.70, Y:0.08, Z:-0.04
[[ 0.9954672   0.0935541   0.01710792  2.69645941]
 [-0.09413855  0.9948588   0.03733511  0.0842283 ]
 [-0.01352712 -0.03877639  0.99915635 -0.03670545]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.2032735599999995
Centerline is valid?  [False, False]
Translation: X:2.70, Y:0.09, Z:-0.04
[[ 0.99545091  0.09373063  0.01708953  2.70288752]
 [-0.09431788  0.99483173  0.03760277  0.08521527]
 [-0.01347668 -0.03904356  0.99914663 -0.03696581]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.2632735599999996
Centerline is valid?  [False, False]
Translation: X:2.71, Y:0.09, Z:-0.04
[[ 0.99543973  0.09389035  0.01686233  2.70781929]
 [-0.0944647   0.99482895  0.03730658  0.0863854 ]
 [-0.01327241 -0.03872934  0.99916159 -0.03738961]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.3232735599999996
Centerline is valid?  [False, False]
Translation: X:2.71, Y:0.09, Z:-0.04
[[ 0.99540341  0.09438461  0.01623577  2.71303133]
 [-0.09492749  0.99480521  0.03676097  0.08885722]
 [-0.01268176 -0.03813321  0.99919219 -0.0374645 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.3832735599999997
Centerline is valid?  [False, False]
Translation: X:2.72, Y:0.09, Z:-0.04
[[ 0.99541621  0.09450446  0.01467936  2.71999944]
 [-0.09497993  0.99482667  0.03603749  0.090035  ]
 [-0.01119771 -0.03726654  0.99924262 -0.0376194 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.4432735599999997
Centerline is valid?  [False, False]
Translation: X:2.73, Y:0.09, Z:-0.04
[[ 0.99550775  0.09376689  0.01311842  2.72579462]
 [-0.09418942  0.99488419  0.03652134  0.09221353]
 [-0.00962682 -0.03759289  0.99924677 -0.03823789]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.50327356
Centerline is valid?  [False, False]
Translation: X:2.73, Y:0.09, Z:-0.04
[[ 0.99557429  0.0931925   0.01212386  2.73115142]
 [-0.09358301  0.99492016  0.03709567  0.09377439]
 [-0.00860524 -0.03806608  0.99923817 -0.03895441]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.56327356
Centerline is valid?  [False, False]
Translation: X:2.74, Y:0.10, Z:-0.04
[[ 0.99572983  0.09157001  0.0117062   2.73606588]
 [-0.09194833  0.99506061  0.03741495  0.09563717]
 [-0.00822229 -0.03833154  0.99923125 -0.03942755]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.933520 with order 1
Centerline goodness : 0.940919 with order 1
Centerline goodness : 0.938619 with order 1
Centerline goodness : 0.933668 with order 1
Centerline goodness : 0.939124 with order 1
Centerline goodness : 0.935722 with order 1
Centerline goodness : 0.935048 with order 1
Centerline goodness : 0.937639 with order 1
Centerline goodness : 0.937178 with order 1
Centerline goodness : 0.935814 with order 1
Centerline goodness : 0.939774 with order 1
Centerline goodness : 0.939882 with order 1
Centerline goodness : 0.936212 with order 1
Centerline goodness : 0.938502 with order 1
Centerline goodness : 0.936006 with order 1
Centerline goodness : 0.939274 with order 1
Centerline goodness : 0.935303 with order 1
Centerline goodness : 0.938546 with order 1
Centerline goodness : 0.937309 with order 1
Centerline goodness : 0.934349 with order 1
SLAMing on frame at distance 3.6232735599999994
Centerline is valid?  [False, False]
Translation: X:2.74, Y:0.10, Z:-0.04
[[ 0.99587953  0.08992862  0.01169676  2.73995492]
 [-0.09029648  0.99526143  0.03607248  0.09819886]
 [-0.00839739 -0.03698002  0.99928072 -0.03973796]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.6832735599999995
Centerline is valid?  [False, False]
Translation: X:2.74, Y:0.10, Z:-0.04
[[ 0.99599464  0.08869023  0.01134549  2.74425692]
 [-0.0890432   0.99538623  0.03574295  0.10109723]
 [-0.00812309 -0.03661003  0.99929661 -0.03981208]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.7432735599999996
Centerline is valid?  [False, False]
Translation: X:2.75, Y:0.10, Z:-0.04
[[ 0.99605757  0.08817877  0.00968628  2.75106791]
 [-0.08847252  0.99543114  0.03590901  0.10342192]
 [-0.00647561 -0.03662441  0.99930812 -0.0403313 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.8032735599999996
Centerline is valid?  [False, False]
Translation: X:2.76, Y:0.11, Z:-0.04
[[ 0.9962025   0.0866836   0.00815649  2.75655238]
 [-0.08692163  0.99557308  0.03576143  0.10707443]
 [-0.00502046 -0.0363346   0.99932707 -0.04192115]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.8632735599999997
Centerline is valid?  [False, False]
Translation: X:2.76, Y:0.11, Z:-0.04
[[ 0.99647762  0.08359169  0.00669211  2.7615481 ]
 [-0.08377528  0.99587426  0.03487342  0.1098431 ]
 [-0.00374937 -0.03531122  0.99936933 -0.04254968]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.9232735599999997
Centerline is valid?  [False, False]
Translation: X:2.77, Y:0.11, Z:-0.04
[[ 0.99664157  0.08164091  0.00635102  2.76571609]
 [-0.08181087  0.99606488  0.03408434  0.11165069]
 [-0.00354335 -0.03448946  0.99939878 -0.04252282]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 3.9832735599999998
Centerline is valid?  [False, False]
Translation: X:2.77, Y:0.11, Z:-0.04
[[ 0.99680972  0.07951305  0.00693276  2.76807641]
 [-0.07970646  0.99621774  0.03459896  0.11489381]
 [-0.00415547 -0.03504117  0.99937723 -0.04199511]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.043273559999999
Centerline is valid?  [False, False]
Translation: X:2.77, Y:0.12, Z:-0.04
[[ 0.99692331  0.07814023  0.00616598  2.7733664 ]
 [-0.07830852  0.99631942  0.03486246  0.11696337]
 [-0.00341913 -0.03523805  0.9993731  -0.04149171]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.10327356
Centerline is valid?  [False, False]
Translation: X:2.78, Y:0.12, Z:-0.04
[[ 9.97064869e-01  7.64394417e-02  4.31959142e-03  2.77777096e+00]
 [-7.65428464e-02  9.96477340e-01  3.42651837e-02  1.19896314e-01]
 [-1.68516346e-03 -3.44952447e-02  9.99403441e-01 -4.10354988e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.1632735599999995
Centerline is valid?  [False, False]
Translation: X:2.78, Y:0.12, Z:-0.04
[[ 9.97136170e-01  7.55814578e-02  2.62705976e-03  2.78350093e+00]
 [-7.56270992e-02  9.96538304e-01  3.45246488e-02  1.23719112e-01]
 [-8.54239356e-06 -3.46244530e-02  9.99400394e-01 -4.14633217e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.22327356
Centerline is valid?  [False, False]
Translation: X:2.79, Y:0.13, Z:-0.04
[[ 9.97189122e-01  7.48974295e-02  2.05655455e-03  2.78753504e+00]
 [-7.49237297e-02  9.96590781e-01  3.45434566e-02  1.26377775e-01]
 [ 5.37672800e-04 -3.46004439e-02  9.99401081e-01 -4.23646443e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.28327356
Centerline is valid?  [False, False]
Translation: X:2.79, Y:0.13, Z:-0.04
[[ 9.97262734e-01  7.39278068e-02  1.31072141e-03  2.79130813e+00]
 [-7.39300265e-02  9.96696643e-01  3.36177521e-02  1.29651293e-01]
 [ 1.17889505e-03 -3.36226330e-02  9.99433904e-01 -4.26662537e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.34327356
Centerline is valid?  [False, False]
Translation: X:2.79, Y:0.13, Z:-0.04
[[ 9.97309101e-01  7.32943666e-02  1.57894874e-03  2.79322877e+00]
 [-7.33067252e-02  9.96772074e-01  3.27346356e-02  1.33050173e-01]
 [ 8.25412368e-04 -3.27622975e-02  9.99462831e-01 -4.28438131e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.40327356
Centerline is valid?  [False, False]
Translation: X:2.80, Y:0.13, Z:-0.04
[[ 9.97302689e-01  7.33851153e-02  1.40400945e-03  2.79641151e+00]
 [-7.33918812e-02  9.96771937e-01  3.25474520e-02  1.34939116e-01]
 [ 9.89021297e-04 -3.25627043e-02  9.99469205e-01 -4.27016741e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.463273559999999
Centerline is valid?  [False, False]
Translation: X:2.80, Y:0.14, Z:-0.04
[[ 9.97283474e-01  7.36512050e-02  1.08255412e-03  2.79925427e+00]
 [-7.36466577e-02  9.96735729e-01  3.30765327e-02  1.37506955e-01]
 [ 1.35710612e-03 -3.30664059e-02  9.99452236e-01 -4.21362397e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.52327356
Centerline is valid?  [False, False]
Translation: X:2.80, Y:0.14, Z:-0.04
[[ 9.97222639e-01  7.44778174e-02 -2.49522472e-04  2.80397050e+00]
 [-7.44292347e-02  9.96682464e-01  3.29295359e-02  1.39678236e-01]
 [ 2.70121463e-03 -3.28195069e-02  9.99457645e-01 -4.22285194e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.583273559999999
Centerline is valid?  [False, False]
Translation: X:2.81, Y:0.14, Z:-0.04
[[ 9.97053115e-01  7.66766891e-02 -2.40244252e-03  2.80893240e+00]
 [-7.65545148e-02  9.96508461e-01  3.33210683e-02  1.42362590e-01]
 [ 4.94900349e-03 -3.30389571e-02  9.99441812e-01 -4.21487338e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.64327356
Centerline is valid?  [False, False]
Translation: X:2.81, Y:0.14, Z:-0.04
[[ 0.99701919  0.07709496 -0.00301819  2.81285818]
 [-0.07695395  0.99648799  0.03301179  0.14332469]
 [ 0.00555264 -0.03268113  0.99945041 -0.04287373]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.7032735599999995
Centerline is valid?  [False, False]
Translation: X:2.82, Y:0.15, Z:-0.04
[[ 0.99696767  0.07772867 -0.00370514  2.81659746]
 [-0.07756803  0.99645689  0.03250941  0.14531386]
 [ 0.00621893 -0.03212343  0.99946456 -0.04314773]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.76327356
Centerline is valid?  [False, False]
Translation: X:2.82, Y:0.15, Z:-0.04
[[ 0.99701534  0.07714106 -0.003108    2.81875736]
 [-0.07700293  0.99651816  0.03197043  0.1462363 ]
 [ 0.00556342 -0.03163568  0.99948398 -0.04291068]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.921804 with order 1
Centerline goodness : 0.922522 with order 1
Centerline goodness : 0.932206 with order 1
Centerline goodness : 0.930179 with order 1
Centerline goodness : 0.930375 with order 1
Centerline goodness : 0.930894 with order 1
Centerline goodness : 0.927277 with order 1
Centerline goodness : 0.921202 with order 1
Centerline goodness : 0.934128 with order 1
Centerline goodness : 0.918229 with order 1
Centerline goodness : 0.919205 with order 1
Centerline goodness : 0.930850 with order 1
Centerline goodness : 0.932423 with order 1
Centerline goodness : 0.931587 with order 1
Centerline goodness : 0.916023 with order 1
Centerline goodness : 0.933607 with order 1
Centerline goodness : 0.931389 with order 1
Centerline goodness : 0.928242 with order 1
Centerline goodness : 0.927427 with order 1
Centerline goodness : 0.921434 with order 1
SLAMing on frame at distance 4.82327356
Centerline is valid?  [False, False]
Translation: X:2.82, Y:0.15, Z:-0.04
[[ 0.99705621  0.07661683 -0.00296224  2.82092064]
 [-0.0764838   0.9965595   0.03192789  0.1469078 ]
 [ 0.00539826 -0.03160733  0.99948579 -0.04228776]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.883273559999999
Centerline is valid?  [False, False]
Translation: X:2.82, Y:0.15, Z:-0.04
[[ 0.99707696  0.07629916 -0.00399649  2.82435823]
 [-0.07613003  0.99656848  0.03248835  0.14685737]
 [ 0.00646161 -0.03208913  0.99946412 -0.04199399]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 4.94327356
Centerline is valid?  [False, False]
Translation: X:2.83, Y:0.15, Z:-0.04
[[ 0.99712652  0.07553464 -0.0057643   2.82836151]
 [-0.07531521  0.9966538   0.03176203  0.1472137 ]
 [ 0.00814414 -0.03123662  0.99947884 -0.04256997]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.003273559999999
Centerline is valid?  [False, False]
Translation: X:2.83, Y:0.15, Z:-0.04
[[ 0.99712255  0.07551276 -0.00666711  2.83167253]
 [-0.0752673   0.99666487  0.03152738  0.14696139]
 [ 0.00902559 -0.03093484  0.99948065 -0.04222119]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.06327356
Centerline is valid?  [False, False]
Translation: X:2.83, Y:0.15, Z:-0.04
[[ 0.9970602   0.07627692 -0.00726615  2.83455061]
 [-0.07601261  0.99660836  0.03152545  0.14770256]
 [ 0.00964617 -0.03088046  0.99947654 -0.04339651]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.1232735599999994
Centerline is valid?  [False, False]
Translation: X:2.84, Y:0.15, Z:-0.04
[[ 0.99687576  0.07868351 -0.00690166  2.83704137]
 [-0.07842596  0.99640982  0.03188797  0.1491624 ]
 [ 0.00938594 -0.03124707  0.99946762 -0.04378021]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.18327356
Centerline is valid?  [False, False]
Translation: X:2.84, Y:0.15, Z:-0.04
[[ 0.99677515  0.07995076 -0.00686858  2.83988295]
 [-0.079696    0.99631698  0.03163886  0.15024823]
 [ 0.00937284 -0.03098943  0.99947577 -0.0433917 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.2432735599999996
Centerline is valid?  [False, False]
Translation: X:2.84, Y:0.15, Z:-0.04
[[ 0.99663601  0.08174987 -0.00579768  2.83980545]
 [-0.08153443  0.99619431  0.03080646  0.15183545]
 [ 0.00829404 -0.03023011  0.99950855 -0.04231866]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.303273559999999
Centerline is valid?  [False, False]
Translation: X:2.84, Y:0.15, Z:-0.04
[[ 0.99638126  0.08473076 -0.00671427  2.84224735]
 [-0.0844801   0.99592788  0.03147656  0.1543802 ]
 [ 0.00935396 -0.03079543  0.99948194 -0.0408811 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.36327356
Centerline is valid?  [False, False]
Translation: X:2.85, Y:0.16, Z:-0.04
[[ 0.99618121  0.08687806 -0.00867221  2.84862734]
 [-0.0865494   0.99570234  0.03295523  0.15600808]
 [ 0.01149803 -0.0320788   0.9994192  -0.04081822]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.423273559999999
Centerline is valid?  [False, False]
Translation: X:2.85, Y:0.16, Z:-0.04
[[ 0.99599867  0.08875793 -0.01042535  2.85341273]
 [-0.08836854  0.99553316  0.03323754  0.15917985]
 [ 0.01332888 -0.03218327  0.9993931  -0.04181204]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.48327356
Centerline is valid?  [False, False]
Translation: X:2.86, Y:0.16, Z:-0.04
[[ 0.99606753  0.08797066 -0.01051875  2.85659859]
 [-0.08759001  0.99563001  0.03238626  0.16182845]
 [ 0.01332183 -0.03133757  0.99942007 -0.04272867]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.543273559999999
Centerline is valid?  [False, False]
Translation: X:2.86, Y:0.16, Z:-0.04
[[ 0.99609838  0.08765676 -0.01021298  2.85952602]
 [-0.08729352  0.9956751   0.03179508  0.16378148]
 [ 0.01295586 -0.0307795   0.99944223 -0.04296313]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.60327356
Centerline is valid?  [False, False]
Translation: X:2.86, Y:0.17, Z:-0.04
[[ 0.99609864  0.08767617 -0.01001977  2.86181788]
 [-0.0873331   0.99570672  0.0306767   0.16700853]
 [ 0.01266636 -0.02968196  0.99947914 -0.04229177]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.6632735599999995
Centerline is valid?  [False, False]
Translation: X:2.86, Y:0.17, Z:-0.04
[[ 0.99614731  0.08691322 -0.0116886   2.86479193]
 [-0.08651701  0.99576933  0.03095557  0.16870461]
 [ 0.0143296  -0.02982505  0.99945241 -0.04153255]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.72327356
Centerline is valid?  [False, False]
Translation: X:2.87, Y:0.17, Z:-0.04
[[ 0.9962222   0.08587813 -0.01289444  2.86745721]
 [-0.08543568  0.99584101  0.03164548  0.16895012]
 [ 0.01555847 -0.03042428  0.99941598 -0.04070592]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.78327356
Centerline is valid?  [False, False]
Translation: X:2.87, Y:0.17, Z:-0.04
[[ 0.99635876  0.08411798 -0.01390661  2.87015084]
 [-0.08364603  0.99599413  0.03160766  0.16993583]
 [ 0.01650967 -0.03032933  0.9994036  -0.04078019]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.843273559999999
Centerline is valid?  [False, False]
Translation: X:2.87, Y:0.17, Z:-0.04
[[ 0.99650577  0.08214296 -0.01512566  2.87339802]
 [-0.08165543  0.99619579  0.03043582  0.17118845]
 [ 0.01756821 -0.02909438  0.99942227 -0.0412746 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.90327356
Centerline is valid?  [False, False]
Translation: X:2.88, Y:0.17, Z:-0.04
[[ 0.99662897  0.08055354 -0.01555066  2.87614169]
 [-0.08006394  0.99634151  0.02988925  0.17152348]
 [ 0.01790145 -0.02854344  0.99943224 -0.0414778 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 5.963273559999999
Centerline is valid?  [False, False]
Translation: X:2.88, Y:0.17, Z:-0.04
[[ 0.99678673  0.07853929 -0.0157413   2.87871953]
 [-0.07804602  0.9965036   0.02982275  0.17161925]
 [ 0.01802852 -0.02849837  0.99943125 -0.04124258]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.915510 with order 1
Centerline goodness : 0.912698 with order 1
Centerline goodness : 0.907554 with order 1
Centerline goodness : 0.910039 with order 1
Centerline goodness : 0.910883 with order 1
Centerline goodness : 0.908755 with order 1
Centerline goodness : 0.913604 with order 1
Centerline goodness : 0.909428 with order 1
Centerline goodness : 0.910051 with order 1
Centerline goodness : 0.907789 with order 1
Centerline goodness : 0.902914 with order 1
Centerline goodness : 0.909314 with order 1
Centerline goodness : 0.916737 with order 1
Centerline goodness : 0.902420 with order 1
Centerline goodness : 0.906430 with order 1
Centerline goodness : 0.908092 with order 1
Centerline goodness : 0.905122 with order 1
Centerline goodness : 0.908719 with order 1
Centerline goodness : 0.916794 with order 1
Centerline goodness : 0.915125 with order 1
SLAMing on frame at distance 6.02327356
Centerline is valid?  [False, False]
Translation: X:2.88, Y:0.17, Z:-0.04
[[ 0.99702081  0.07563018 -0.01515181  2.87945415]
 [-0.07516583  0.99674418  0.02917443  0.17162793]
 [ 0.01730894 -0.02794862  0.99945949 -0.04075223]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.083273559999999
Centerline is valid?  [False, False]
Translation: X:2.88, Y:0.17, Z:-0.04
[[ 0.99726093  0.07223761 -0.01588626  2.8813358 ]
 [-0.07175257  0.99699394  0.02923442  0.17072108]
 [ 0.01795033 -0.02801447  0.99944633 -0.03999276]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.14327356
Centerline is valid?  [False, False]
Translation: X:2.89, Y:0.17, Z:-0.04
[[ 0.99741076  0.069854   -0.01709395  2.88529599]
 [-0.0693315   0.99715867  0.02945727  0.16973242]
 [ 0.01910309 -0.02819585  0.99941986 -0.03984872]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.2032735599999995
Centerline is valid?  [False, False]
Translation: X:2.89, Y:0.17, Z:-0.04
[[ 0.9977538   0.06464673 -0.01755433  2.88649963]
 [-0.06413298  0.99753711  0.02840207  0.16845461]
 [ 0.0193472  -0.02721247  0.99944243 -0.04070372]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.26327356
Centerline is valid?  [False, False]
Translation: X:2.89, Y:0.17, Z:-0.04
[[ 0.99815582  0.05815064 -0.01741986  2.88794306]
 [-0.05767245  0.99797579  0.02679947  0.16583232]
 [ 0.01894301 -0.0257454   0.99948904 -0.04052493]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.32327356
Centerline is valid?  [False, False]
Translation: X:2.89, Y:0.16, Z:-0.04
[[ 0.99837513  0.05435605 -0.01710317  2.88918642]
 [-0.05391736  0.99822881  0.02514278  0.16405194]
 [ 0.01843954 -0.02417977  0.99953755 -0.04036885]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.383273559999999
Centerline is valid?  [False, False]
Translation: X:2.89, Y:0.16, Z:-0.04
[[ 0.99861663  0.04977398 -0.01695202  2.89026106]
 [-0.04934142  0.99846791  0.02504491  0.16156301]
 [ 0.01817263 -0.02417383  0.99954259 -0.0399234 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.44327356
Centerline is valid?  [False, False]
Translation: X:2.89, Y:0.16, Z:-0.04
[[ 0.99874485  0.04698886 -0.01734289  2.89148696]
 [-0.04653607  0.99858729  0.02564797  0.1596881 ]
 [ 0.01852356 -0.02480871  0.99952059 -0.03933869]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.503273559999999
Centerline is valid?  [False, False]
Translation: X:2.89, Y:0.16, Z:-0.04
[[ 0.9988443   0.04459931 -0.01791536  2.89490918]
 [-0.04414058  0.99870662  0.02523299  0.15798205]
 [ 0.01901756 -0.02441304  0.99952105 -0.03953052]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.56327356
Centerline is valid?  [False, False]
Translation: X:2.90, Y:0.16, Z:-0.04
[[ 0.99890538  0.04292142 -0.01859566  2.89823156]
 [-0.04245111  0.99878601  0.02498833  0.15699435]
 [ 0.01964562 -0.02417157  0.99951477 -0.03913265]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.6232735599999994
Centerline is valid?  [False, False]
Translation: X:2.90, Y:0.15, Z:-0.04
[[ 0.99911139  0.03767648 -0.01889189  2.90009712]
 [-0.03722509  0.9990258   0.0237011   0.15393686]
 [ 0.01976646 -0.02297679  0.99954057 -0.03944539]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.68327356
Centerline is valid?  [False, False]
Translation: X:2.90, Y:0.15, Z:-0.04
[[ 0.99929355  0.033034   -0.01792065  2.89972133]
 [-0.03261136  0.9991945   0.02338483  0.15033618]
 [ 0.01867871 -0.02278389  0.99956591 -0.03906946]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.7432735599999996
Centerline is valid?  [False, False]
Translation: X:2.90, Y:0.15, Z:-0.04
[[ 0.99935985  0.03113033 -0.01762923  2.90151241]
 [-0.03071063  0.99924972  0.02359773  0.14763993]
 [ 0.01835061 -0.02304122  0.99956608 -0.03848832]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.803273559999999
Centerline is valid?  [False, False]
Translation: X:2.90, Y:0.14, Z:-0.04
[[ 0.99940521  0.02944231 -0.01795471  2.90236567]
 [-0.02901569  0.99930089  0.02357564  0.143802  ]
 [ 0.01863628 -0.02304065  0.99956081 -0.03736985]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.86327356
Centerline is valid?  [False, False]
Translation: X:2.91, Y:0.14, Z:-0.04
[[ 0.99939074  0.02919326 -0.01912859  2.90596718]
 [-0.02873728  0.99930615  0.02369371  0.14161171]
 [ 0.01980702 -0.02312957  0.99953625 -0.03723522]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.923273559999999
Centerline is valid?  [False, False]
Translation: X:2.91, Y:0.14, Z:-0.04
[[ 0.99938526  0.02838042 -0.02058308  2.90919298]
 [-0.02787782  0.99931576  0.02430737  0.13763976]
 [ 0.02125885 -0.02371862  0.99949262 -0.03763617]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 6.98327356
Centerline is valid?  [False, False]
Translation: X:2.91, Y:0.13, Z:-0.04
[[ 0.9994007   0.02737759 -0.02118266  2.91277111]
 [-0.0268613   0.99934413  0.02428526  0.13432737]
 [ 0.02183364 -0.02370172  0.99948063 -0.03737238]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.043273559999999
Centerline is valid?  [False, False]
Translation: X:2.91, Y:0.13, Z:-0.04
[[ 0.99945348  0.02619924 -0.02015775  2.91296314]
 [-0.02574594  0.99941689  0.02242808  0.12974459]
 [ 0.02073359 -0.02189684  0.99954522 -0.03672889]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.10327356
Centerline is valid?  [False, False]
Translation: X:2.91, Y:0.13, Z:-0.04
[[ 0.99940813  0.02888395 -0.01868415  2.91174362]
 [-0.0284441   0.99932161  0.02339357  0.12531853]
 [ 0.01934717 -0.02284827  0.99955172 -0.03503766]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.1632735599999995
Centerline is valid?  [False, False]
Translation: X:2.92, Y:0.12, Z:-0.03
[[ 0.99934778  0.03055712 -0.01924235  2.91511677]
 [-0.0300848   0.99925011  0.02437482  0.12223229]
 [ 0.01997275 -0.02378002  0.99951768 -0.03451325]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.897070 with order 1
Centerline goodness : 0.890492 with order 1
Centerline goodness : 0.899982 with order 1
Centerline goodness : 0.885786 with order 1
Centerline goodness : 0.887849 with order 1
Centerline goodness : 0.893518 with order 1
Centerline goodness : 0.892523 with order 1
Centerline goodness : 0.890385 with order 1
Centerline goodness : 0.888909 with order 1
Centerline goodness : 0.900416 with order 1
Centerline goodness : 0.893030 with order 1
Centerline goodness : 0.902507 with order 1
Centerline goodness : 0.891030 with order 1
Centerline goodness : 0.892578 with order 1
Centerline goodness : 0.889803 with order 1
Centerline goodness : 0.892609 with order 1
Centerline goodness : 0.893096 with order 1
Centerline goodness : 0.901312 with order 1
Centerline goodness : 0.887547 with order 1
Centerline goodness : 0.899509 with order 1
SLAMing on frame at distance 7.223273559999999
Centerline is valid?  [False, False]
Translation: X:2.92, Y:0.12, Z:-0.03
[[ 0.99916963  0.03410791 -0.02228681  2.91884754]
 [-0.03354623  0.99912173  0.02510802  0.1172929 ]
 [ 0.02312361 -0.02433953  0.99943628 -0.0349119 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.28327356
Centerline is valid?  [False, False]
Translation: X:2.92, Y:0.11, Z:-0.04
[[ 0.9990544   0.03646945 -0.02367017  2.92245911]
 [-0.03587259  0.99903938  0.0251688   0.11423063]
 [ 0.02456532 -0.02429589  0.99940295 -0.03556881]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.343273559999999
Centerline is valid?  [False, False]
Translation: X:2.92, Y:0.11, Z:-0.03
[[ 0.99887739  0.04102051 -0.02369124  2.9236631 ]
 [-0.04045409  0.99889522  0.02391246  0.1091461 ]
 [ 0.02464597 -0.02292721  0.9994333  -0.03462209]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.40327356
Centerline is valid?  [False, False]
Translation: X:2.92, Y:0.11, Z:-0.03
[[ 0.9987631   0.04407598 -0.02301251  2.92450232]
 [-0.04351315  0.99875457  0.02441131  0.10602353]
 [ 0.0240598  -0.02337977  0.9994371  -0.03414379]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.463273559999999
Centerline is valid?  [False, False]
Translation: X:2.93, Y:0.10, Z:-0.03
[[ 0.99846719  0.05036278 -0.02295331  2.92591477]
 [-0.04975246  0.99841188  0.02642752  0.10138084]
 [ 0.02424783 -0.02524502  0.99938718 -0.03322886]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.52327356
Centerline is valid?  [False, False]
Translation: X:2.93, Y:0.10, Z:-0.03
[[ 0.99808082  0.05708979 -0.02398798  2.92870672]
 [-0.05647048  0.99807221  0.02574769  0.09652464]
 [ 0.02541167 -0.02434366  0.99938062 -0.03233887]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.583273559999999
Centerline is valid?  [False, False]
Translation: X:2.93, Y:0.09, Z:-0.03
[[ 0.99775408  0.06217511 -0.02492072  2.93095435]
 [-0.06152228  0.99776284  0.02615943  0.09385863]
 [ 0.02649143 -0.0245675   0.99934711 -0.03126637]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.64327356
Centerline is valid?  [False, False]
Translation: X:2.93, Y:0.09, Z:-0.03
[[ 0.99738787  0.06745498 -0.0258314   2.93493438]
 [-0.06674877  0.99739652  0.02729056  0.09149588]
 [ 0.02760503 -0.02549506  0.99929373 -0.03014167]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.7032735599999995
Centerline is valid?  [False, False]
Translation: X:2.94, Y:0.09, Z:-0.03
[[ 0.99679301  0.07520538 -0.02734669  2.93823082]
 [-0.0744405   0.99683261  0.02798873  0.08801025]
 [ 0.02936498 -0.02586327  0.9992341  -0.0296764 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.763273559999999
Centerline is valid?  [False, False]
Translation: X:2.94, Y:0.08, Z:-0.03
[[ 0.99630683  0.08068632 -0.02936706  2.9421196 ]
 [-0.07985178  0.99639748  0.0285615   0.08415791]
 [ 0.03156579 -0.02611101  0.99916056 -0.02919856]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.82327356
Centerline is valid?  [False, False]
Translation: X:2.94, Y:0.08, Z:-0.03
[[ 0.99610572  0.08305645 -0.02958066  2.94433499]
 [-0.08222718  0.99621375  0.0282285   0.08188113]
 [ 0.03181322 -0.02568623  0.99916372 -0.02873853]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.883273559999999
Centerline is valid?  [False, False]
Translation: X:2.94, Y:0.08, Z:-0.03
[[ 0.99601225  0.08455075 -0.02847394  2.94411071]
 [-0.08374069  0.99607898  0.02853365  0.07818619]
 [ 0.03077483 -0.02603544  0.9991872  -0.02745881]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 7.94327356
Centerline is valid?  [False, False]
Translation: X:2.95, Y:0.08, Z:-0.03
[[ 0.99578299  0.08685723 -0.02953069  2.94678256]
 [-0.08599324  0.99586276  0.02936878  0.07523754]
 [ 0.0319594  -0.02670549  0.99913233 -0.02642053]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.00327356
Centerline is valid?  [False, False]
Translation: X:2.95, Y:0.07, Z:-0.03
[[ 0.99554685  0.08892222 -0.03129395  2.95016447]
 [-0.08802009  0.99569311  0.02911506  0.07352044]
 [ 0.03374815 -0.02623091  0.99908608 -0.02559627]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.063273559999999
Centerline is valid?  [False, False]
Translation: X:2.95, Y:0.07, Z:-0.02
[[ 0.99542931  0.08963174 -0.03296423  2.95310683]
 [-0.08867091  0.99562283  0.02954056  0.07091367]
 [ 0.03546771 -0.02648257  0.99901988 -0.02477307]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.12327356
Centerline is valid?  [False, False]
Translation: X:2.96, Y:0.07, Z:-0.02
[[ 0.99551692  0.08857235 -0.03318126  2.95519743]
 [-0.08757366  0.99569306  0.03043324  0.06837465]
 [ 0.0357339  -0.027391    0.9989859  -0.02407085]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.18327356
Centerline is valid?  [False, False]
Translation: X:2.96, Y:0.07, Z:-0.02
[[ 0.99555666  0.08796403 -0.03360449  2.95894968]
 [-0.08694705  0.9957424   0.03061495  0.06627697]
 [ 0.03615443 -0.0275571   0.9989662  -0.02245351]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.243273559999999
Centerline is valid?  [False, False]
Translation: X:2.96, Y:0.06, Z:-0.02
[[ 0.99555235  0.08816115 -0.03321329  2.95984659]
 [-0.08715698  0.99572575  0.03055956  0.06477758]
 [ 0.0357655  -0.02752887  0.99898098 -0.02116596]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.30327356
Centerline is valid?  [False, False]
Translation: X:2.96, Y:0.06, Z:-0.02
[[ 0.99539294  0.08977251 -0.0336718   2.96302696]
 [-0.08873637  0.99556949  0.03110058  0.06475062]
 [ 0.03631459 -0.02796939  0.99894893 -0.0199859 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.36327356
Centerline is valid?  [False, False]
Translation: X:2.97, Y:0.07, Z:-0.02
[[ 0.99524636  0.09099719 -0.03470164  2.96663798]
 [-0.08991368  0.995448    0.03160393  0.06564023]
 [ 0.03741955 -0.02833355  0.99889789 -0.01927496]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.893361 with order 1
Centerline goodness : 0.894576 with order 1
Centerline goodness : 0.887924 with order 1
Centerline goodness : 0.895371 with order 1
Centerline goodness : 0.886538 with order 1
Centerline goodness : 0.899486 with order 1
Centerline goodness : 0.894385 with order 1
Centerline goodness : 0.900992 with order 1
Centerline goodness : 0.889757 with order 1
Centerline goodness : 0.896893 with order 1
Centerline goodness : 0.891423 with order 1
Centerline goodness : 0.886306 with order 1
Centerline goodness : 0.898573 with order 1
Centerline goodness : 0.896028 with order 1
Centerline goodness : 0.895271 with order 1
Centerline goodness : 0.897963 with order 1
Centerline goodness : 0.896517 with order 1
Centerline goodness : 0.895210 with order 1
Centerline goodness : 0.896746 with order 1
Centerline goodness : 0.890833 with order 1
SLAMing on frame at distance 8.42327356
Centerline is valid?  [False, False]
Translation: X:2.97, Y:0.07, Z:-0.02
[[ 0.9951575   0.09160897 -0.03562787  2.97035015]
 [-0.09048654  0.99538544  0.03193777  0.06634653]
 [ 0.03838925 -0.02855927  0.99885466 -0.01896251]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.483273559999999
Centerline is valid?  [False, False]
Translation: X:2.98, Y:0.07, Z:-0.02
[[ 0.99487233  0.09432379 -0.03649754  2.97528899]
 [-0.09311125  0.99508827  0.03361006  0.06808825]
 [ 0.0394885  -0.03003938  0.99876839 -0.01813243]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.54327356
Centerline is valid?  [False, False]
Translation: X:2.98, Y:0.07, Z:-0.02
[[ 0.99475392  0.09545737 -0.03677665  2.979189  ]
 [-0.09423892  0.99498398  0.0335545   0.06936505]
 [ 0.0397952  -0.02991268  0.99876002 -0.01821198]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.60327356
Centerline is valid?  [False, False]
Translation: X:2.98, Y:0.07, Z:-0.02
[[ 0.99446801  0.09862155 -0.03615475  2.98149526]
 [-0.09738924  0.99465179  0.03439699  0.07246988]
 [ 0.03935367 -0.03068562  0.99875406 -0.01754785]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.66327356
Centerline is valid?  [False, False]
Translation: X:2.99, Y:0.08, Z:-0.02
[[ 0.9940702   0.10246003 -0.03641957  2.98506889]
 [-0.10119394  0.99424875  0.03506016  0.0756816 ]
 [ 0.03980238 -0.03116682  0.99872138 -0.01666426]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.723273559999999
Centerline is valid?  [False, False]
Translation: X:2.99, Y:0.08, Z:-0.02
[[ 0.99372454  0.10552156 -0.03710447  2.98980021]
 [-0.10423524  0.99393492  0.03504832  0.07755643]
 [ 0.04057778 -0.03096079  0.99869659 -0.01592683]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.78327356
Centerline is valid?  [False, False]
Translation: X:2.99, Y:0.08, Z:-0.01
[[ 0.99337538  0.10874736 -0.03713986  2.99403926]
 [-0.10733397  0.99349109  0.03814277  0.08116471]
 [ 0.04104605 -0.03390372  0.99858187 -0.0145649 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.84327356
Centerline is valid?  [False, False]
Translation: X:3.00, Y:0.08, Z:-0.01
[[ 0.99326917  0.10969048 -0.03720685  2.99838221]
 [-0.10821941  0.99334248  0.0394878   0.08329249]
 [ 0.04129058 -0.03519551  0.9985271  -0.01412232]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.903273559999999
Centerline is valid?  [False, False]
Translation: X:3.00, Y:0.09, Z:-0.01
[[ 0.99319001  0.11009372 -0.03811803  3.00290469]
 [-0.10864194  0.99334395  0.03827182  0.08702169]
 [ 0.0420778  -0.03386997  0.99854008 -0.01416029]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 8.96327356
Centerline is valid?  [False, False]
Translation: X:3.01, Y:0.09, Z:-0.01
[[ 0.99315331  0.11028025 -0.03853258  3.00739636]
 [-0.10884794  0.99335144  0.03748398  0.08985501]
 [ 0.04241014 -0.03303315  0.99855405 -0.01437194]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.02327356
Centerline is valid?  [False, False]
Translation: X:3.01, Y:0.09, Z:-0.01
[[ 0.99318762  0.10982025 -0.03895988  3.01186341]
 [-0.10836325  0.9933952   0.03772774  0.09407387]
 [ 0.04284583 -0.03324891  0.99852829 -0.01448089]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.08327356
Centerline is valid?  [False, False]
Translation: X:3.02, Y:0.10, Z:-0.01
[[ 0.99331079  0.1085988  -0.03924244  3.01573912]
 [-0.10708165  0.99348912  0.03889589  0.09780389]
 [ 0.04321098 -0.03443356  0.9984724  -0.01437253]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.143273559999999
Centerline is valid?  [False, False]
Translation: X:3.02, Y:0.10, Z:-0.01
[[ 0.99330978  0.10826899 -0.04016847  3.01994499]
 [-0.10671791  0.99352652  0.03894018  0.10074122]
 [ 0.04412445 -0.03439297  0.99843385 -0.01368892]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.20327356
Centerline is valid?  [False, False]
Translation: X:3.02, Y:0.11, Z:-0.01
[[ 0.9934211   0.10725407 -0.04013825  3.02387797]
 [-0.10569633  0.99362906  0.03910976  0.10519981]
 [ 0.04407721 -0.03460999  0.99842844 -0.01271006]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.26327356
Centerline is valid?  [False, False]
Translation: X:3.03, Y:0.11, Z:-0.01
[[ 0.9936197   0.10514994 -0.04078459  3.02877738]
 [-0.10356246  0.99384769  0.03926307  0.10781659]
 [ 0.04466218 -0.0347888   0.99839623 -0.01194023]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.323273559999999
Centerline is valid?  [False, False]
Translation: X:3.03, Y:0.11, Z:-0.01
[[ 0.99404761  0.10070465 -0.04156835  3.03282757]
 [-0.09910166  0.99431363  0.03897779  0.11162879]
 [ 0.04525722 -0.03462629  0.99837508 -0.01162274]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.38327356
Centerline is valid?  [False, False]
Translation: X:3.04, Y:0.11, Z:-0.01
[[ 0.99440609  0.09681743 -0.04222447  3.03703735]
 [-0.09522511  0.99472164  0.03822348  0.11382885]
 [ 0.0457023  -0.03398883  0.99837671 -0.01174362]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.44327356
Centerline is valid?  [False, False]
Translation: X:3.04, Y:0.12, Z:-0.01
[[ 0.995005    0.09023111 -0.0427013   3.04031559]
 [-0.08866779  0.99536666  0.03719182  0.11656464]
 [ 0.04585931 -0.03321982  0.9983954  -0.01215654]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.50327356
Centerline is valid?  [False, False]
Translation: X:3.04, Y:0.12, Z:-0.01
[[ 0.99526695  0.08720038 -0.04289274  3.04441601]
 [-0.0856185   0.99562457  0.03743248  0.11865504]
 [ 0.04596919 -0.03358289  0.9983782  -0.0116218 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.563273559999999
Centerline is valid?  [False, False]
Translation: X:3.05, Y:0.12, Z:-0.01
[[ 0.99559764  0.08324608 -0.04307468  3.04748041]
 [-0.08159409  0.99591059  0.0387878   0.12262902]
 [ 0.04612746 -0.0351024   0.99831863 -0.01057843]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.895954 with order 1
Centerline goodness : 0.893873 with order 1
Centerline goodness : 0.896496 with order 1
Centerline goodness : 0.896507 with order 1
Centerline goodness : 0.894997 with order 1
Centerline goodness : 0.895339 with order 1
Centerline goodness : 0.893437 with order 1
Centerline goodness : 0.895954 with order 1
Centerline goodness : 0.894504 with order 1
Centerline goodness : 0.903347 with order 1
Centerline goodness : 0.895474 with order 1
Centerline goodness : 0.895112 with order 1
Centerline goodness : 0.903479 with order 1
Centerline goodness : 0.893781 with order 1
Centerline goodness : 0.893596 with order 1
Centerline goodness : 0.896227 with order 1
Centerline goodness : 0.896839 with order 1
Centerline goodness : 0.899824 with order 1
Centerline goodness : 0.900798 with order 1
Centerline goodness : 0.897296 with order 1
SLAMing on frame at distance 9.62327356
Centerline is valid?  [False, False]
Translation: X:3.05, Y:0.13, Z:-0.01
[[ 0.99591033  0.07889741 -0.04402058  3.05180263]
 [-0.07728322  0.9963134   0.03724135  0.12650657]
 [ 0.04679654 -0.03368699  0.99833625 -0.00979899]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.68327356
Centerline is valid?  [False, False]
Translation: X:3.06, Y:0.13, Z:-0.01
[[ 0.99621929  0.07445327 -0.04476431  3.05615572]
 [-0.07281263  0.99665054  0.03722946  0.12821221]
 [ 0.04738623 -0.03382929  0.99830362 -0.00955353]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.743273559999999
Centerline is valid?  [False, False]
Translation: X:3.06, Y:0.13, Z:-0.01
[[ 0.99668641  0.06797199 -0.04467669  3.05907863]
 [-0.06636419  0.99712628  0.03653745  0.13148038]
 [ 0.04703183 -0.03345145  0.99833311 -0.00967809]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.80327356
Centerline is valid?  [False, False]
Translation: X:3.06, Y:0.13, Z:-0.01
[[ 0.99684078  0.06591969 -0.04430641  3.06088446]
 [-0.06435366  0.99728158  0.03588952  0.13411266]
 [ 0.04655179 -0.03292485  0.99837312 -0.00894264]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.86327356
Centerline is valid?  [False, False]
Translation: X:3.06, Y:0.14, Z:-0.01
[[ 0.99685479  0.06526917 -0.04494948  3.06443864]
 [-0.06367618  0.99732091  0.0360049   0.1391833 ]
 [ 0.04717906 -0.03302944  0.99834022 -0.00864544]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.92327356
Centerline is valid?  [False, False]
Translation: X:3.07, Y:0.14, Z:-0.01
[[ 0.99676381  0.06598065 -0.04591792  3.06893164]
 [-0.06433409  0.99726219  0.03645894  0.14316622]
 [ 0.04819779 -0.03338686  0.99827967 -0.00788045]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 9.983273559999999
Centerline is valid?  [False, False]
Translation: X:3.07, Y:0.15, Z:-0.01
[[ 0.99649602  0.06868433 -0.04772996  3.07409323]
 [-0.06694678  0.99706665  0.0370974   0.14908154]
 [ 0.05013796 -0.03377205  0.99817114 -0.00728186]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.04327356
Centerline is valid?  [False, False]
Translation: X:3.08, Y:0.15, Z:-0.01
[[ 0.99632298  0.07035564 -0.04889373  3.07863488]
 [-0.06856172  0.99694378  0.03744859  0.15331536]
 [ 0.05137901 -0.03395866  0.9981017  -0.00742578]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.10327356
Centerline is valid?  [False, False]
Translation: X:3.08, Y:0.16, Z:-0.01
[[ 0.99622641  0.07132822 -0.04944929  3.08255709]
 [-0.06948575  0.99685779  0.03802994  0.15819582]
 [ 0.05200652 -0.0344504   0.99805235 -0.00743495]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.163273559999999
Centerline is valid?  [False, False]
Translation: X:3.08, Y:0.16, Z:-0.01
[[ 0.99633168  0.07051857 -0.0484801   3.08288681]
 [-0.06875137  0.99693991  0.03720298  0.16215772]
 [ 0.05095525 -0.03373344  0.99813106 -0.0067353 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.223273559999999
Centerline is valid?  [False, False]
Translation: X:3.08, Y:0.16, Z:-0.01
[[ 0.99634694  0.07033964 -0.04842627  3.08410948]
 [-0.06855692  0.99694063  0.0375409   0.16472589]
 [ 0.05091874 -0.03408381  0.99812102 -0.0056433 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.28327356
Centerline is valid?  [False, False]
Translation: X:3.09, Y:0.17, Z:-0.00
[[ 0.99625492  0.07047646 -0.05009196  3.08725464]
 [-0.06866734  0.99695455  0.03696511  0.16844692]
 [ 0.05254458 -0.03338699  0.99806031 -0.00485017]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.34327356
Centerline is valid?  [False, False]
Translation: X:3.09, Y:0.17, Z:-0.00
[[ 0.99618118  0.07065185 -0.05129689  3.09109555]
 [-0.06880669  0.99694777  0.03688881  0.16942349]
 [ 0.05374659 -0.03321837  0.99800193 -0.00481078]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.403273559999999
Centerline is valid?  [False, False]
Translation: X:3.10, Y:0.17, Z:-0.01
[[ 0.9960408   0.07131467 -0.05307492  3.09568073]
 [-0.0693755   0.99688458  0.03752564  0.17298951]
 [ 0.0555857  -0.03369497  0.9978852  -0.0052716 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.46327356
Centerline is valid?  [False, False]
Translation: X:3.10, Y:0.18, Z:-0.01
[[ 0.99603715  0.07107207 -0.05346739  3.0982105 ]
 [-0.06911971  0.99690254  0.03752067  0.17508576]
 [ 0.05596845 -0.03367633  0.99786444 -0.00539999]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.52327356
Centerline is valid?  [False, False]
Translation: X:3.10, Y:0.18, Z:-0.00
[[ 0.99612862  0.07097745 -0.05186503  3.09776789]
 [-0.06914081  0.996943    0.03638948  0.1775447 ]
 [ 0.05428932 -0.03266262  0.99799089 -0.00476603]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.583273559999999
Centerline is valid?  [False, False]
Translation: X:3.10, Y:0.18, Z:-0.00
[[ 0.99619251  0.07060693 -0.05113849  3.09863123]
 [-0.06877553  0.99695579  0.03672994  0.17916041]
 [ 0.0535762  -0.03307301  0.99801592 -0.00392637]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.643273559999999
Centerline is valid?  [False, False]
Translation: X:3.10, Y:0.18, Z:-0.00
[[ 0.99618437  0.07046879 -0.05148635  3.10025001]
 [-0.06859884  0.99694949  0.03722785  0.1795672 ]
 [ 0.05395269 -0.0335539   0.99797958 -0.00368886]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.70327356
Centerline is valid?  [False, False]
Translation: X:3.10, Y:0.18, Z:-0.00
[[ 0.99610542  0.07059222 -0.05282738  3.1039888 ]
 [-0.06868688  0.99694986  0.03705511  0.17908598]
 [ 0.05528205 -0.03328224  0.99791592 -0.00349711]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.76327356
Centerline is valid?  [False, False]
Translation: X:3.11, Y:0.18, Z:-0.00
[[ 0.99609321  0.07070515 -0.05290646  3.10605199]
 [-0.06875777  0.99691827  0.03776683  0.17806608]
 [ 0.05541372 -0.03398156  0.99788505 -0.003701  ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.905394 with order 1
Centerline goodness : 0.904302 with order 1
Centerline goodness : 0.902928 with order 1
Centerline goodness : 0.903491 with order 1
Centerline goodness : 0.906854 with order 1
Centerline goodness : 0.905713 with order 1
Centerline goodness : 0.903097 with order 1
Centerline goodness : 0.904598 with order 1
Centerline goodness : 0.902027 with order 1
Centerline goodness : 0.907081 with order 1
Centerline goodness : 0.901820 with order 1
Centerline goodness : 0.905535 with order 1
Centerline goodness : 0.902559 with order 1
Centerline goodness : 0.906507 with order 1
Centerline goodness : 0.901179 with order 1
Centerline goodness : 0.902313 with order 1
Centerline goodness : 0.905747 with order 1
Centerline goodness : 0.905905 with order 1
Centerline goodness : 0.902782 with order 1
Centerline goodness : 0.902922 with order 1
SLAMing on frame at distance 10.823273559999999
Centerline is valid?  [False, False]
Translation: X:3.11, Y:0.18, Z:-0.00
[[ 0.99609534  0.07065687 -0.05293082  3.1076566 ]
 [-0.06871341  0.99692459  0.03768062  0.17680464]
 [ 0.05543044 -0.03389644  0.99788702 -0.00339798]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.88327356
Centerline is valid?  [False, False]
Translation: X:3.11, Y:0.17, Z:-0.00
[[ 0.99618241  0.06999433 -0.05216706  3.10903289]
 [-0.06805674  0.99695606  0.03803818  0.17445924]
 [ 0.05467072 -0.03434264  0.99791367 -0.00357793]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 10.94327356
Centerline is valid?  [False, False]
Translation: X:3.11, Y:0.17, Z:-0.00
[[ 0.99627869  0.06917445 -0.05141665  3.10983662]
 [-0.06726587  0.99701237  0.03796891  0.17269451]
 [ 0.05388952 -0.03436903  0.99795525 -0.00316363]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.00327356
Centerline is valid?  [False, False]
Translation: X:3.11, Y:0.17, Z:-0.00
[[ 9.96384278e-01  6.81916821e-02 -5.06780595e-02  3.11017509e+00]
 [-6.63368574e-02  9.97095198e-01  3.74244209e-02  1.69791050e-01]
 [ 5.30828840e-02 -3.39272814e-02  9.98013601e-01 -3.07652673e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.063273559999999
Centerline is valid?  [False, False]
Translation: X:3.11, Y:0.17, Z:-0.00
[[ 0.99630014  0.06932991 -0.05078774  3.11210482]
 [-0.0674604   0.9970115   0.03764519  0.16724372]
 [ 0.05324589 -0.03407974  0.99799972 -0.00372932]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.12327356
Centerline is valid?  [False, False]
Translation: X:3.11, Y:0.17, Z:-0.00
[[ 0.99616683  0.07094209 -0.05117491  3.11441645]
 [-0.06902698  0.99688052  0.03826879  0.16588744]
 [ 0.05373013 -0.03458965  0.99795623 -0.00346032]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.18327356
Centerline is valid?  [False, False]
Translation: X:3.12, Y:0.16, Z:-0.00
[[ 0.99591442  0.07416374 -0.05151909  3.11708771]
 [-0.07222825  0.99664602  0.03846795  0.16375414]
 [ 0.05419922 -0.03458965  0.99793086 -0.00410323]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.243273559999999
Centerline is valid?  [False, False]
Translation: X:3.12, Y:0.16, Z:-0.00
[[ 0.99568129  0.07674149 -0.05224474  3.12053616]
 [-0.07478899  0.99646143  0.03835661  0.16219181]
 [ 0.05500341 -0.03428363  0.99789742 -0.003784  ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.30327356
Centerline is valid?  [False, False]
Translation: X:3.12, Y:0.16, Z:-0.00
[[ 0.99540914  0.07992149 -0.05266125  3.12284682]
 [-0.07791553  0.9961927   0.03910607  0.15979074]
 [ 0.05558617 -0.03482341  0.99784644 -0.00346691]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.36327356
Centerline is valid?  [False, False]
Translation: X:3.12, Y:0.16, Z:-0.00
[[ 0.99530539  0.0813546  -0.05242716  3.12441816]
 [-0.07931958  0.99605454  0.03979646  0.15639027]
 [ 0.05545793 -0.03545113  0.99783147 -0.00326399]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.42327356
Centerline is valid?  [False, False]
Translation: X:3.13, Y:0.15, Z:-0.00
[[ 0.99523558  0.08191788 -0.0528735   3.12751623]
 [-0.07986861  0.9960115   0.03977548  0.15379216]
 [ 0.05592093 -0.03536304  0.99780875 -0.00357478]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.483273559999999
Centerline is valid?  [False, False]
Translation: X:3.13, Y:0.15, Z:-0.00
[[ 0.99518382  0.08219248 -0.05341877  3.1305528 ]
 [-0.08014415  0.99600346  0.03942114  0.15127222]
 [ 0.0564454  -0.03495008  0.99779377 -0.003853  ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.54327356
Centerline is valid?  [False, False]
Translation: X:3.13, Y:0.15, Z:-0.00
[[ 0.99505914  0.08358968 -0.05357302  3.13288079]
 [-0.08150014  0.99586744  0.04007214  0.14841731]
 [ 0.05670125 -0.03550794  0.99775957 -0.00393259]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.60327356
Centerline is valid?  [False, False]
Translation: X:3.13, Y:0.14, Z:-0.00
[[ 0.99501793  0.08428585 -0.05324682  3.13418264]
 [-0.08223487  0.99582572  0.03960515  0.14499174]
 [ 0.05636271 -0.03502909  0.99779567 -0.00403337]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.663273559999999
Centerline is valid?  [False, False]
Translation: X:3.14, Y:0.14, Z:-0.00
[[ 0.99499082  0.08471298 -0.05307529  3.13591809]
 [-0.08271286  0.99581725  0.03881484  0.1430442 ]
 [ 0.05614141 -0.0342304   0.99783587 -0.00369344]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.723273559999999
Centerline is valid?  [False, False]
Translation: X:3.14, Y:0.14, Z:-0.00
[[ 0.99503415  0.08430299 -0.05291547  3.13800197]
 [-0.08224551  0.99581193  0.03992834  0.14008511]
 [ 0.05605993 -0.03537801  0.99780042 -0.00353228]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.78327356
Centerline is valid?  [False, False]
Translation: X:3.14, Y:0.14, Z:-0.00
[[ 0.99498968  0.08448685 -0.0534556   3.14099419]
 [-0.08242136  0.99580515  0.0397345   0.13807247]
 [ 0.0565884  -0.03512953  0.99777937 -0.00353146]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.84327356
Centerline is valid?  [False, False]
Translation: X:3.15, Y:0.14, Z:-0.00
[[ 0.99477006  0.0857975  -0.05541951  3.14524798]
 [-0.08366897  0.99570434  0.03965304  0.1359119 ]
 [ 0.05858358 -0.03480877  0.99767546 -0.0033944 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.903273559999999
Centerline is valid?  [False, False]
Translation: X:3.15, Y:0.13, Z:-0.00
[[ 0.99470067  0.08578045 -0.0566771   3.14966215]
 [-0.083556    0.99567891  0.04052033  0.13406819]
 [ 0.05990805 -0.03556989  0.99756995 -0.00330116]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 11.96327356
Centerline is valid?  [False, False]
Translation: X:3.15, Y:0.13, Z:-0.00
[[ 9.94807934e-01  8.50366095e-02 -5.59101975e-02  3.15103514e+00]
 [-8.28028734e-02  9.95716941e-01  4.11273323e-02  1.31717765e-01]
 [ 5.91680598e-02 -3.62842715e-02  9.97588388e-01 -2.96229197e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.906199 with order 1
Centerline goodness : 0.905448 with order 1
Centerline goodness : 0.903999 with order 1
Centerline goodness : 0.904503 with order 1
Centerline goodness : 0.903387 with order 1
Centerline goodness : 0.906585 with order 1
Centerline goodness : 0.901055 with order 1
Centerline goodness : 0.904521 with order 1
Centerline goodness : 0.904416 with order 1
Centerline goodness : 0.900867 with order 1
Centerline goodness : 0.905709 with order 1
Centerline goodness : 0.901981 with order 1
Centerline goodness : 0.902291 with order 1
Centerline goodness : 0.903665 with order 1
Centerline goodness : 0.903772 with order 1
Centerline goodness : 0.902622 with order 1
Centerline goodness : 0.901074 with order 1
Centerline goodness : 0.903973 with order 1
Centerline goodness : 0.902951 with order 1
Centerline goodness : 0.902484 with order 1
SLAMing on frame at distance 12.02327356
Centerline is valid?  [False, False]
Translation: X:3.15, Y:0.13, Z:-0.00
[[ 9.95014688e-01  8.30198621e-02 -5.52582361e-02  3.15158729e+00]
 [-8.08303254e-02  9.95894596e-01  4.07481527e-02  1.29858184e-01]
 [ 5.84142847e-02 -3.60784692e-02  9.97640274e-01 -2.14292073e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.083273559999999
Centerline is valid?  [False, False]
Translation: X:3.15, Y:0.13, Z:-0.00
[[ 9.95121108e-01  8.18183733e-02 -5.51337765e-02  3.15340556e+00]
 [-7.96429750e-02  9.95997725e-01  4.05651172e-02  1.28576521e-01]
 [ 5.82320879e-02 -3.59761864e-02  9.97654619e-01 -1.61573623e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.143273559999999
Centerline is valid?  [False, False]
Translation: X:3.16, Y:0.13, Z:-0.00
[[ 9.95364003e-01  7.82636814e-02 -5.59043581e-02  3.15603019e+00]
 [-7.61241534e-02  9.96318420e-01  3.94299369e-02  1.27119793e-01]
 [ 5.87844737e-02 -3.49914679e-02  9.97657247e-01 -1.44687373e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.20327356
Centerline is valid?  [False, False]
Translation: X:3.16, Y:0.13, Z:-0.00
[[ 9.95680125e-01  7.38279190e-02 -5.63074383e-02  3.15878918e+00]
 [-7.15992461e-02  9.96605889e-01  4.06232735e-02  1.25223091e-01]
 [ 5.91154563e-02 -3.64162158e-02  9.97586699e-01 -1.82792618e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.26327356
Centerline is valid?  [False, False]
Translation: X:3.16, Y:0.12, Z:-0.00
[[ 9.95747717e-01  7.24730796e-02 -5.68694801e-02  3.16222543e+00]
 [-7.02046050e-02  9.96692804e-01  4.09239164e-02  1.24632553e-01]
 [ 5.96472839e-02 -3.67573969e-02  9.97542528e-01 -1.76084850e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.323273559999999
Centerline is valid?  [False, False]
Translation: X:3.16, Y:0.12, Z:-0.00
[[ 9.96024038e-01  6.77482588e-02 -5.78471241e-02  3.16467672e+00]
 [-6.55236973e-02  9.97067892e-01  3.95254924e-02  1.22991307e-01]
 [ 6.03552934e-02 -3.55779831e-02  9.97542704e-01 -2.09610387e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.38327356
Centerline is valid?  [False, False]
Translation: X:3.17, Y:0.12, Z:-0.00
[[ 9.96189125e-01  6.50131072e-02 -5.81422638e-02  3.16837623e+00]
 [-6.28804313e-02  9.97305402e-01  3.77887110e-02  1.22331543e-01]
 [ 6.04423553e-02 -3.39886923e-02  9.97592848e-01 -2.34388077e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.44327356
Centerline is valid?  [False, False]
Translation: X:3.17, Y:0.12, Z:-0.00
[[ 9.96405847e-01  6.23725113e-02 -5.73154160e-02  3.16949912e+00]
 [-6.02445402e-02  9.97454899e-01  3.81355481e-02  1.21656370e-01]
 [ 5.95481524e-02 -3.45455422e-02  9.97627497e-01 -1.26772941e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.50327356
Centerline is valid?  [False, False]
Translation: X:3.17, Y:0.12, Z:-0.00
[[ 9.96483294e-01  6.09282892e-02 -5.75220605e-02  3.17165612e+00]
 [-5.87227969e-02  9.97501044e-01  3.92848581e-02  1.21245610e-01]
 [ 5.97718747e-02 -3.57688485e-02  9.97571006e-01 -4.23525159e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.563273559999999
Centerline is valid?  [False, False]
Translation: X:3.18, Y:0.12, Z:-0.00
[[ 9.96395118e-01  6.09476209e-02 -5.90097981e-02  3.17517305e+00]
 [-5.86809000e-02  9.97498428e-01  3.94136876e-02  1.21840137e-01]
 [ 6.12643513e-02 -3.58088579e-02  9.97479025e-01 -3.51102951e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.62327356
Centerline is valid?  [False, False]
Translation: X:3.18, Y:0.12, Z:-0.00
[[ 9.96258698e-01  6.17759844e-02 -6.04345391e-02  3.17990398e+00]
 [-5.94976388e-02  9.97474078e-01  3.88007079e-02  1.22932968e-01]
 [ 6.26788381e-02 -3.50598304e-02  9.97417752e-01 -2.28930653e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.68327356
Centerline is valid?  [False, False]
Translation: X:3.18, Y:0.13, Z:-0.00
[[ 9.96055452e-01  6.39649546e-02 -6.14981347e-02  3.18288391e+00]
 [-6.16009595e-02  9.97315032e-01  3.95985870e-02  1.25280307e-01]
 [ 6.38659360e-02 -3.56540443e-02  9.97321378e-01 -6.00317516e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.743273559999999
Centerline is valid?  [False, False]
Translation: X:3.19, Y:0.13, Z:-0.00
[[ 9.95999531e-01  6.46038621e-02 -6.17355294e-02  3.18554843e+00]
 [-6.22202166e-02  9.97269180e-01  3.97847730e-02  1.26791865e-01]
 [ 6.41371907e-02 -3.57844173e-02  9.97299301e-01 -1.04126497e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.80327356
Centerline is valid?  [False, False]
Translation: X:3.19, Y:0.13, Z:-0.00
[[ 9.96021411e-01  6.40682066e-02 -6.19404086e-02  3.18818406e+00]
 [-6.17658956e-02  9.97351779e-01  3.83979594e-02  1.28231802e-01]
 [ 6.42364651e-02 -3.44193848e-02  9.97340956e-01 -5.98097616e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.86327356
Centerline is valid?  [False, False]
Translation: X:3.19, Y:0.13, Z:-0.00
[[ 9.96156749e-01  6.20709521e-02 -6.17974795e-02  3.19008645e+00]
 [-5.97188351e-02  9.97444883e-01  3.92092526e-02  1.28912548e-01]
 [ 6.40733354e-02 -3.53680881e-02  9.97318257e-01 -1.80549316e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.92327356
Centerline is valid?  [False, False]
Translation: X:3.19, Y:0.13, Z:0.00
[[ 9.96167970e-01  6.14513372e-02 -6.22343128e-02  3.19343780e+00]
 [-5.90372165e-02  9.97457450e-01  3.99154419e-02  1.29373457e-01]
 [ 6.45289362e-02 -3.60883441e-02  9.97263079e-01  2.72964920e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.983273559999999
Centerline is valid?  [False, False]
Translation: X:3.20, Y:0.13, Z:0.00
[[ 9.96126474e-01  6.09223032e-02 -6.34075732e-02  3.19750666e+00]
 [-5.85010103e-02  9.97510786e-01  3.93683164e-02  1.31286156e-01]
 [ 6.56481466e-02 -3.55064151e-02  9.97210918e-01  5.20287747e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.04327356
Centerline is valid?  [False, False]
Translation: X:3.20, Y:0.13, Z:0.00
[[ 9.96243601e-01  5.86512671e-02 -6.37080486e-02  3.20074822e+00]
 [-5.62169801e-02  9.97642658e-01  3.93545137e-02  1.32791482e-01]
 [ 6.58660591e-02 -3.56252083e-02  9.97192312e-01  1.89303339e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.10327356
Centerline is valid?  [False, False]
Translation: X:3.20, Y:0.13, Z:0.00
[[ 9.96364274e-01  5.57909618e-02 -6.43863454e-02  3.20410716e+00]
 [-5.33357259e-02  9.97805242e-01  3.92428285e-02  1.33123719e-01]
 [ 6.64344281e-02 -3.56660599e-02  9.97153147e-01  7.40358385e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.163273559999999
Centerline is valid?  [False, False]
Translation: X:3.21, Y:0.13, Z:-0.00
[[ 9.96638196e-01  5.03026462e-02 -6.46680000e-02  3.20716922e+00]
 [-4.78603159e-02  9.98101021e-01  3.87781226e-02  1.34490626e-01]
 [ 6.64958390e-02 -3.55527272e-02  9.97153101e-01 -2.13598552e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.906403 with order 1
Centerline goodness : 0.907077 with order 1
Centerline goodness : 0.905631 with order 1
Centerline goodness : 0.907291 with order 1
Centerline goodness : 0.907143 with order 1
Centerline goodness : 0.906645 with order 1
Centerline goodness : 0.900391 with order 1
Centerline goodness : 0.906704 with order 1
Centerline goodness : 0.903305 with order 1
Centerline goodness : 0.905911 with order 1
Centerline goodness : 0.904937 with order 1
Centerline goodness : 0.902170 with order 1
Centerline goodness : 0.898984 with order 1
Centerline goodness : 0.907539 with order 1
Centerline goodness : 0.905799 with order 1
Centerline goodness : 0.906503 with order 1
Centerline goodness : 0.905513 with order 1
Centerline goodness : 0.905512 with order 1
Centerline goodness : 0.900696 with order 1
Centerline goodness : 0.897546 with order 1
SLAMing on frame at distance 13.223273559999999
Centerline is valid?  [False, False]
Translation: X:3.21, Y:0.14, Z:-0.00
[[ 9.96952018e-01  4.43206278e-02 -6.42055768e-02  3.20951669e+00]
 [-4.18838822e-02  9.98368268e-01  3.88141920e-02  1.36276524e-01]
 [ 6.58210799e-02 -3.60067082e-02  9.97181579e-01 -1.59564703e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.28327356
Centerline is valid?  [False, False]
Translation: X:3.21, Y:0.14, Z:-0.00
[[ 9.97144609e-01  4.03208922e-02 -6.38502549e-02  3.21203914e+00]
 [-3.80107759e-02  9.98592426e-01  3.69911964e-02  1.37743694e-01]
 [ 6.52518989e-02 -3.44585744e-02  9.97273682e-01 -1.90781034e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.34327356
Centerline is valid?  [False, False]
Translation: X:3.21, Y:0.14, Z:-0.00
[[ 9.97331801e-01  3.50463085e-02 -6.40393249e-02  3.21455024e+00]
 [-3.28087899e-02  9.98825149e-01  3.56637864e-02  1.40527470e-01]
 [ 6.52139722e-02 -3.34675755e-02  9.97309911e-01 -1.48963224e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.403273559999999
Centerline is valid?  [False, False]
Translation: X:3.22, Y:0.14, Z:-0.00
[[ 9.97403639e-01  3.26903432e-02 -6.41663628e-02  3.21711292e+00]
 [-3.04403252e-02  9.98897575e-01  3.57354435e-02  1.42778327e-01]
 [ 6.52638281e-02 -3.36894165e-02  9.97299181e-01 -1.76107880e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.46327356
Centerline is valid?  [False, False]
Translation: X:3.22, Y:0.15, Z:-0.00
[[ 9.97517368e-01  3.02494142e-02 -6.35930301e-02  3.21911274e+00]
 [-2.79742886e-02  9.98946868e-01  3.63674892e-02  1.46535261e-01]
 [ 6.46261535e-02 -3.44982323e-02  9.97313056e-01 -1.77345484e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.52327356
Centerline is valid?  [False, False]
Translation: X:3.22, Y:0.15, Z:-0.00
[[ 9.97507004e-01  2.93552772e-02 -6.41719967e-02  3.22228403e+00]
 [-2.70458176e-02  9.98965193e-01  3.65659126e-02  1.49040311e-01]
 [ 6.51789936e-02 -3.47391698e-02  9.97268714e-01 -1.89386157e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.583273559999999
Centerline is valid?  [False, False]
Translation: X:3.23, Y:0.15, Z:-0.00
[[ 9.97441037e-01  2.95501864e-02 -6.51011789e-02  3.22650517e+00]
 [-2.72703911e-02  9.98992765e-01  3.56339969e-02  1.53894631e-01]
 [ 6.60885980e-02 -3.37674762e-02  9.97242225e-01 -2.68122794e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.643273559999999
Centerline is valid?  [False, False]
Translation: X:3.23, Y:0.16, Z:-0.00
[[ 9.97289483e-01  3.26735536e-02 -6.59251594e-02  3.23112769e+00]
 [-3.04082754e-02  9.98921880e-01  3.50772661e-02  1.57305958e-01]
 [ 6.70001831e-02 -3.29775182e-02  9.97207831e-01 -2.30672247e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.70327356
Centerline is valid?  [False, False]
Translation: X:3.24, Y:0.16, Z:-0.00
[[ 9.97059346e-01  3.80753020e-02 -6.65051238e-02  3.23534598e+00]
 [-3.57531825e-02  9.98720478e-01  3.57647474e-02  1.62389101e-01]
 [ 6.77817826e-02 -3.32818058e-02  9.97144900e-01 -2.91578875e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.76327356
Centerline is valid?  [False, False]
Translation: X:3.24, Y:0.17, Z:-0.00
[[ 9.96761899e-01  4.55268034e-02 -6.62799115e-02  3.23747297e+00]
 [-4.30579446e-02  9.98341501e-01  3.82133671e-02  1.67084432e-01]
 [ 6.79097188e-02 -3.52357516e-02  9.97069061e-01 -2.49245719e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.823273559999999
Centerline is valid?  [False, False]
Translation: X:3.24, Y:0.17, Z:-0.00
[[ 9.96313499e-01  5.38374455e-02 -6.67902728e-02  3.24177893e+00]
 [-5.13649444e-02  9.97949068e-01  3.82007877e-02  1.71692448e-01]
 [ 6.87099233e-02 -3.46292818e-02  9.97035485e-01 -2.19273325e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.88327356
Centerline is valid?  [False, False]
Translation: X:3.25, Y:0.17, Z:-0.00
[[ 9.95883692e-01  5.94075249e-02 -6.84574190e-02  3.24612941e+00]
 [-5.68880888e-02  9.97650089e-01  3.81843580e-02  1.73900133e-01]
 [ 7.05649884e-02 -3.41327677e-02  9.96923034e-01 -9.49658304e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.94327356
Centerline is valid?  [False, False]
Translation: X:3.25, Y:0.18, Z:-0.00
[[ 9.95317863e-01  6.61524243e-02 -7.04713307e-02  3.25104143e+00]
 [-6.35120559e-02  9.97215864e-01  3.90735227e-02  1.77190212e-01]
 [ 7.28599372e-02 -3.44147960e-02  9.96748239e-01 -1.06886383e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.003273559999998
Centerline is valid?  [False, False]
Translation: X:3.26, Y:0.18, Z:-0.00
[[ 9.94910902e-01  7.10050220e-02 -7.14883466e-02  3.25507445e+00]
 [-6.83199395e-02  9.96887841e-01  3.93321514e-02  1.79542914e-01]
 [ 7.40586438e-02 -3.42479067e-02  9.96665640e-01 -1.41194614e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.063273559999999
Centerline is valid?  [False, False]
Translation: X:3.26, Y:0.18, Z:-0.00
[[ 9.94724394e-01  7.32771608e-02 -7.17902273e-02  3.25839612e+00]
 [-7.06353029e-02  9.96752163e-01  3.86753141e-02  1.80254168e-01]
 [ 7.43910815e-02 -3.34003540e-02  9.96669646e-01 -1.35049457e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.12327356
Centerline is valid?  [False, False]
Translation: X:3.26, Y:0.18, Z:-0.00
[[ 9.94460134e-01  7.73246688e-02 -7.12034957e-02  3.25949439e+00]
 [-7.46279241e-02  9.96417321e-01  3.97893929e-02  1.81389090e-01]
 [ 7.40250980e-02 -3.42551959e-02  9.96667882e-01 -1.81218223e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.18327356
Centerline is valid?  [False, False]
Translation: X:3.26, Y:0.18, Z:0.00
[[ 9.94200018e-01  8.05713706e-02 -7.12360759e-02  3.26223916e+00]
 [-7.78136334e-02  9.96137643e-01  4.06796613e-02  1.82072507e-01]
 [ 7.42385528e-02 -3.49005821e-02  9.96629614e-01  8.01715213e-04]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.243273559999999
Centerline is valid?  [False, False]
Translation: X:3.27, Y:0.18, Z:0.00
[[ 9.93893790e-01  8.28064237e-02 -7.29261960e-02  3.26587410e+00]
 [-8.00362112e-02  9.95983915e-01  4.01278680e-02  1.82430229e-01]
 [ 7.59561634e-02 -3.40461024e-02  9.96529741e-01  1.63755107e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.30327356
Centerline is valid?  [False, False]
Translation: X:3.27, Y:0.18, Z:0.00
[[ 9.93556834e-01  8.46929059e-02 -7.53122144e-02  3.27009431e+00]
 [-8.18909439e-02  9.95856222e-01  3.95506947e-02  1.81975735e-01]
 [ 7.83498006e-02 -3.31284746e-02  9.96375337e-01  1.72256358e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.36327356
Centerline is valid?  [False, False]
Translation: X:3.27, Y:0.18, Z:0.00
[[ 9.93480538e-01  8.48868650e-02 -7.60962646e-02  3.27301432e+00]
 [-8.19816251e-02  9.95809485e-01  4.05275641e-02  1.81243415e-01]
 [ 7.92176399e-02 -3.40248507e-02  9.96276505e-01  2.01215289e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.898016 with order 1
Centerline goodness : 0.897269 with order 1
Centerline goodness : 0.900532 with order 1
Centerline goodness : 0.901111 with order 1
Centerline goodness : 0.894849 with order 1
Centerline goodness : 0.896610 with order 1
Centerline goodness : 0.900905 with order 1
Centerline goodness : 0.895980 with order 1
Centerline goodness : 0.897684 with order 1
Centerline goodness : 0.900751 with order 1
Centerline goodness : 0.899054 with order 1
Centerline goodness : 0.900095 with order 1
Centerline goodness : 0.897352 with order 1
Centerline goodness : 0.899170 with order 1
Centerline goodness : 0.898746 with order 1
Centerline goodness : 0.896578 with order 1
Centerline goodness : 0.899295 with order 1
Centerline goodness : 0.894217 with order 1
Centerline goodness : 0.900492 with order 1
Centerline goodness : 0.895145 with order 1
SLAMing on frame at distance 14.423273559999998
Centerline is valid?  [False, False]
Translation: X:3.27, Y:0.18, Z:0.00
[[ 9.93459884e-01  8.57727675e-02 -7.53690290e-02  3.27355633e+00]
 [-8.29405062e-02  9.95753689e-01  3.99432501e-02  1.80056051e-01]
 [ 7.84750318e-02 -3.34308712e-02  9.96355381e-01  2.60392005e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.483273559999999
Centerline is valid?  [False, False]
Translation: X:3.27, Y:0.18, Z:0.00
[[ 0.99348951  0.08579105 -0.07495655  3.27448093]
 [-0.08300816  0.9957661   0.03949077  0.17915849]
 [ 0.07802715 -0.03301166  0.99640453  0.00336784]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.54327356
Centerline is valid?  [False, False]
Translation: X:3.28, Y:0.18, Z:0.00
[[ 0.9933559   0.08663894 -0.0757479   3.27767462]
 [-0.08384439  0.99570234  0.03933152  0.17854654]
 [ 0.07883001 -0.03271916  0.99635099  0.003619  ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.60327356
Centerline is valid?  [False, False]
Translation: X:3.28, Y:0.18, Z:0.00
[[ 0.99308497  0.08844529 -0.07719887  3.28082839]
 [-0.08562186  0.99555807  0.03915392  0.17842423]
 [ 0.08031894 -0.03227326  0.99624661  0.00350117]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.663273559999999
Centerline is valid?  [False, False]
Translation: X:3.28, Y:0.18, Z:0.00
[[ 9.92854577e-01  8.96285638e-02 -7.87814060e-02  3.28448468e+00]
 [-8.66973116e-02  9.95436221e-01  3.98786514e-02  1.77580064e-01]
 [ 8.19961313e-02 -3.27635654e-02  9.96093963e-01  2.90047892e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.723273559999999
Centerline is valid?  [False, False]
Translation: X:3.29, Y:0.18, Z:0.00
[[ 9.92681859e-01  9.04641469e-02 -7.99935292e-02  3.28778711e+00]
 [-8.75367363e-02  9.95382530e-01  3.93819517e-02  1.76706787e-01]
 [ 8.31868162e-02 -3.20913766e-02  9.96017117e-01  2.81979477e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.78327356
Centerline is valid?  [False, False]
Translation: X:3.29, Y:0.18, Z:0.00
[[ 0.99248606  0.09230534 -0.08031903  3.2902345 ]
 [-0.08939422  0.99522765  0.0391228   0.17615811]
 [ 0.08354697 -0.03164878  0.99600113  0.00337645]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.84327356
Centerline is valid?  [False, False]
Translation: X:3.29, Y:0.18, Z:0.00
[[ 0.99233531  0.09434256 -0.07981298  3.29152923]
 [-0.09141273  0.99502513  0.0396068   0.1760222 ]
 [ 0.08315253 -0.0320073   0.99602268  0.00437825]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.903273559999999
Centerline is valid?  [False, False]
Translation: X:3.29, Y:0.18, Z:0.00
[[ 0.99229398  0.09479284 -0.07979333  3.29372652]
 [-0.09188245  0.99499023  0.03939611  0.17542171]
 [ 0.08312806 -0.03176092  0.99603262  0.00494168]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 14.96327356
Centerline is valid?  [False, False]
Translation: X:3.30, Y:0.17, Z:0.00
[[ 0.99225234  0.09434865 -0.0808308   3.2955698 ]
 [-0.09144317  0.995049    0.03893106  0.17481731]
 [ 0.0841037  -0.03123802  0.99596725  0.00476775]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.02327356
Centerline is valid?  [False, False]
Translation: X:3.30, Y:0.17, Z:0.00
[[ 0.99218771  0.09424816 -0.08173637  3.29854716]
 [-0.09136842  0.99508064  0.03829263  0.17495704]
 [ 0.08494329 -0.03052535  0.99591809  0.00441851]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.083273559999999
Centerline is valid?  [False, False]
Translation: X:3.30, Y:0.17, Z:0.00
[[ 0.99224992  0.0934839  -0.08185878  3.30142683]
 [-0.09060168  0.99515233  0.03825135  0.17493835]
 [ 0.08503785 -0.03053836  0.99590962  0.00467947]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.143273559999999
Centerline is valid?  [False, False]
Translation: X:3.30, Y:0.18, Z:0.00
[[ 0.99235983  0.09231849 -0.08184901  3.3029709 ]
 [-0.08945229  0.9952649   0.03802729  0.17523775]
 [ 0.08497207 -0.03041518  0.995919    0.00468809]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.20327356
Centerline is valid?  [False, False]
Translation: X:3.31, Y:0.18, Z:0.00
[[ 0.99234851  0.09173887 -0.08263427  3.30560706]
 [-0.08887472  0.99532893  0.03770422  0.17538545]
 [ 0.08570722 -0.03007163  0.99586644  0.00473829]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.26327356
Centerline is valid?  [False, False]
Translation: X:3.31, Y:0.18, Z:0.00
[[ 0.99268216  0.08840513 -0.08225972  3.30601439]
 [-0.08550404  0.99560706  0.03815278  0.17523991]
 [ 0.08527126 -0.03084004  0.99588037  0.00473306]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.323273559999999
Centerline is valid?  [False, False]
Translation: X:3.31, Y:0.17, Z:0.01
[[ 0.99313124  0.08424711 -0.08119578  3.30525774]
 [-0.08148208  0.9959955   0.03679181  0.1749948 ]
 [ 0.08397024 -0.02992309  0.99601888  0.00519922]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.38327356
Centerline is valid?  [False, False]
Translation: X:3.31, Y:0.17, Z:0.01
[[ 0.99347276  0.07962482 -0.08168092  3.3065109 ]
 [-0.07686953  0.99637851  0.03634474  0.17492976]
 [ 0.08427906 -0.02982874  0.99599563  0.00591265]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.44327356
Centerline is valid?  [False, False]
Translation: X:3.31, Y:0.17, Z:0.01
[[ 0.99363662  0.07693667 -0.08226186  3.30901991]
 [-0.07414661  0.99658083  0.0364545   0.17494275]
 [ 0.08478528 -0.03012309  0.9959438   0.0058934 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.503273559999998
Centerline is valid?  [False, False]
Translation: X:3.31, Y:0.18, Z:0.01
[[ 0.99379764  0.07359752 -0.08336463  3.31132525]
 [-0.07077823  0.9968318   0.03628767  0.1750075 ]
 [ 0.08577119 -0.0301622   0.99585819  0.00549493]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.563273559999999
Centerline is valid?  [False, False]
Translation: X:3.31, Y:0.18, Z:0.01
[[ 0.99385699  0.07190009 -0.08413478  3.31459873]
 [-0.0690737   0.99696037  0.03603935  0.17555109]
 [ 0.08647028 -0.03000646  0.99580244  0.00556859]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.896588 with order 1
Centerline goodness : 0.883883 with order 1
Centerline goodness : 0.887203 with order 1
Centerline goodness : 0.895944 with order 1
Centerline goodness : 0.896642 with order 1
Centerline goodness : 0.898385 with order 1
Centerline goodness : 0.896625 with order 1
Centerline goodness : 0.888712 with order 1
Centerline goodness : 0.885910 with order 1
Centerline goodness : 0.897700 with order 1
Centerline goodness : 0.884301 with order 1
Centerline goodness : 0.884509 with order 1
Centerline goodness : 0.887653 with order 1
Centerline goodness : 0.884674 with order 1
Centerline goodness : 0.894318 with order 1
Centerline goodness : 0.888715 with order 1
Centerline goodness : 0.887261 with order 1
Centerline goodness : 0.884416 with order 1
Centerline goodness : 0.898734 with order 1
Centerline goodness : 0.892013 with order 1
SLAMing on frame at distance 15.62327356
Centerline is valid?  [False, False]
Translation: X:3.32, Y:0.18, Z:0.01
[[ 0.99400232  0.07062757 -0.08349329  3.31546077]
 [-0.06782149  0.99704836  0.03598353  0.17685553]
 [ 0.08578828 -0.03010507  0.99585845  0.00551751]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.68327356
Centerline is valid?  [False, False]
Translation: X:3.32, Y:0.18, Z:0.01
[[ 0.99401989  0.07064489 -0.08326917  3.31693204]
 [-0.06787832  0.99705814  0.0356034   0.17812537]
 [ 0.0855394  -0.02973832  0.99589088  0.00636365]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.743273559999999
Centerline is valid?  [False, False]
Translation: X:3.32, Y:0.18, Z:0.01
[[ 0.99388971  0.07166888 -0.08394531  3.32008873]
 [-0.06888369  0.99698854  0.03562152  0.17890115]
 [ 0.08624546 -0.0296214   0.99583347  0.00642963]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.80327356
Centerline is valid?  [False, False]
Translation: X:3.32, Y:0.18, Z:0.01
[[ 0.99353637  0.07464981 -0.08551542  3.32403944]
 [-0.07173328  0.99674883  0.0366892   0.18017113]
 [ 0.08797624 -0.03031775  0.99566109  0.00648897]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.86327356
Centerline is valid?  [False, False]
Translation: X:3.33, Y:0.18, Z:0.01
[[ 0.99331074  0.07726899 -0.08580949  3.32670014]
 [-0.07429833  0.99653846  0.03729411  0.18087526]
 [ 0.08839414 -0.03066914  0.99561332  0.00651241]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.923273559999998
Centerline is valid?  [False, False]
Translation: X:3.33, Y:0.18, Z:0.01
[[ 0.99314446  0.0787635  -0.08637361  3.32959698]
 [-0.0757648   0.99642152  0.03746811  0.18126676]
 [ 0.08901564 -0.03066716  0.995558    0.00638326]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 15.983273559999999
Centerline is valid?  [False, False]
Translation: X:3.33, Y:0.18, Z:0.01
[[ 0.99298345  0.08001233 -0.08707403  3.33226957]
 [-0.07696534  0.99631657  0.0378103   0.18160951]
 [ 0.08977859 -0.03084332  0.99548405  0.00636679]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.04327356
Centerline is valid?  [False, False]
Translation: X:3.33, Y:0.18, Z:0.01
[[ 0.9929391   0.08024661 -0.08736373  3.33427545]
 [-0.07723127  0.99631262  0.03736983  0.1814475 ]
 [ 0.09004039 -0.03035876  0.9954753   0.00669263]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.103273559999998
Centerline is valid?  [False, False]
Translation: X:3.34, Y:0.18, Z:0.01
[[ 0.99286803  0.08082446 -0.08763837  3.33527912]
 [-0.07795405  0.99631754  0.03570062  0.18058458]
 [ 0.09020113 -0.02861424  0.99551242  0.00833539]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.16327356
Centerline is valid?  [False, False]
Translation: X:3.34, Y:0.18, Z:0.01
[[ 0.99282963  0.08105776 -0.08785763  3.33687979]
 [-0.07814095  0.99628666  0.03615072  0.17982793]
 [ 0.09046168 -0.02902623  0.99547685  0.0090404 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.22327356
Centerline is valid?  [False, False]
Translation: X:3.34, Y:0.18, Z:0.01
[[ 0.99271336  0.08137577 -0.08887168  3.33958758]
 [-0.07831848  0.99622779  0.03736854  0.17847486]
 [ 0.09157733 -0.03013595  0.99534186  0.00976637]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.283273559999998
Centerline is valid?  [False, False]
Translation: X:3.34, Y:0.18, Z:0.01
[[ 0.99251268  0.08153284 -0.09094486  3.34354899]
 [-0.07850439  0.99624901  0.03640019  0.17697008]
 [ 0.09357153 -0.02898808  0.99519046  0.00919677]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.34327356
Centerline is valid?  [False, False]
Translation: X:3.35, Y:0.18, Z:0.01
[[ 0.99241053  0.08185328 -0.0917681   3.34669943]
 [-0.07881543  0.9962296   0.03625883  0.17661923]
 [ 0.09439    -0.0287509   0.99512005  0.00913381]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.40327356
Centerline is valid?  [False, False]
Translation: X:3.35, Y:0.18, Z:0.01
[[ 0.99255312  0.08100841 -0.09097224  3.34739421]
 [-0.07798716  0.9962935   0.03629406  0.17631407]
 [ 0.09357518 -0.02892912  0.99519184  0.00961253]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.463273559999998
Centerline is valid?  [False, False]
Translation: X:3.35, Y:0.18, Z:0.01
[[ 0.9929193   0.07773943 -0.08982119  3.3469064 ]
 [-0.07473366  0.99654039  0.03636105  0.17518748]
 [ 0.09233713 -0.02939092  0.99529394  0.01033414]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.52327356
Centerline is valid?  [False, False]
Translation: X:3.35, Y:0.17, Z:0.01
[[ 0.9931074   0.07557543 -0.08958826  3.34765024]
 [-0.07253056  0.99668802  0.03677373  0.17465143]
 [ 0.09207073 -0.03002238  0.99529977  0.01085255]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.58327356
Centerline is valid?  [False, False]
Translation: X:3.35, Y:0.17, Z:0.01
[[ 0.99339408  0.07020752 -0.09076952  3.349215  ]
 [-0.06709551  0.9970641   0.03689681  0.17477995]
 [ 0.09309346 -0.03056285  0.99518818  0.01090823]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.64327356
Centerline is valid?  [False, False]
Translation: X:3.35, Y:0.17, Z:0.01
[[ 0.99367186  0.06512606 -0.09151415  3.35116072]
 [-0.06216087  0.99745614  0.03488942  0.17452831]
 [ 0.09355356 -0.02898003  0.99519239  0.0107094 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.70327356
Centerline is valid?  [False, False]
Translation: X:3.35, Y:0.17, Z:0.01
[[ 0.99427371  0.0560303  -0.09099663  3.35066715]
 [-0.05321246  0.99803433  0.03310467  0.174512  ]
 [ 0.09267262 -0.02807295  0.99530081  0.01021476]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.76327356
Centerline is valid?  [False, False]
Translation: X:3.35, Y:0.18, Z:0.01
[[ 0.99483768  0.04721145 -0.08982803  3.34841511]
 [-0.04424903  0.99841805  0.03469037  0.17581427]
 [ 0.09132371 -0.03053648  0.99535295  0.00998527]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.881137 with order 1
Centerline goodness : 0.880436 with order 1
Centerline goodness : 0.880101 with order 1
Centerline goodness : 0.877087 with order 1
Centerline goodness : 0.880032 with order 1
Centerline goodness : 0.882510 with order 1
Centerline goodness : 0.877982 with order 1
Centerline goodness : 0.877992 with order 1
Centerline goodness : 0.880985 with order 1
Centerline goodness : 0.883950 with order 1
Centerline goodness : 0.878732 with order 1
Centerline goodness : 0.875953 with order 1
Centerline goodness : 0.874905 with order 1
Centerline goodness : 0.877715 with order 1
Centerline goodness : 0.878270 with order 1
Centerline goodness : 0.882207 with order 1
Centerline goodness : 0.880833 with order 1
Centerline goodness : 0.878367 with order 1
Centerline goodness : 0.879744 with order 1
Centerline goodness : 0.879611 with order 1
SLAMing on frame at distance 16.82327356
Centerline is valid?  [False, False]
Translation: X:3.35, Y:0.18, Z:0.01
[[ 0.99521545  0.03951202 -0.08935888  3.34775438]
 [-0.03667867  0.99877776  0.03313102  0.1774076 ]
 [ 0.09055874 -0.02969494  0.9954483   0.00954885]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.88327356
Centerline is valid?  [False, False]
Translation: X:3.35, Y:0.18, Z:0.01
[[ 0.99532015  0.0367592  -0.08936755  3.34950561]
 [-0.03398879  0.99889925  0.03232727  0.17937117]
 [ 0.0904575  -0.02913849  0.99547395  0.00994278]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 16.943273559999998
Centerline is valid?  [False, False]
Translation: X:3.35, Y:0.18, Z:0.01
[[ 0.99533078  0.03619762 -0.08947834  3.35078176]
 [-0.03338543  0.99890653  0.03272851  0.18334579]
 [ 0.0905652  -0.02958842  0.99545089  0.0101923 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.00327356
Centerline is valid?  [False, False]
Translation: X:3.35, Y:0.19, Z:0.01
[[ 0.9951878   0.03826114 -0.09020713  3.3543525 ]
 [-0.03532835  0.99880104  0.03388783  0.18612278]
 [ 0.09139556 -0.03053789  0.99534632  0.010171  ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.06327356
Centerline is valid?  [False, False]
Translation: X:3.36, Y:0.19, Z:0.01
[[ 0.99489862  0.04282458 -0.0913389   3.35728461]
 [-0.03971016  0.99857517  0.03564722  0.19046705]
 [ 0.09273533 -0.03183829  0.99518163  0.01038227]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.123273559999998
Centerline is valid?  [False, False]
Translation: X:3.36, Y:0.19, Z:0.01
[[ 0.99460319  0.04849148 -0.09172283  3.36006066]
 [-0.04526469  0.99829181  0.03693997  0.19486629]
 [ 0.09335743 -0.0325888   0.99509917  0.01047801]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.18327356
Centerline is valid?  [False, False]
Translation: X:3.36, Y:0.20, Z:0.01
[[ 0.99437111  0.05306352 -0.09170803  3.36293047]
 [-0.04982302  0.99806236  0.03727192  0.19785957]
 [ 0.09350812 -0.03249295  0.99508816  0.01141098]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.24327356
Centerline is valid?  [False, False]
Translation: X:3.37, Y:0.20, Z:0.01
[[ 0.99393308  0.06050809 -0.09184667  3.36618409]
 [-0.05728217  0.99765859  0.03736417  0.20224032]
 [ 0.09389245 -0.03187631  0.99507191  0.01225975]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.30327356
Centerline is valid?  [False, False]
Translation: X:3.37, Y:0.21, Z:0.01
[[ 0.9932833   0.06902298 -0.09286615  3.37094703]
 [-0.06576987  0.99712428  0.03764961  0.20642068]
 [ 0.09519779 -0.03128893  0.99496652  0.01302786]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.36327356
Centerline is valid?  [False, False]
Translation: X:3.38, Y:0.21, Z:0.01
[[ 0.99280355  0.07415305 -0.09403424  3.37527141]
 [-0.07082706  0.99675566  0.03823199  0.20878583]
 [ 0.09656418 -0.03129669  0.9948346   0.01358563]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.42327356
Centerline is valid?  [False, False]
Translation: X:3.38, Y:0.21, Z:0.01
[[ 0.99217838  0.07986709 -0.09593386  3.37974142]
 [-0.07636903  0.9962928   0.0396034   0.21146337]
 [ 0.09874122 -0.03196726  0.99459955  0.01348297]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.48327356
Centerline is valid?  [False, False]
Translation: X:3.38, Y:0.21, Z:0.01
[[ 0.99189613  0.08267915 -0.09646881  3.38291446]
 [-0.07919465  0.99607971  0.03941336  0.21286543]
 [ 0.09934929 -0.03145414  0.99455536  0.01291543]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.54327356
Centerline is valid?  [False, False]
Translation: X:3.38, Y:0.21, Z:0.01
[[ 0.99174386  0.08435005 -0.0965877   3.38489692]
 [-0.08093831  0.99596678  0.0387189   0.21333738]
 [ 0.09946408 -0.03058158  0.9945711   0.01324121]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.603273559999998
Centerline is valid?  [False, False]
Translation: X:3.39, Y:0.21, Z:0.01
[[ 0.99160242  0.08616801 -0.09643499  3.38592989]
 [-0.08276711  0.99581585  0.03873487  0.21359611]
 [ 0.09936919 -0.03042795  0.99458529  0.01442049]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.66327356
Centerline is valid?  [False, False]
Translation: X:3.39, Y:0.21, Z:0.01
[[ 0.99153048  0.08720486 -0.09624249  3.38718139]
 [-0.083738    0.99570466  0.03949917  0.21310913]
 [ 0.09927361 -0.03110548  0.99457388  0.01472928]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.72327356
Centerline is valid?  [False, False]
Translation: X:3.39, Y:0.21, Z:0.02
[[ 0.99131916  0.08812064 -0.09757603  3.38895411]
 [-0.08456601  0.99561497  0.03999271  0.21180521]
 [ 0.10067234 -0.03139392  0.99442421  0.01513617]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.783273559999998
Centerline is valid?  [False, False]
Translation: X:3.39, Y:0.21, Z:0.01
[[ 0.99117841  0.08897508 -0.09822829  3.39122476]
 [-0.08534711  0.99552593  0.0405462   0.2111273 ]
 [ 0.10139641 -0.03180502  0.99433757  0.01489511]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.84327356
Centerline is valid?  [False, False]
Translation: X:3.39, Y:0.21, Z:0.02
[[ 0.99113821  0.08973542 -0.09794183  3.3918144 ]
 [-0.08622441  0.99549164  0.03951892  0.2105003 ]
 [ 0.10104652 -0.03072374  0.99440719  0.01509309]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.90327356
Centerline is valid?  [False, False]
Translation: X:3.39, Y:0.21, Z:0.02
[[ 0.99104303  0.09162953 -0.09714804  3.39240655]
 [-0.08827434  0.99535965  0.03829889  0.21025579]
 [ 0.10020655 -0.02938017  0.99453278  0.01588817]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 17.963273559999998
Centerline is valid?  [False, False]
Translation: X:3.39, Y:0.21, Z:0.02
[[ 0.99091387  0.09269718 -0.09745226  3.39430835]
 [-0.08932043  0.99525975  0.0384693   0.20990858]
 [ 0.10055631 -0.02941528  0.99449644  0.01650502]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.890091 with order 1
Centerline goodness : 0.893258 with order 1
Centerline goodness : 0.890927 with order 1
Centerline goodness : 0.890364 with order 1
Centerline goodness : 0.893369 with order 1
Centerline goodness : 0.894064 with order 1
Centerline goodness : 0.892087 with order 1
Centerline goodness : 0.879963 with order 1
Centerline goodness : 0.879341 with order 1
Centerline goodness : 0.892653 with order 1
Centerline goodness : 0.881744 with order 1
Centerline goodness : 0.896075 with order 1
Centerline goodness : 0.891637 with order 1
Centerline goodness : 0.890560 with order 1
Centerline goodness : 0.893543 with order 1
Centerline goodness : 0.885795 with order 1
Centerline goodness : 0.892243 with order 1
Centerline goodness : 0.887413 with order 1
Centerline goodness : 0.878847 with order 1
Centerline goodness : 0.891057 with order 1
SLAMing on frame at distance 18.02327356
Centerline is valid?  [False, False]
Translation: X:3.40, Y:0.21, Z:0.02
[[ 0.9904953   0.09593327 -0.09856906  3.39635596]
 [-0.09227539  0.99488774  0.04103215  0.20930494]
 [ 0.1020015  -0.03154665  0.99428392  0.01755494]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.08327356
Centerline is valid?  [False, False]
Translation: X:3.40, Y:0.21, Z:0.02
[[ 0.99025613  0.09675923 -0.10015215  3.39937968]
 [-0.09300362  0.99479955  0.04152316  0.20819998]
 [ 0.10364906 -0.03180405  0.99410531  0.01710779]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.14327356
Centerline is valid?  [False, False]
Translation: X:3.40, Y:0.21, Z:0.02
[[ 0.99014737  0.09719043 -0.10080776  3.40100685]
 [-0.09345445  0.99477262  0.04115461  0.20639818]
 [ 0.10428063 -0.0313282   0.99405437  0.01657397]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.20327356
Centerline is valid?  [False, False]
Translation: X:3.40, Y:0.20, Z:0.02
[[ 0.99025986  0.09791135 -0.09898874  3.3993706 ]
 [-0.09423573  0.99469867  0.04116052  0.20483924]
 [ 0.10249405 -0.03143134  0.99423691  0.0173272 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.26327356
Centerline is valid?  [False, False]
Translation: X:3.40, Y:0.20, Z:0.02
[[ 0.99022833  0.0986691  -0.09855077  3.40027627]
 [-0.09497599  0.99461419  0.0414991   0.20362299]
 [ 0.10211467 -0.03173363  0.99426635  0.01804942]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.32327356
Centerline is valid?  [False, False]
Translation: X:3.40, Y:0.20, Z:0.02
[[ 0.99007724  0.09971633 -0.09901375  3.40242704]
 [-0.09591733  0.99448472  0.04242643  0.20168077]
 [ 0.10269827 -0.03250831  0.99418121  0.01782617]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.38327356
Centerline is valid?  [False, False]
Translation: X:3.41, Y:0.20, Z:0.02
[[ 0.98991303  0.0999948  -0.10036547  3.4050503 ]
 [-0.09597617  0.9944057   0.04411208  0.19887285]
 [ 0.10421497 -0.03403443  0.99397228  0.01739672]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.443273559999998
Centerline is valid?  [False, False]
Translation: X:3.41, Y:0.20, Z:0.02
[[ 0.98982195  0.10009307 -0.10116263  3.40732397]
 [-0.09605578  0.99440148  0.04403383  0.19747536]
 [ 0.10500375 -0.03386839  0.99389494  0.01711013]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.50327356
Centerline is valid?  [False, False]
Translation: X:3.41, Y:0.20, Z:0.02
[[ 0.98980496  0.10130111 -0.10012107  3.40756855]
 [-0.09731971  0.9942848   0.0438931   0.19595921]
 [ 0.10399528 -0.03370185  0.99400662  0.01747995]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.56327356
Centerline is valid?  [False, False]
Translation: X:3.41, Y:0.20, Z:0.02
[[ 0.98956151  0.10342709 -0.10035366  3.4091393 ]
 [-0.09938019  0.99405247  0.04453393  0.19506266]
 [ 0.10436282 -0.0340959   0.99395466  0.01729702]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.623273559999998
Centerline is valid?  [False, False]
Translation: X:3.41, Y:0.19, Z:0.02
[[ 0.98933735  0.10507679 -0.10084881  3.41127909]
 [-0.1009933   0.99387833  0.04479083  0.19408638]
 [ 0.10493792 -0.03412819  0.993893    0.01744377]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.68327356
Centerline is valid?  [False, False]
Translation: X:3.41, Y:0.19, Z:0.02
[[ 0.98917094  0.10658171 -0.10090193  3.41284905]
 [-0.10247147  0.9937134   0.04509196  0.19380873]
 [ 0.10507357 -0.03426409  0.99387399  0.01808638]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.74327356
Centerline is valid?  [False, False]
Translation: X:3.41, Y:0.19, Z:0.02
[[ 0.98894473  0.10827053 -0.10132032  3.41457065]
 [-0.10413492  0.99353243  0.0452684   0.19315869]
 [ 0.10556626 -0.03421696  0.99382341  0.0185573 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.803273559999997
Centerline is valid?  [False, False]
Translation: X:3.42, Y:0.19, Z:0.02
[[ 0.98890274  0.10848769 -0.10149772  3.41615324]
 [-0.10429716  0.99349399  0.04573622  0.19243928]
 [ 0.10579919 -0.03464274  0.99378389  0.0193132 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.86327356
Centerline is valid?  [False, False]
Translation: X:3.42, Y:0.19, Z:0.02
[[ 0.9889527   0.10713196 -0.10244657  3.41754717]
 [-0.10285341  0.99362364  0.04618691  0.19104801]
 [ 0.10674142 -0.03513969  0.99366567  0.01964131]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.92327356
Centerline is valid?  [False, False]
Translation: X:3.42, Y:0.19, Z:0.02
[[ 0.98909482  0.10456811 -0.10371574  3.41991114]
 [-0.10031499  0.99391831  0.04542344  0.18922086]
 [ 0.10783481 -0.03452385  0.9935692   0.01988843]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 18.98327356
Centerline is valid?  [False, False]
Translation: X:3.42, Y:0.19, Z:0.02
[[ 0.98934459  0.10253927 -0.10335854  3.42007758]
 [-0.09831345  0.99412868  0.04519558  0.18834358]
 [ 0.10738601 -0.03455246  0.99361681  0.02032432]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.04327356
Centerline is valid?  [False, False]
Translation: X:3.42, Y:0.19, Z:0.02
[[ 0.98962105  0.10035346 -0.10285599  3.4203605 ]
 [-0.09616722  0.99435226  0.04489367  0.18735397]
 [ 0.10678032 -0.03453634  0.99368265  0.02089225]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.103273559999998
Centerline is valid?  [False, False]
Translation: X:3.42, Y:0.19, Z:0.02
[[ 0.98969385  0.09873226 -0.10372085  3.42268758]
 [-0.0945378   0.99452091  0.04461806  0.18638287]
 [ 0.10755779 -0.03435268  0.99360516  0.02048445]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.16327356
Centerline is valid?  [False, False]
Translation: X:3.43, Y:0.19, Z:0.02
[[ 0.98960336  0.09869146 -0.10461926  3.42521335]
 [-0.09438937  0.99450343  0.04531631  0.1856602 ]
 [ 0.10851655 -0.03497023  0.99347936  0.02033732]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.899262 with order 1
Centerline goodness : 0.900717 with order 1
Centerline goodness : 0.895941 with order 1
Centerline goodness : 0.901321 with order 1
Centerline goodness : 0.900602 with order 1
Centerline goodness : 0.894740 with order 1
Centerline goodness : 0.892350 with order 1
Centerline goodness : 0.894848 with order 1
Centerline goodness : 0.900460 with order 1
Centerline goodness : 0.901540 with order 1
Centerline goodness : 0.901556 with order 1
Centerline goodness : 0.896784 with order 1
Centerline goodness : 0.902031 with order 1
Centerline goodness : 0.902900 with order 1
Centerline goodness : 0.898296 with order 1
Centerline goodness : 0.898760 with order 1
Centerline goodness : 0.895785 with order 1
Centerline goodness : 0.896649 with order 1
Centerline goodness : 0.899569 with order 1
Centerline goodness : 0.896718 with order 1
SLAMing on frame at distance 19.22327356
Centerline is valid?  [False, False]
Translation: X:3.43, Y:0.19, Z:0.02
[[ 0.98953777  0.09903271 -0.10491672  3.42707686]
 [-0.09465762  0.99445107  0.04590215  0.18557175]
 [ 0.10888036 -0.03549074  0.9934211   0.01939034]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.283273559999998
Centerline is valid?  [False, False]
Translation: X:3.43, Y:0.19, Z:0.02
[[ 0.98952599  0.09996967 -0.10413633  3.42823389]
 [-0.0957121   0.99438585  0.04512176  0.18557241]
 [ 0.1080625  -0.03468204  0.99353895  0.01970867]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.34327356
Centerline is valid?  [False, False]
Translation: X:3.43, Y:0.19, Z:0.02
[[ 0.98946427  0.10055692 -0.10415742  3.42984974]
 [-0.09634594  0.99434309  0.0447132   0.1851561 ]
 [ 0.10806443 -0.03420697  0.99355521  0.02011717]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.40327356
Centerline is valid?  [False, False]
Translation: X:3.43, Y:0.18, Z:0.02
[[ 0.98932732  0.10148871 -0.10455383  3.43164698]
 [-0.09720815  0.9942341   0.04526724  0.18429008]
 [ 0.1085451  -0.03462063  0.99348849  0.02042089]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.463273559999998
Centerline is valid?  [False, False]
Translation: X:3.43, Y:0.18, Z:0.02
[[ 0.98928803  0.10131611 -0.1050916   3.43409528]
 [-0.09689229  0.99421308  0.04639217  0.18217759]
 [ 0.10918372 -0.03571265  0.99337985  0.02049561]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.52327356
Centerline is valid?  [False, False]
Translation: X:3.44, Y:0.18, Z:0.02
[[ 0.98928418  0.10074445 -0.10567579  3.43626819]
 [-0.09628601  0.99426748  0.04648844  0.1805939 ]
 [ 0.10975346 -0.03581518  0.99331337  0.02059841]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.58327356
Centerline is valid?  [False, False]
Translation: X:3.44, Y:0.18, Z:0.02
[[ 0.98934579  0.10032968 -0.10549342  3.43760638]
 [-0.09592724  0.99432387  0.04602172  0.17943996]
 [ 0.10951197 -0.0354117   0.99335449  0.02052227]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.64327356
Centerline is valid?  [False, False]
Translation: X:3.44, Y:0.18, Z:0.02
[[ 0.98932469  0.10102631 -0.10502545  3.4384537 ]
 [-0.09676108  0.99429184  0.0449558   0.17881832]
 [ 0.10896767 -0.03431351  0.99345288  0.02126675]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.70327356
Centerline is valid?  [False, False]
Translation: X:3.44, Y:0.18, Z:0.02
[[ 0.98905419  0.10285793 -0.10579248  3.44137831]
 [-0.09859506  0.99411966  0.04477848  0.17811931]
 [ 0.1097762  -0.03385772  0.9933795   0.02200377]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.76327356
Centerline is valid?  [False, False]
Translation: X:3.44, Y:0.18, Z:0.02
[[ 0.98870204  0.10512301 -0.10685236  3.44416837]
 [-0.10073448  0.99386388  0.04568529  0.17767899]
 [ 0.11099927 -0.03440542  0.99322476  0.02239479]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.82327356
Centerline is valid?  [False, False]
Translation: X:3.45, Y:0.18, Z:0.02
[[ 0.98831055  0.10785917 -0.1077435   3.4468596 ]
 [-0.1033419   0.99354987  0.04668094  0.17684351]
 [ 0.1120835  -0.03500085  0.99308219  0.02289401]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.88327356
Centerline is valid?  [False, False]
Translation: X:3.45, Y:0.18, Z:0.02
[[ 0.9882334   0.10822872 -0.10807999  3.44871962]
 [-0.10371685  0.99351715  0.04654544  0.17633747]
 [ 0.11241688 -0.03478804  0.99305198  0.02314277]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 19.943273559999998
Centerline is valid?  [False, False]
Translation: X:3.45, Y:0.17, Z:0.02
[[ 0.98812033  0.10863889 -0.10870057  3.45106552]
 [-0.10415622  0.99349119  0.04611656  0.17480507]
 [ 0.11300311 -0.03424687  0.99300425  0.02327214]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.00327356
Centerline is valid?  [False, False]
Translation: X:3.45, Y:0.17, Z:0.02
[[ 0.98789874  0.11053249 -0.10880558  3.45212029]
 [-0.10609915  0.99330288  0.04574236  0.17344358]
 [ 0.11313291 -0.03364464  0.99301006  0.02443249]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.06327356
Centerline is valid?  [False, False]
Translation: X:3.45, Y:0.17, Z:0.03
[[ 0.98773987  0.11251236 -0.10821697  3.45247832]
 [-0.10797272  0.99304459  0.04695037  0.17254473]
 [ 0.11274677 -0.03469027  0.993018    0.02575575]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.123273559999998
Centerline is valid?  [False, False]
Translation: X:3.45, Y:0.17, Z:0.03
[[ 0.9875062   0.11402088 -0.10876923  3.45430927]
 [-0.10953236  0.99289943  0.04640446  0.17092277]
 [ 0.11328799 -0.03391094  0.99298332  0.02721884]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.18327356
Centerline is valid?  [False, False]
Translation: X:3.46, Y:0.17, Z:0.03
[[ 0.98722073  0.11504675 -0.11027002  3.45750988]
 [-0.11059977  0.99281606  0.04565046  0.17012876]
 [ 0.11472979 -0.03287125  0.99285274  0.02813302]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.24327356
Centerline is valid?  [False, False]
Translation: X:3.46, Y:0.17, Z:0.03
[[ 0.98694258  0.11612235 -0.11162413  3.46171833]
 [-0.11164598  0.99270262  0.04557068  0.16957438]
 [ 0.11610134 -0.03251326  0.99270508  0.02847957]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.303273559999997
Centerline is valid?  [False, False]
Translation: X:3.46, Y:0.17, Z:0.03
[[ 0.98679504  0.11664102 -0.11238513  3.46488455]
 [-0.11226702  0.99268052  0.04451413  0.16869411]
 [ 0.1167547  -0.03130918  0.99266715  0.02927556]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.36327356
Centerline is valid?  [False, False]
Translation: X:3.47, Y:0.17, Z:0.03
[[ 0.98669293  0.11724906 -0.11264869  3.46817988]
 [-0.11298015  0.99264095  0.04358242  0.16828564]
 [ 0.1169297  -0.0302754   0.99267862  0.02944919]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.894094 with order 1
Centerline goodness : 0.885868 with order 1
Centerline goodness : 0.889374 with order 1
Centerline goodness : 0.886035 with order 1
Centerline goodness : 0.889888 with order 1
Centerline goodness : 0.897920 with order 1
Centerline goodness : 0.900098 with order 1
Centerline goodness : 0.887248 with order 1
Centerline goodness : 0.888874 with order 1
Centerline goodness : 0.898951 with order 1
Centerline goodness : 0.888608 with order 1
Centerline goodness : 0.900995 with order 1
Centerline goodness : 0.888863 with order 1
Centerline goodness : 0.888449 with order 1
Centerline goodness : 0.903351 with order 1
Centerline goodness : 0.888944 with order 1
Centerline goodness : 0.892633 with order 1
Centerline goodness : 0.893233 with order 1
Centerline goodness : 0.889861 with order 1
Centerline goodness : 0.908241 with order 1
SLAMing on frame at distance 20.42327356
Centerline is valid?  [False, False]
Translation: X:3.47, Y:0.17, Z:0.03
[[ 0.98648689  0.11849    -0.11315355  3.47162533]
 [-0.11418789  0.99249334  0.04379609  0.1681176 ]
 [ 0.11749354 -0.03028351  0.9926118   0.02999288]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.48327356
Centerline is valid?  [False, False]
Translation: X:3.48, Y:0.17, Z:0.03
[[ 0.9858789   0.12201784 -0.11469282  3.47621775]
 [-0.11764618  0.99207288  0.04416758  0.16796428]
 [ 0.11917286 -0.03005072  0.99241865  0.0313509 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.54327356
Centerline is valid?  [False, False]
Translation: X:3.48, Y:0.17, Z:0.03
[[ 0.98566901  0.12395443 -0.11441985  3.47911577]
 [-0.11955162  0.99182581  0.04459786  0.16835358]
 [ 0.11901267 -0.03027965  0.99243092  0.03152309]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.603273559999998
Centerline is valid?  [False, False]
Translation: X:3.48, Y:0.17, Z:0.03
[[ 0.98528384  0.12693846 -0.11446563  3.4819429 ]
 [-0.12261689  0.99147536  0.04406494  0.16939836]
 [ 0.11908339 -0.02938105  0.99244944  0.03233611]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.66327356
Centerline is valid?  [False, False]
Translation: X:3.49, Y:0.17, Z:0.03
[[ 0.98494671  0.12863341 -0.11547048  3.48629323]
 [-0.12443189  0.99129964  0.04291545  0.17041778]
 [ 0.1199862  -0.02790122  0.99238341  0.03303211]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.72327356
Centerline is valid?  [False, False]
Translation: X:3.49, Y:0.17, Z:0.03
[[ 0.98495894  0.12870027 -0.11529146  3.48906544]
 [-0.12456433  0.99130443  0.04241774  0.17098848]
 [ 0.11974811 -0.02741853  0.99242562  0.03282077]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.783273559999998
Centerline is valid?  [False, False]
Translation: X:3.49, Y:0.17, Z:0.03
[[ 0.98475479  0.13009519 -0.11546963  3.49233249]
 [-0.12599482  0.99113475  0.04215703  0.17180617]
 [ 0.11993039 -0.02696576  0.99241602  0.03324414]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.84327356
Centerline is valid?  [False, False]
Translation: X:3.50, Y:0.17, Z:0.03
[[ 0.98421818  0.1336262  -0.11601131  3.49609813]
 [-0.12953713  0.99067904  0.04213273  0.17411605]
 [ 0.12056001 -0.02644003  0.99235387  0.0340283 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.90327356
Centerline is valid?  [False, False]
Translation: X:3.50, Y:0.18, Z:0.03
[[ 0.98384697  0.13591268 -0.11650268  3.499326  ]
 [-0.13190061  0.99039309  0.04151805  0.17627368]
 [ 0.12102628 -0.02548063  0.99232221  0.0349133 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 20.963273559999998
Centerline is valid?  [False, False]
Translation: X:3.50, Y:0.18, Z:0.04
[[ 0.98363859  0.13662248 -0.11742839  3.50250951]
 [-0.13267117  0.99031719  0.04086835  0.17706035]
 [ 0.12187489 -0.02462033  0.99224007  0.03515412]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.02327356
Centerline is valid?  [False, False]
Translation: X:3.51, Y:0.18, Z:0.04
[[ 0.9834089   0.13749181 -0.11833397  3.50598678]
 [-0.13351065  0.99019993  0.04097568  0.17896639]
 [ 0.12280811 -0.024497    0.99212805  0.03523661]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.08327356
Centerline is valid?  [False, False]
Translation: X:3.51, Y:0.18, Z:0.04
[[ 0.98333265  0.1389377  -0.11727414  3.50790017]
 [-0.13498694  0.98999779  0.0410231   0.18136812]
 [ 0.1218008  -0.02450888  0.99225192  0.03522155]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.143273559999997
Centerline is valid?  [False, False]
Translation: X:3.51, Y:0.18, Z:0.04
[[ 0.98344691  0.13868223 -0.11661649  3.50896464]
 [-0.13480374  0.9900422   0.04055124  0.18275292]
 [ 0.12107898 -0.02415965  0.99234883  0.03578374]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.20327356
Centerline is valid?  [False, False]
Translation: X:3.51, Y:0.18, Z:0.04
[[ 0.98357402  0.13742716 -0.11702961  3.51112911]
 [-0.13361837  0.99023216  0.03982956  0.18480102]
 [ 0.12136015 -0.02353801  0.99232942  0.03630683]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.26327356
Centerline is valid?  [False, False]
Translation: X:3.52, Y:0.19, Z:0.04
[[ 0.9834183   0.1367059  -0.11916349  3.51540329]
 [-0.13289808  0.99034732  0.03937379  0.18769984]
 [ 0.12339588 -0.02288431  0.99209363  0.03605313]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.32327356
Centerline is valid?  [False, False]
Translation: X:3.52, Y:0.19, Z:0.04
[[ 0.98358237  0.13530017 -0.11941354  3.51813736]
 [-0.13153042  0.99054697  0.03894167  0.19043135]
 [ 0.12355353 -0.02259583  0.99208062  0.03520404]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.38327356
Centerline is valid?  [False, False]
Translation: X:3.52, Y:0.19, Z:0.03
[[ 0.98385797  0.13433442 -0.11822757  3.51978203]
 [-0.13061268  0.99067711  0.03871946  0.19181185]
 [ 0.12232671 -0.02265243  0.99223135  0.03457765]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.443273559999998
Centerline is valid?  [False, False]
Translation: X:3.52, Y:0.19, Z:0.03
[[ 0.98411427  0.13351415 -0.11701742  3.52116172]
 [-0.12988719  0.99079551  0.03812575  0.19443045]
 [ 0.12103066 -0.02232103  0.99239778  0.03364394]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.50327356
Centerline is valid?  [False, False]
Translation: X:3.52, Y:0.20, Z:0.03
[[ 0.98411026  0.13383125 -0.11668847  3.5230314 ]
 [-0.13015425  0.99074148  0.03861593  0.19613628]
 [ 0.12077613 -0.02281484  0.99241756  0.03361315]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.56327356
Centerline is valid?  [False, False]
Translation: X:3.53, Y:0.20, Z:0.03
[[ 0.98400331  0.13474877 -0.11653436  3.52618467]
 [-0.13113971  0.99063007  0.03813701  0.19799707]
 [ 0.12058135 -0.02224466  0.99245419  0.03345799]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.895166 with order 1
Centerline goodness : 0.891556 with order 1
Centerline goodness : 0.893937 with order 1
Centerline goodness : 0.897818 with order 1
Centerline goodness : 0.900644 with order 1
Centerline goodness : 0.900941 with order 1
Centerline goodness : 0.899755 with order 1
Centerline goodness : 0.891908 with order 1
Centerline goodness : 0.891968 with order 1
Centerline goodness : 0.904895 with order 1
Centerline goodness : 0.901331 with order 1
Centerline goodness : 0.903189 with order 1
Centerline goodness : 0.897693 with order 1
Centerline goodness : 0.892155 with order 1
Centerline goodness : 0.900263 with order 1
Centerline goodness : 0.900598 with order 1
Centerline goodness : 0.899460 with order 1
Centerline goodness : 0.902537 with order 1
Centerline goodness : 0.904844 with order 1
Centerline goodness : 0.902809 with order 1
SLAMing on frame at distance 21.623273559999998
Centerline is valid?  [False, False]
Translation: X:3.53, Y:0.20, Z:0.03
[[ 0.98385569  0.136184   -0.11611162  3.52826984]
 [-0.13256085  0.9904303   0.0384114   0.19990099]
 [ 0.12023148 -0.02239942  0.99249315  0.0334261 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.68327356
Centerline is valid?  [False, False]
Translation: X:3.53, Y:0.20, Z:0.03
[[ 0.98367264  0.13753098 -0.11607487  3.5311375 ]
 [-0.13380445  0.99022639  0.03934556  0.20063656]
 [ 0.12035163 -0.02317181  0.99246086  0.03349552]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.74327356
Centerline is valid?  [False, False]
Translation: X:3.53, Y:0.20, Z:0.03
[[ 0.98347263  0.13905071 -0.11595896  3.53460235]
 [-0.13513235  0.98997756  0.04103268  0.20123647]
 [ 0.12050239 -0.02468471  0.99240609  0.03284849]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.803273559999997
Centerline is valid?  [False, False]
Translation: X:3.54, Y:0.20, Z:0.03
[[ 0.98339399  0.14000595 -0.11547553  3.53735076]
 [-0.13606352  0.9898354   0.04138364  0.20140484]
 [ 0.12009572 -0.02498441  0.99244788  0.03235815]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.86327356
Centerline is valid?  [False, False]
Translation: X:3.54, Y:0.20, Z:0.03
[[ 0.98333371  0.14086691 -0.11494054  3.5399392 ]
 [-0.13698767  0.98972314  0.04101812  0.20170291]
 [ 0.11953741 -0.02458906  0.99252516  0.03191331]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.92327356
Centerline is valid?  [False, False]
Translation: X:3.54, Y:0.20, Z:0.03
[[ 0.98317028  0.14227091 -0.11460884  3.54195026]
 [-0.13842384  0.9895284   0.04089475  0.20204883]
 [ 0.11922684 -0.02434191  0.9925686   0.0316123 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 21.98327356
Centerline is valid?  [False, False]
Translation: X:3.54, Y:0.20, Z:0.03
[[ 0.98289121  0.14427337 -0.11449916  3.54437391]
 [-0.14043606  0.9892428   0.0409437   0.20212744]
 [ 0.11917456 -0.02416339  0.99257924  0.03169654]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.04327356
Centerline is valid?  [False, False]
Translation: X:3.55, Y:0.20, Z:0.03
[[ 0.98255194  0.14629187 -0.11484933  3.54804435]
 [-0.14236835  0.98893509  0.04169694  0.20233327]
 [ 0.11967845 -0.0246185   0.99250743  0.03201448]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.103273559999998
Centerline is valid?  [False, False]
Translation: X:3.55, Y:0.20, Z:0.03
[[ 0.98200487  0.14948342 -0.11541728  3.55200883]
 [-0.1453613   0.98842675  0.04338955  0.20290657]
 [ 0.12056755 -0.02583155  0.99236898  0.03208082]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.16327356
Centerline is valid?  [False, False]
Translation: X:3.56, Y:0.20, Z:0.03
[[ 0.98177248  0.15057915 -0.1159686   3.55561234]
 [-0.1464655   0.98826935  0.0432614   0.20329127]
 [ 0.12112248 -0.02548745  0.9923103   0.03169442]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.22327356
Centerline is valid?  [False, False]
Translation: X:3.56, Y:0.20, Z:0.03
[[ 0.9816109   0.15142066 -0.11624035  3.55848806]
 [-0.14733689  0.98815098  0.04300552  0.20337591]
 [ 0.12137494 -0.02508819  0.99228963  0.03189505]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.283273559999998
Centerline is valid?  [False, False]
Translation: X:3.56, Y:0.20, Z:0.03
[[ 0.98142709  0.15274964 -0.11605348  3.56084744]
 [-0.14859172  0.98793156  0.04372339  0.20375894]
 [ 0.12133163 -0.02566673  0.99228013  0.03182439]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.34327356
Centerline is valid?  [False, False]
Translation: X:3.56, Y:0.20, Z:0.03
[[ 0.98115313  0.15425498 -0.11637843  3.56313326]
 [-0.15001551  0.98768613  0.04440103  0.20401522]
 [ 0.12179444 -0.02610564  0.99221198  0.03227302]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.40327356
Centerline is valid?  [False, False]
Translation: X:3.57, Y:0.20, Z:0.03
[[ 0.98092587  0.15529034 -0.11691601  3.56589634]
 [-0.15100001  0.98752014  0.04475451  0.20450758]
 [ 0.12240686 -0.02624654  0.99213289  0.03285771]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.463273559999998
Centerline is valid?  [False, False]
Translation: X:3.57, Y:0.20, Z:0.03
[[ 0.98069821  0.15590912 -0.11799734  3.56915773]
 [-0.15166121  0.98744303  0.04421699  0.20462837]
 [ 0.12340948 -0.0254679   0.99202897  0.03326018]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.52327356
Centerline is valid?  [False, False]
Translation: X:3.57, Y:0.20, Z:0.03
[[ 0.98056151  0.15608439 -0.11889821  3.57140571]
 [-0.15181793  0.98742017  0.04418955  0.20475877]
 [ 0.12429979 -0.02527969  0.99192263  0.03387306]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.58327356
Centerline is valid?  [False, False]
Translation: X:3.57, Y:0.21, Z:0.03
[[ 0.98042703  0.15647412 -0.11949343  3.57433619]
 [-0.15214873  0.98735269  0.0445582   0.20521548]
 [ 0.12495437 -0.02550529  0.99183461  0.03405479]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.643273559999997
Centerline is valid?  [False, False]
Translation: X:3.58, Y:0.21, Z:0.03
[[ 0.98013509  0.15867633 -0.11898333  3.57676046]
 [-0.15438754  0.98700795  0.04449486  0.20661126]
 [ 0.12449778 -0.02524143  0.99189877  0.03442059]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.70327356
Centerline is valid?  [False, False]
Translation: X:3.58, Y:0.21, Z:0.04
[[ 0.97975806  0.16085743 -0.1191597   3.57895304]
 [-0.1565385   0.98665435  0.04482075  0.20738796]
 [ 0.12477918 -0.02526041  0.99186293  0.03546279]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.76327356
Centerline is valid?  [False, False]
Translation: X:3.58, Y:0.21, Z:0.04
[[ 0.97916398  0.1630751  -0.12101412  3.58319589]
 [-0.15878684  0.98631688  0.04433673  0.20804255]
 [ 0.12658849 -0.02419748  0.99166014  0.03701147]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.899973 with order 1
Centerline goodness : 0.905018 with order 1
Centerline goodness : 0.906667 with order 1
Centerline goodness : 0.905527 with order 1
Centerline goodness : 0.899723 with order 1
Centerline goodness : 0.902136 with order 1
Centerline goodness : 0.902661 with order 1
Centerline goodness : 0.902768 with order 1
Centerline goodness : 0.903598 with order 1
Centerline goodness : 0.893996 with order 1
Centerline goodness : 0.902409 with order 1
Centerline goodness : 0.908909 with order 1
Centerline goodness : 0.903937 with order 1
Centerline goodness : 0.904329 with order 1
Centerline goodness : 0.905060 with order 1
Centerline goodness : 0.902528 with order 1
Centerline goodness : 0.905264 with order 1
Centerline goodness : 0.901286 with order 1
Centerline goodness : 0.904577 with order 1
Centerline goodness : 0.906151 with order 1
SLAMing on frame at distance 22.82327356
Centerline is valid?  [False, False]
Translation: X:3.59, Y:0.21, Z:0.04
[[ 0.97884774  0.16386698 -0.12249375  3.58708831]
 [-0.15950567  0.98618594  0.04466801  0.20829168]
 [ 0.12812122 -0.02418473  0.99146359  0.03745292]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.88327356
Centerline is valid?  [False, False]
Translation: X:3.59, Y:0.21, Z:0.04
[[ 0.97871965  0.1637444  -0.12367545  3.59046535]
 [-0.15931445  0.98620334  0.04496523  0.20825237]
 [ 0.12933195 -0.02430506  0.99130344  0.03729419]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 22.943273559999998
Centerline is valid?  [False, False]
Translation: X:3.59, Y:0.21, Z:0.04
[[ 0.97876407  0.16330276 -0.12390762  3.59344378]
 [-0.15888334  0.98627974  0.04481477  0.20816191]
 [ 0.12952595 -0.02417623  0.99128126  0.03702896]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.00327356
Centerline is valid?  [False, False]
Translation: X:3.60, Y:0.21, Z:0.04
[[ 0.97875878  0.16354235 -0.12363309  3.59554964]
 [-0.15920375  0.98625309  0.04426066  0.20820457]
 [ 0.12917201 -0.02363766  0.99134043  0.03755097]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.06327356
Centerline is valid?  [False, False]
Translation: X:3.60, Y:0.21, Z:0.04
[[ 0.97854614  0.16518678 -0.12312916  3.59742979]
 [-0.16083963  0.98597613  0.04451606  0.20921416]
 [ 0.12875587 -0.02375697  0.99139171  0.03879   ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.123273559999998
Centerline is valid?  [False, False]
Translation: X:3.60, Y:0.21, Z:0.04
[[ 0.97836453  0.16599939 -0.12347897  3.60049882]
 [-0.16166446  0.98584623  0.04440514  0.2099368 ]
 [ 0.1291025  -0.02348225  0.99135318  0.03916515]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.18327356
Centerline is valid?  [False, False]
Translation: X:3.60, Y:0.21, Z:0.04
[[ 0.97816986  0.16562564 -0.12550644  3.60425219]
 [-0.16124215  0.98591623  0.04438654  0.20975676]
 [ 0.13109038 -0.02318064  0.99109937  0.03964635]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.24327356
Centerline is valid?  [False, False]
Translation: X:3.61, Y:0.21, Z:0.04
[[ 0.97815313  0.16506228 -0.12637605  3.60741124]
 [-0.16068824  0.98601826  0.04412791  0.20986165]
 [ 0.13189295 -0.0228567   0.99100041  0.03946127]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.303273559999997
Centerline is valid?  [False, False]
Translation: X:3.61, Y:0.21, Z:0.04
[[ 0.97852132  0.163127   -0.12603813  3.60936837]
 [-0.15876516  0.9863364   0.0439788   0.21017471]
 [ 0.13149013 -0.02302372  0.99105008  0.03948873]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.36327356
Centerline is valid?  [False, False]
Translation: X:3.61, Y:0.21, Z:0.04
[[ 0.97885844  0.16173309 -0.12521404  3.61043334]
 [-0.15749146  0.98657805  0.04312993  0.210631  ]
 [ 0.13050896 -0.02249796  0.99119184  0.04012446]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.42327356
Centerline is valid?  [False, False]
Translation: X:3.61, Y:0.21, Z:0.04
[[ 0.97896586  0.16106733 -0.12523246  3.61249235]
 [-0.15678866  0.98667954  0.04336814  0.21094781]
 [ 0.13054949 -0.02282089  0.99117911  0.04049714]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.48327356
Centerline is valid?  [False, False]
Translation: X:3.62, Y:0.21, Z:0.04
[[ 0.97887774  0.16049905 -0.12664288  3.61584335]
 [-0.15620799  0.9867798   0.04318204  0.211684  ]
 [ 0.13189931 -0.02248731  0.99100802  0.04010701]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.54327356
Centerline is valid?  [False, False]
Translation: X:3.62, Y:0.21, Z:0.04
[[ 0.97887941  0.16026953 -0.12692035  3.61813197]
 [-0.15597425  0.98681808  0.04315217  0.21336711]
 [ 0.13216327 -0.02244447  0.99097382  0.03985519]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.603273559999998
Centerline is valid?  [False, False]
Translation: X:3.62, Y:0.21, Z:0.04
[[ 0.97891488  0.16029235 -0.12661759  3.62067436]
 [-0.15601276  0.98681481  0.04308767  0.21470977]
 [ 0.13185474 -0.0224252   0.99101536  0.04038392]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.66327356
Centerline is valid?  [False, False]
Translation: X:3.62, Y:0.22, Z:0.04
[[ 0.97893166  0.16014215 -0.1266779   3.62268514]
 [-0.15591653  0.98684849  0.04266267  0.21526252]
 [ 0.13184399 -0.02201266  0.99102604  0.04067456]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.72327356
Centerline is valid?  [False, False]
Translation: X:3.62, Y:0.22, Z:0.04
[[ 0.97899291  0.15950284 -0.12701075  3.6247826 ]
 [-0.15537335  0.98696909  0.04184655  0.21688694]
 [ 0.13203032 -0.02123339  0.99101823  0.04106664]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.783273559999998
Centerline is valid?  [False, False]
Translation: X:3.63, Y:0.22, Z:0.04
[[ 0.97897195  0.15914427 -0.12762061  3.62759649]
 [-0.15489598  0.98701131  0.0426136   0.21866834]
 [ 0.13274469 -0.0219496   0.99090719  0.04062426]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.84327356
Centerline is valid?  [False, False]
Translation: X:3.63, Y:0.22, Z:0.04
[[ 0.97896097  0.1591223  -0.12773222  3.63017791]
 [-0.15494141  0.98702661  0.04209082  0.2197371 ]
 [ 0.13277269 -0.02141426  0.99091515  0.04059013]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.90327356
Centerline is valid?  [False, False]
Translation: X:3.63, Y:0.22, Z:0.04
[[ 0.97895458  0.1589799  -0.1279583   3.63195523]
 [-0.1548113   0.98705286  0.04195374  0.22137641]
 [ 0.13297141 -0.02126141  0.9908918   0.04022915]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 23.963273559999998
Centerline is valid?  [False, False]
Translation: X:3.63, Y:0.22, Z:0.04
[[ 0.97888422  0.159133   -0.12830574  3.63443798]
 [-0.15499694  0.98703593  0.04166555  0.22202798]
 [ 0.13327274 -0.02089875  0.99085903  0.03988137]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.921131 with order 1
Centerline goodness : 0.903620 with order 1
Centerline goodness : 0.902722 with order 1
Centerline goodness : 0.914845 with order 1
Centerline goodness : 0.917961 with order 1
Centerline goodness : 0.916038 with order 1
Centerline goodness : 0.923143 with order 1
Centerline goodness : 0.913146 with order 1
Centerline goodness : 0.921676 with order 1
Centerline goodness : 0.919951 with order 1
Centerline goodness : 0.905213 with order 1
Centerline goodness : 0.918466 with order 1
Centerline goodness : 0.923797 with order 1
Centerline goodness : 0.909842 with order 1
Centerline goodness : 0.911184 with order 1
Centerline goodness : 0.902039 with order 1
Centerline goodness : 0.921066 with order 1
Centerline goodness : 0.913472 with order 1
Centerline goodness : 0.924156 with order 1
Centerline goodness : 0.920880 with order 1
SLAMing on frame at distance 24.02327356
Centerline is valid?  [False, False]
Translation: X:3.64, Y:0.22, Z:0.04
[[ 0.97893074  0.15884862 -0.12830325  3.63658532]
 [-0.15480388  0.98709538  0.04096906  0.22320448]
 [ 0.13315542 -0.02024404  0.9908884   0.03996242]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.08327356
Centerline is valid?  [False, False]
Translation: X:3.64, Y:0.22, Z:0.04
[[ 0.97891265  0.15905229 -0.12818888  3.63864797]
 [-0.15497274  0.98705683  0.0412584   0.22396588]
 [ 0.13309195 -0.02052259  0.99089119  0.03987061]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.143273559999997
Centerline is valid?  [False, False]
Translation: X:3.64, Y:0.22, Z:0.04
[[ 0.97872748  0.15997253 -0.12845746  3.64168911]
 [-0.15584539  0.98690393  0.04162738  0.22443991]
 [ 0.13343441 -0.02072236  0.99084098  0.03975104]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.20327356
Centerline is valid?  [False, False]
Translation: X:3.64, Y:0.22, Z:0.04
[[ 0.97848185  0.16120092 -0.12879263  3.64436287]
 [-0.15701191  0.98669855  0.04210965  0.22453127]
 [ 0.13386761 -0.02098155  0.99077709  0.03914923]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.26327356
Centerline is valid?  [False, False]
Translation: X:3.65, Y:0.22, Z:0.04
[[ 0.97867889  0.15996658 -0.12883447  3.64596362]
 [-0.15562757  0.98687353  0.04313569  0.22325134]
 [ 0.1340436  -0.02216579  0.99072751  0.03908894]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.32327356
Centerline is valid?  [False, False]
Translation: X:3.65, Y:0.22, Z:0.04
[[ 0.97920955  0.15657131 -0.12897315  3.64642752]
 [-0.15246604  0.98745069  0.04117327  0.22143451]
 [ 0.13380118 -0.02065323  0.99079296  0.03943855]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.38327356
Centerline is valid?  [False, False]
Translation: X:3.65, Y:0.22, Z:0.04
[[ 0.97963006  0.15428927 -0.12852926  3.64703627]
 [-0.15025467  0.98781433  0.04057568  0.22001471]
 [ 0.13322343 -0.02043703  0.99087529  0.03972731]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.443273559999998
Centerline is valid?  [False, False]
Translation: X:3.65, Y:0.22, Z:0.04
[[ 0.9798547   0.15241551 -0.12905143  3.64822357]
 [-0.14829758  0.98809269  0.0409958   0.2183806 ]
 [ 0.13376317 -0.02103191  0.99079013  0.03922089]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.50327356
Centerline is valid?  [False, False]
Translation: X:3.65, Y:0.22, Z:0.04
[[ 0.97973971  0.15221781 -0.13015315  3.65080213]
 [-0.14797778  0.98811086  0.04170747  0.21725682]
 [ 0.13495436 -0.02160269  0.99061629  0.03935996]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.56327356
Centerline is valid?  [False, False]
Translation: X:3.65, Y:0.22, Z:0.04
[[ 0.97988095  0.15096367 -0.13054994  3.65269497]
 [-0.14676729  0.98831078  0.04124517  0.21579516]
 [ 0.13525044 -0.0212549   0.99058344  0.03908015]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.623273559999998
Centerline is valid?  [False, False]
Translation: X:3.65, Y:0.21, Z:0.04
[[ 0.97980771  0.15131154 -0.13069684  3.65419094]
 [-0.1471692   0.98826749  0.04084846  0.21430196]
 [ 0.13534428 -0.02078909  0.99058051  0.03972328]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.68327356
Centerline is valid?  [False, False]
Translation: X:3.66, Y:0.21, Z:0.04
[[ 0.979492    0.15281299 -0.13131496  3.65719935]
 [-0.14865553  0.98804044  0.04095885  0.21409037]
 [ 0.13600354 -0.02059817  0.9904942   0.04038495]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.74327356
Centerline is valid?  [False, False]
Translation: X:3.66, Y:0.21, Z:0.04
[[ 0.97900765  0.15534827 -0.13195052  3.66027185]
 [-0.15107017  0.98763472  0.04189822  0.21386321]
 [ 0.13682773 -0.02108489  0.99037044  0.04077008]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.803273559999997
Centerline is valid?  [False, False]
Translation: X:3.66, Y:0.21, Z:0.04
[[ 0.97875704  0.15638965 -0.13257805  3.66282517]
 [-0.15201605  0.98746145  0.04255591  0.21330226]
 [ 0.13757102 -0.02149791  0.99025858  0.04124089]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.86327356
Centerline is valid?  [False, False]
Translation: X:3.67, Y:0.21, Z:0.04
[[ 0.97866926  0.15616071 -0.13349274  3.66554513]
 [-0.15185159  0.98751323  0.04193696  0.21256348]
 [ 0.13837476 -0.02077133  0.9901621   0.0418343 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.92327356
Centerline is valid?  [False, False]
Translation: X:3.67, Y:0.21, Z:0.04
[[ 0.97860763  0.15598661 -0.13414648  3.66837172]
 [-0.15177784  0.98755925  0.04111222  0.21181297]
 [ 0.13889056 -0.01987226  0.99010833  0.04220181]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 24.98327356
Centerline is valid?  [False, False]
Translation: X:3.67, Y:0.21, Z:0.04
[[ 0.97851537  0.1564058  -0.13433127  3.6699734 ]
 [-0.15210673  0.98748165  0.04175565  0.21174871]
 [ 0.13918049 -0.02042585  0.99005635  0.04197608]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.04327356
Centerline is valid?  [False, False]
Translation: X:3.67, Y:0.21, Z:0.04
[[ 0.97851031  0.15689208 -0.13380005  3.67168461]
 [-0.1526219   0.9874062   0.04165996  0.21154461]
 [ 0.13865112 -0.02034388  0.99013231  0.04179529]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.103273559999998
Centerline is valid?  [False, False]
Translation: X:3.67, Y:0.21, Z:0.04
[[ 0.97831694  0.15749534 -0.13450346  3.67447696]
 [-0.15320389  0.98731238  0.04174722  0.2115673 ]
 [ 0.13937192 -0.02023556  0.99003333  0.04186259]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.16327356
Centerline is valid?  [False, False]
Translation: X:3.68, Y:0.21, Z:0.04
[[ 0.97807799  0.15838152 -0.13519888  3.67819253]
 [-0.15396994  0.98715881  0.0425529   0.21153659]
 [ 0.14020236 -0.02080349  0.9899043   0.04189166]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.918320 with order 1
Centerline goodness : 0.910472 with order 1
Centerline goodness : 0.913060 with order 1
Centerline goodness : 0.907696 with order 1
Centerline goodness : 0.906037 with order 1
Centerline goodness : 0.908697 with order 1
Centerline goodness : 0.907379 with order 1
Centerline goodness : 0.914275 with order 1
Centerline goodness : 0.906518 with order 1
Centerline goodness : 0.919262 with order 1
Centerline goodness : 0.904906 with order 1
Centerline goodness : 0.910241 with order 1
Centerline goodness : 0.903178 with order 1
Centerline goodness : 0.910094 with order 1
Centerline goodness : 0.918309 with order 1
Centerline goodness : 0.920175 with order 1
Centerline goodness : 0.908265 with order 1
Centerline goodness : 0.907813 with order 1
Centerline goodness : 0.903852 with order 1
Centerline goodness : 0.918991 with order 1
SLAMing on frame at distance 25.22327356
Centerline is valid?  [False, False]
Translation: X:3.68, Y:0.21, Z:0.04
[[ 0.97800935  0.15854538 -0.13550303  3.67976229]
 [-0.15419095  0.98714307  0.04211549  0.21119432]
 [ 0.1404381  -0.020296    0.98988141  0.04197119]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.283273559999998
Centerline is valid?  [False, False]
Translation: X:3.68, Y:0.21, Z:0.04
[[ 0.97805101  0.158215   -0.13558844  3.68146669]
 [-0.15382673  0.98719116  0.04231968  0.21076981]
 [ 0.14054732 -0.02053367  0.98986101  0.04163446]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.34327356
Centerline is valid?  [False, False]
Translation: X:3.68, Y:0.21, Z:0.04
[[ 0.97832022  0.15689586 -0.13517854  3.68262209]
 [-0.15244141  0.987387    0.04276132  0.21085298]
 [ 0.14018261 -0.02122745  0.98989809  0.04059315]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.40327356
Centerline is valid?  [False, False]
Translation: X:3.68, Y:0.21, Z:0.04
[[ 0.97861723  0.15529428 -0.13487774  3.68449733]
 [-0.15086986  0.98764004  0.04249033  0.21016634]
 [ 0.13980916 -0.02123279  0.98995079  0.04006337]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.463273559999998
Centerline is valid?  [False, False]
Translation: X:3.69, Y:0.21, Z:0.04
[[ 0.97925287  0.15188726 -0.134142    3.68508623]
 [-0.1475251   0.98816872  0.04193958  0.20964215]
 [ 0.13892502 -0.02128014  0.99007424  0.03964989]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.52327356
Centerline is valid?  [False, False]
Translation: X:3.69, Y:0.21, Z:0.04
[[ 0.9793537   0.15065654 -0.13479217  3.68809542]
 [-0.14635939  0.98836906  0.04129806  0.20941524]
 [ 0.13944624 -0.02071731  0.9900129   0.04001549]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.58327356
Centerline is valid?  [False, False]
Translation: X:3.69, Y:0.21, Z:0.04
[[ 0.97935169  0.15010243 -0.13542353  3.6907325 ]
 [-0.14582584  0.98845941  0.04102226  0.20922994]
 [ 0.1400182  -0.02042697  0.9899382   0.04006   ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.643273559999997
Centerline is valid?  [False, False]
Translation: X:3.69, Y:0.21, Z:0.04
[[ 0.97930734  0.15012704 -0.13571665  3.69319089]
 [-0.1457996   0.98845006  0.04133954  0.20914044]
 [ 0.14035531 -0.02069668  0.98988486  0.04002818]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.70327356
Centerline is valid?  [False, False]
Translation: X:3.69, Y:0.21, Z:0.04
[[ 0.97942768  0.14944188 -0.1356044   3.694892  ]
 [-0.14503519  0.98854016  0.04187048  0.20872498]
 [ 0.1403076  -0.0213417   0.98987793  0.0396687 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.76327356
Centerline is valid?  [False, False]
Translation: X:3.70, Y:0.21, Z:0.04
[[ 0.97971598  0.14749749 -0.13565058  3.6963578 ]
 [-0.1431823   0.98884298  0.04108996  0.20719841]
 [ 0.14019779 -0.02083373  0.98990431  0.03912751]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.82327356
Centerline is valid?  [False, False]
Translation: X:3.70, Y:0.21, Z:0.04
[[ 0.97968542  0.14760308 -0.13575641  3.69797982]
 [-0.14328007  0.9888269   0.04113619  0.20672642]
 [ 0.14031142 -0.02084934  0.98988788  0.03931982]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.88327356
Centerline is valid?  [False, False]
Translation: X:3.70, Y:0.21, Z:0.04
[[ 0.97963408  0.14792984 -0.13577126  3.70047451]
 [-0.14357523  0.98877398  0.0413784   0.20636059]
 [ 0.14036819 -0.0210423   0.98987575  0.03933962]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 25.943273559999998
Centerline is valid?  [False, False]
Translation: X:3.70, Y:0.21, Z:0.04
[[ 0.97945802  0.14966848 -0.13513449  3.70231436]
 [-0.14527801  0.98850567  0.04184298  0.20650253]
 [ 0.13984378 -0.02135138  0.98994335  0.04037756]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.00327356
Centerline is valid?  [False, False]
Translation: X:3.71, Y:0.21, Z:0.04
[[ 0.97898763  0.15208163 -0.13584693  3.70611249]
 [-0.14764383  0.98813879  0.04222607  0.20723657]
 [ 0.14065743 -0.02128184  0.98982957  0.04063658]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.06327356
Centerline is valid?  [False, False]
Translation: X:3.71, Y:0.21, Z:0.04
[[ 0.97861015  0.15348653 -0.13698198  3.71012523]
 [-0.14903645  0.98792937  0.04223377  0.20763138]
 [ 0.14181083 -0.02091508  0.9896728   0.04079843]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.123273559999998
Centerline is valid?  [False, False]
Translation: X:3.71, Y:0.21, Z:0.04
[[ 0.97841275  0.15413249 -0.13766506  3.71292142]
 [-0.14978316  0.98784854  0.04147608  0.20844536]
 [ 0.14238505 -0.01996082  0.98961006  0.04084588]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.18327356
Centerline is valid?  [False, False]
Translation: X:3.72, Y:0.21, Z:0.04
[[ 0.97839876  0.15412007 -0.13777835  3.71523996]
 [-0.14978996  0.98785381  0.0413257   0.2084111 ]
 [ 0.14247399 -0.0197952   0.98960058  0.04111995]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.24327356
Centerline is valid?  [False, False]
Translation: X:3.72, Y:0.21, Z:0.04
[[ 0.97868315  0.15182571 -0.13830492  3.71711031]
 [-0.14751303  0.98821091  0.04097688  0.20794575]
 [ 0.14289578 -0.0197016   0.98954163  0.04128587]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.303273559999997
Centerline is valid?  [False, False]
Translation: X:3.72, Y:0.21, Z:0.04
[[ 0.97885864  0.15021325 -0.13882268  3.71934824]
 [-0.14589202  0.98845657  0.04085507  0.2068604 ]
 [ 0.14335716 -0.01973822  0.98947417  0.04146716]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.36327356
Centerline is valid?  [False, False]
Translation: X:3.72, Y:0.21, Z:0.04
[[ 0.9789218   0.14875018 -0.1399482   3.72127295]
 [-0.14426338  0.98865886  0.04173415  0.20618388]
 [ 0.14456899 -0.02066507  0.98927891  0.04147685]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.898332 with order 1
Centerline goodness : 0.892400 with order 1
Centerline goodness : 0.903439 with order 1
Centerline goodness : 0.889629 with order 1
Centerline goodness : 0.905004 with order 1
Centerline goodness : 0.904071 with order 1
Centerline goodness : 0.905343 with order 1
Centerline goodness : 0.905196 with order 1
Centerline goodness : 0.903275 with order 1
Centerline goodness : 0.895221 with order 1
Centerline goodness : 0.903397 with order 1
Centerline goodness : 0.902213 with order 1
Centerline goodness : 0.894234 with order 1
Centerline goodness : 0.893041 with order 1
Centerline goodness : 0.906232 with order 1
Centerline goodness : 0.893061 with order 1
Centerline goodness : 0.890705 with order 1
Centerline goodness : 0.905789 with order 1
Centerline goodness : 0.907739 with order 1
Centerline goodness : 0.892539 with order 1
SLAMing on frame at distance 26.42327356
Centerline is valid?  [False, False]
Translation: X:3.72, Y:0.21, Z:0.04
[[ 0.97879869  0.14857126 -0.14099537  3.72397922]
 [-0.14412364  0.98869722  0.04130602  0.20568798]
 [ 0.14553862 -0.02010951  0.98914818  0.04149362]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.483273559999997
Centerline is valid?  [False, False]
Translation: X:3.73, Y:0.21, Z:0.04
[[ 0.97867081  0.14871435 -0.1417303   3.72674522]
 [-0.14429285  0.98868372  0.04103749  0.2052082 ]
 [ 0.14622931 -0.01971153  0.98905432  0.04204213]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.54327356
Centerline is valid?  [False, False]
Translation: X:3.73, Y:0.21, Z:0.04
[[ 0.97874287  0.14896781 -0.14096449  3.72786686]
 [-0.14447288  0.98863143  0.04165914  0.20505965]
 [ 0.14556779 -0.02040804  0.98913777  0.04213169]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.603273559999998
Centerline is valid?  [False, False]
Translation: X:3.73, Y:0.20, Z:0.04
[[ 0.97864657  0.14996274 -0.14057761  3.72950774]
 [-0.14557376  0.98849499  0.04106025  0.20453684]
 [ 0.14511777 -0.01971906  0.98921787  0.0429519 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.66327356
Centerline is valid?  [False, False]
Translation: X:3.73, Y:0.20, Z:0.04
[[ 0.97834879  0.15117549 -0.14134929  3.73275859]
 [-0.14673663  0.98830982  0.04137707  0.20407246]
 [ 0.14595209 -0.01974009  0.98909469  0.04343737]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.72327356
Centerline is valid?  [False, False]
Translation: X:3.74, Y:0.20, Z:0.04
[[ 0.97807001  0.15186123 -0.14253851  3.73567487]
 [-0.14733704  0.98820109  0.04183777  0.20307805]
 [ 0.14721025 -0.01991906  0.98890463  0.0428903 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.783273559999998
Centerline is valid?  [False, False]
Translation: X:3.74, Y:0.20, Z:0.04
[[ 0.97779639  0.15279719 -0.1434128   3.73845924]
 [-0.1482592   0.9880615   0.04187705  0.20196711]
 [ 0.14809936 -0.01968496  0.98877656  0.04320858]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.84327356
Centerline is valid?  [False, False]
Translation: X:3.74, Y:0.20, Z:0.04
[[ 0.97767898  0.15342064 -0.14354762  3.74035514]
 [-0.148852    0.98796259  0.04210712  0.20033526]
 [ 0.14827978 -0.0197999   0.98874722  0.04320715]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.90327356
Centerline is valid?  [False, False]
Translation: X:3.74, Y:0.20, Z:0.04
[[ 0.97759766  0.1539866  -0.14349543  3.74183251]
 [-0.1494531   0.98787982  0.04191946  0.19855649]
 [ 0.14821127 -0.01953453  0.98876277  0.04391114]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 26.963273559999998
Centerline is valid?  [False, False]
Translation: X:3.74, Y:0.20, Z:0.04
[[ 0.97752165  0.15444472 -0.14352093  3.74407223]
 [-0.14992676  0.98781122  0.04184461  0.19694964]
 [ 0.14823427 -0.01938638  0.98876224  0.04452118]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.02327356
Centerline is valid?  [False, False]
Translation: X:3.75, Y:0.19, Z:0.04
[[ 0.97738557  0.15513305 -0.1437052   3.7455591 ]
 [-0.15052804  0.987694    0.04244836  0.19493189]
 [ 0.14852191 -0.01985676  0.98870974  0.04466755]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.08327356
Centerline is valid?  [False, False]
Translation: X:3.75, Y:0.19, Z:0.05
[[ 0.97668282  0.15805396 -0.14529151  3.74951721]
 [-0.15350959  0.98725221  0.0420461   0.19368189]
 [ 0.15008492 -0.01876207  0.98849507  0.04560474]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.143273559999997
Centerline is valid?  [False, False]
Translation: X:3.75, Y:0.19, Z:0.05
[[ 0.97637477  0.15887529 -0.14646145  3.75248195]
 [-0.15420087  0.9871117   0.04280864  0.19243283]
 [ 0.15137505 -0.01921279  0.98828967  0.0452315 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.20327356
Centerline is valid?  [False, False]
Translation: X:3.76, Y:0.19, Z:0.05
[[ 0.97618086  0.16020916 -0.14630089  3.75503483]
 [-0.15562246  0.9869083   0.04235164  0.19142611]
 [ 0.15117068 -0.01857515  0.98833314  0.0451913 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.26327356
Centerline is valid?  [False, False]
Translation: X:3.76, Y:0.19, Z:0.05
[[ 0.97583935  0.16240366 -0.14615957  3.75687853]
 [-0.15788984  0.986561    0.04204997  0.19153485]
 [ 0.1510244  -0.0179569   0.98836693  0.04642273]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.32327356
Centerline is valid?  [False, False]
Translation: X:3.76, Y:0.19, Z:0.05
[[ 0.97505317  0.1667565  -0.14650457  3.76016313]
 [-0.16211045  0.9858272   0.04318489  0.19193363]
 [ 0.15162955 -0.01835764  0.98826691  0.04714469]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.38327356
Centerline is valid?  [False, False]
Translation: X:3.76, Y:0.19, Z:0.05
[[ 0.97451902  0.16888257 -0.14761893  3.76360082]
 [-0.16422267  0.98547274  0.04329426  0.19167311]
 [ 0.15278608 -0.0179487   0.98809628  0.04811853]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.443273559999998
Centerline is valid?  [False, False]
Translation: X:3.77, Y:0.19, Z:0.05
[[ 0.97423211  0.16976401 -0.14849908  3.76650411]
 [-0.16508321  0.98532476  0.04338961  0.19115358]
 [ 0.15368582 -0.01775685  0.9879602   0.04870935]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.50327356
Centerline is valid?  [False, False]
Translation: X:3.77, Y:0.19, Z:0.05
[[ 0.97411644  0.16987658 -0.14912782  3.76904459]
 [-0.16522022  0.9853115   0.04316847  0.19125394]
 [ 0.15427067 -0.01741218  0.98787518  0.04895206]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.56327356
Centerline is valid?  [False, False]
Translation: X:3.77, Y:0.19, Z:0.05
[[ 0.97382003  0.17074392 -0.15007018  3.77170355]
 [-0.16618571  0.98517812  0.04250146  0.19183224]
 [ 0.15510273 -0.01644925  0.98776139  0.04928573]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.895812 with order 1
Centerline goodness : 0.898576 with order 1
Centerline goodness : 0.893993 with order 1
Centerline goodness : 0.898103 with order 1
Centerline goodness : 0.893854 with order 1
Centerline goodness : 0.898830 with order 1
Centerline goodness : 0.895492 with order 1
Centerline goodness : 0.898449 with order 1
Centerline goodness : 0.897017 with order 1
Centerline goodness : 0.899326 with order 1
Centerline goodness : 0.899317 with order 1
Centerline goodness : 0.899004 with order 1
Centerline goodness : 0.890400 with order 1
Centerline goodness : 0.901799 with order 1
Centerline goodness : 0.899948 with order 1
Centerline goodness : 0.899460 with order 1
Centerline goodness : 0.897763 with order 1
Centerline goodness : 0.897333 with order 1
Centerline goodness : 0.900357 with order 1
Centerline goodness : 0.900555 with order 1
SLAMing on frame at distance 27.623273559999998
Centerline is valid?  [False, False]
Translation: X:3.77, Y:0.19, Z:0.05
[[ 0.97353115  0.17170485 -0.15084611  3.77381481]
 [-0.16709362  0.98501046  0.04282661  0.19305697]
 [ 0.15593854 -0.01648762  0.98762915  0.04920212]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.68327356
Centerline is valid?  [False, False]
Translation: X:3.78, Y:0.19, Z:0.05
[[ 0.97341334  0.1719559  -0.15131964  3.7763599 ]
 [-0.16738683  0.98497358  0.04252882  0.19327468]
 [ 0.15635892 -0.01606921  0.98756958  0.04970754]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.74327356
Centerline is valid?  [False, False]
Translation: X:3.78, Y:0.19, Z:0.05
[[ 0.97335474  0.17251292 -0.15106239  3.77835578]
 [-0.16786692  0.98486775  0.04308387  0.19475161]
 [ 0.156209   -0.01657751  0.9875849   0.04960512]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.803273559999997
Centerline is valid?  [False, False]
Translation: X:3.78, Y:0.20, Z:0.05
[[ 0.97340402  0.17151584 -0.15187802  3.78060691]
 [-0.16678841  0.98503558  0.04343422  0.19538121]
 [ 0.15705491 -0.01694755  0.98744445  0.04977715]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.86327356
Centerline is valid?  [False, False]
Translation: X:3.78, Y:0.20, Z:0.05
[[ 0.97359593  0.16959309 -0.15280427  3.78263609]
 [-0.164928    0.98537659  0.04279874  0.19503422]
 [ 0.15782812 -0.01646698  0.98732929  0.04988339]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.92327356
Centerline is valid?  [False, False]
Translation: X:3.78, Y:0.19, Z:0.05
[[ 0.97395143  0.16703593 -0.15335451  3.78358224]
 [-0.16239651  0.98581477  0.04238659  0.19469622]
 [ 0.15825922 -0.01637824  0.98726175  0.05008783]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 27.983273559999997
Centerline is valid?  [False, False]
Translation: X:3.78, Y:0.19, Z:0.05
[[ 0.97437628  0.1649036  -0.15296295  3.78455081]
 [-0.16000886  0.98614059  0.04386221  0.1939601 ]
 [ 0.15807601 -0.01826287  0.98725804  0.04980309]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.04327356
Centerline is valid?  [False, False]
Translation: X:3.79, Y:0.19, Z:0.05
[[ 0.9744627   0.16449978 -0.15284721  3.78645209]
 [-0.15965864  0.98621295  0.04351028  0.19359218]
 [ 0.15789733 -0.01799577  0.98729154  0.05045023]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.103273559999998
Centerline is valid?  [False, False]
Translation: X:3.79, Y:0.20, Z:0.05
[[ 0.9742115   0.16619081 -0.15261904  3.78793008]
 [-0.16167638  0.98596593  0.04161659  0.19519371]
 [ 0.15739346 -0.01586847  0.98740847  0.05142538]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.16327356
Centerline is valid?  [False, False]
Translation: X:3.79, Y:0.20, Z:0.05
[[ 0.97342946  0.16961999 -0.15383157  3.79167228]
 [-0.16490901  0.98537193  0.0429788   0.19742498]
 [ 0.15887138 -0.01646861  0.98716193  0.05227732]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.22327356
Centerline is valid?  [False, False]
Translation: X:3.79, Y:0.20, Z:0.05
[[ 0.97279371  0.17284295 -0.15426509  3.79472488]
 [-0.16808117  0.98481315  0.04349465  0.19910901]
 [ 0.15944003 -0.01638227  0.98707168  0.05302551]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.283273559999998
Centerline is valid?  [False, False]
Translation: X:3.80, Y:0.20, Z:0.05
[[ 0.97269801  0.17321174 -0.15445478  3.79650335]
 [-0.16845127  0.98474989  0.04349512  0.19981238]
 [ 0.1596332  -0.01628952  0.98704199  0.05354251]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.34327356
Centerline is valid?  [False, False]
Translation: X:3.80, Y:0.20, Z:0.05
[[ 0.97273362  0.17273273 -0.15476661  3.7980892 ]
 [-0.16794034  0.98483149  0.04362319  0.2007045 ]
 [ 0.15995418 -0.01644219  0.98698749  0.05396412]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.40327356
Centerline is valid?  [False, False]
Translation: X:3.80, Y:0.20, Z:0.05
[[ 0.97280411  0.17195861 -0.15518504  3.79951693]
 [-0.16725139  0.98497631  0.04299587  0.2015781 ]
 [ 0.1602471  -0.01587165  0.98694932  0.05464048]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.463273559999998
Centerline is valid?  [False, False]
Translation: X:3.80, Y:0.20, Z:0.05
[[ 0.97292924  0.17059134 -0.15590795  3.80134855]
 [-0.16594487  0.98522113  0.04244546  0.20158711]
 [ 0.16084464 -0.0154243   0.98685921  0.05452065]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.52327356
Centerline is valid?  [False, False]
Translation: X:3.80, Y:0.20, Z:0.05
[[ 0.97340138  0.1677594  -0.15603374  3.80196994]
 [-0.16299159  0.98569183  0.04295761  0.20114969]
 [ 0.16100773 -0.01638281  0.98681716  0.05450992]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.58327356
Centerline is valid?  [False, False]
Translation: X:3.80, Y:0.20, Z:0.06
[[ 0.97406349  0.16399432 -0.15590438  3.8015246 ]
 [-0.15914564  0.98631054  0.04317627  0.20020463]
 [ 0.1608508  -0.01724493  0.98682807  0.0550547 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.643273559999997
Centerline is valid?  [False, False]
Translation: X:3.80, Y:0.20, Z:0.06
[[ 0.97459975  0.16072439 -0.15595835  3.80231385]
 [-0.15580623  0.9868362   0.04334445  0.19894949]
 [ 0.16087185 -0.0179442   0.98681217  0.05535807]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.70327356
Centerline is valid?  [False, False]
Translation: X:3.80, Y:0.20, Z:0.06
[[ 0.97480775  0.15878585 -0.15664262  3.80283619]
 [-0.15388184  0.98715181  0.04303126  0.19792029]
 [ 0.1614628  -0.01784275  0.98671749  0.05645446]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.76327356
Centerline is valid?  [False, False]
Translation: X:3.81, Y:0.20, Z:0.06
[[ 0.97461927  0.15881683 -0.15777986  3.80566921]
 [-0.15384888  0.98714537  0.04329585  0.19736254]
 [ 0.16262777 -0.01792272  0.9865247   0.05760315]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.933652 with order 1
Centerline goodness : 0.916253 with order 1
Centerline goodness : 0.901160 with order 1
Centerline goodness : 0.894538 with order 1
Centerline goodness : 0.894822 with order 1
Centerline goodness : 0.904325 with order 1
Centerline goodness : 0.899423 with order 1
Centerline goodness : 0.898187 with order 1
Centerline goodness : 0.928211 with order 1
Centerline goodness : 0.896427 with order 1
Centerline goodness : 0.898290 with order 1
Centerline goodness : 0.903020 with order 1
Centerline goodness : 0.928685 with order 1
Centerline goodness : 0.906956 with order 1
Centerline goodness : 0.916936 with order 1
Centerline goodness : 0.900922 with order 1
Centerline goodness : 0.921868 with order 1
Centerline goodness : 0.897918 with order 1
Centerline goodness : 0.893430 with order 1
Centerline goodness : 0.898959 with order 1
SLAMing on frame at distance 28.823273559999997
Centerline is valid?  [False, False]
Translation: X:3.81, Y:0.20, Z:0.06
[[ 0.97444744  0.15912255 -0.15853137  3.80792219]
 [-0.15399445  0.98708246  0.04420318  0.19752626]
 [ 0.16351726 -0.01866072  0.98636397  0.05780947]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.88327356
Centerline is valid?  [False, False]
Translation: X:3.81, Y:0.20, Z:0.06
[[ 0.97427762  0.1597542  -0.15893934  3.81070013]
 [-0.15465846  0.98698723  0.04401098  0.19809322]
 [ 0.16390204 -0.0182976   0.98630691  0.05812856]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 28.943273559999998
Centerline is valid?  [False, False]
Translation: X:3.81, Y:0.20, Z:0.06
[[ 0.97395484  0.1602021  -0.16045952  3.81404998]
 [-0.15512937  0.98692537  0.04374011  0.19830557]
 [ 0.16536883 -0.01770891  0.98607279  0.0587909 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.00327356
Centerline is valid?  [False, False]
Translation: X:3.82, Y:0.20, Z:0.06
[[ 0.97373654  0.1606932  -0.16129117  3.81727059]
 [-0.15573401  0.98686196  0.04301607  0.1981332 ]
 [ 0.16608451 -0.0167678   0.98596895  0.05903236]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.06327356
Centerline is valid?  [False, False]
Translation: X:3.82, Y:0.20, Z:0.06
[[ 0.97339559  0.16315025 -0.16088203  3.81899772]
 [-0.15808565  0.98644989  0.04388102  0.19797127]
 [ 0.16586126 -0.01728045  0.98599768  0.05981898]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.123273559999998
Centerline is valid?  [False, False]
Translation: X:3.82, Y:0.20, Z:0.06
[[ 0.97335441  0.16404951 -0.16021535  3.82037018]
 [-0.15892647  0.98629281  0.04437197  0.19691179]
 [ 0.16529845 -0.01772719  0.98608426  0.0600245 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.18327356
Centerline is valid?  [False, False]
Translation: X:3.82, Y:0.20, Z:0.06
[[ 0.97312227  0.1648728  -0.16077938  3.8226822 ]
 [-0.15971099  0.98615547  0.04460705  0.19548568]
 [ 0.16590796 -0.01772988  0.98598185  0.06066954]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.24327356
Centerline is valid?  [False, False]
Translation: X:3.82, Y:0.19, Z:0.06
[[ 0.97320538  0.16420467 -0.16095998  3.82419608]
 [-0.15901882  0.98626415  0.04467699  0.19435954]
 [ 0.16608523 -0.01788422  0.98594921  0.06109684]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.303273559999997
Centerline is valid?  [False, False]
Translation: X:3.83, Y:0.19, Z:0.06
[[ 0.97350175  0.16281497 -0.16057906  3.82579361]
 [-0.15755621  0.98648226  0.04504216  0.19292192]
 [ 0.16574194 -0.01854839  0.98599471  0.06104917]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.36327356
Centerline is valid?  [False, False]
Translation: X:3.83, Y:0.19, Z:0.06
[[ 0.97372984  0.16102744 -0.16099802  3.82722004]
 [-0.15584912  0.98678362  0.04437505  0.19093247]
 [ 0.16601581 -0.01811791  0.98595664  0.061145  ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.42327356
Centerline is valid?  [False, False]
Translation: X:3.83, Y:0.19, Z:0.06
[[ 0.97364882  0.16080884 -0.16170497  3.82986294]
 [-0.15560162  0.98681926  0.04445087  0.19051065]
 [ 0.16672167 -0.01811798  0.98583752  0.06167611]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.483273559999997
Centerline is valid?  [False, False]
Translation: X:3.83, Y:0.19, Z:0.06
[[ 0.97355609  0.1613054  -0.16176867  3.83110361]
 [-0.15603251  0.98673218  0.0448717   0.19059925]
 [ 0.1668604  -0.01844394  0.98580801  0.06198415]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.54327356
Centerline is valid?  [False, False]
Translation: X:3.83, Y:0.19, Z:0.06
[[ 0.9734152   0.1619341  -0.16198827  3.83307982]
 [-0.15666372  0.98663166  0.04488266  0.19069074]
 [ 0.16709079 -0.01831178  0.98577145  0.06272322]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.603273559999998
Centerline is valid?  [False, False]
Translation: X:3.84, Y:0.19, Z:0.06
[[ 0.97316235  0.16290749 -0.1625306   3.83595748]
 [-0.15767879  0.98648023  0.04465592  0.19046256]
 [ 0.16760801 -0.01782983  0.98569247  0.06364621]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.66327356
Centerline is valid?  [False, False]
Translation: X:3.84, Y:0.19, Z:0.06
[[ 0.97287006  0.16338502 -0.16379616  3.83827376]
 [-0.15791072  0.98638172  0.04599247  0.18997511]
 [ 0.16908002 -0.01887953  0.98542149  0.06429011]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.72327356
Centerline is valid?  [False, False]
Translation: X:3.84, Y:0.19, Z:0.06
[[ 0.97275386  0.16346273 -0.16440759  3.84085869]
 [-0.15801825  0.98637546  0.04575675  0.18949032]
 [ 0.16964714 -0.01853066  0.98533064  0.06479848]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.783273559999998
Centerline is valid?  [False, False]
Translation: X:3.84, Y:0.19, Z:0.07
[[ 0.97275304  0.16339213 -0.16448265  3.84212004]
 [-0.15806711  0.98640021  0.04504893  0.18898657]
 [ 0.16960636 -0.01782218  0.98535073  0.06631053]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.84327356
Centerline is valid?  [False, False]
Translation: X:3.84, Y:0.19, Z:0.07
[[ 0.97265949  0.16356625 -0.16486238  3.84421515]
 [-0.15815875  0.98636478  0.04550085  0.18899381]
 [ 0.17005685 -0.01818241  0.9852665   0.06725108]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.90327356
Centerline is valid?  [False, False]
Translation: X:3.85, Y:0.19, Z:0.07
[[ 0.97253087  0.16373736 -0.16545024  3.84655466]
 [-0.15825672  0.9863318   0.04587375  0.18843321]
 [ 0.17070008 -0.01843002  0.98515066  0.06787382]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 29.963273559999998
Centerline is valid?  [False, False]
Translation: X:3.85, Y:0.19, Z:0.07
[[ 0.97264503  0.16294689 -0.16555952  3.84759804]
 [-0.15760679  0.98647674  0.04498598  0.18791489]
 [ 0.17065095 -0.01766208  0.98517324  0.0678871 ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.947288 with order 1
Centerline goodness : 0.943030 with order 1
Centerline goodness : 0.950584 with order 1
Centerline goodness : 0.937311 with order 1
Centerline goodness : 0.949293 with order 1
Centerline goodness : 0.945306 with order 1
Centerline goodness : 0.946867 with order 1
Centerline goodness : 0.943520 with order 1
Centerline goodness : 0.946504 with order 1
Centerline goodness : 0.944926 with order 1
Centerline goodness : 0.944472 with order 1
Centerline goodness : 0.943562 with order 1
Centerline goodness : 0.945786 with order 1
Centerline goodness : 0.943039 with order 1
Centerline goodness : 0.948033 with order 1
Centerline goodness : 0.946433 with order 1
Centerline goodness : 0.941679 with order 1
Centerline goodness : 0.947725 with order 1
Centerline goodness : 0.944825 with order 1
Centerline goodness : 0.951131 with order 1
SLAMing on frame at distance 30.02327356
Centerline is valid?  [False, False]
Translation: X:3.85, Y:0.19, Z:0.07
[[ 0.97273448  0.1620888  -0.16587604  3.84988679]
 [-0.15664362  0.98660714  0.04548771  0.18710068]
 [ 0.17102753 -0.01826404  0.98509695  0.06882341]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.08327356
Centerline is valid?  [False, False]
Translation: X:3.85, Y:0.19, Z:0.07
[[ 0.97281365  0.16130445 -0.16617605  3.85117684]
 [-0.1558635   0.98673627  0.04536638  0.18568675]
 [ 0.17128973 -0.01823225  0.98505198  0.0694656 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.143273559999997
Centerline is valid?  [False, False]
Translation: X:3.85, Y:0.18, Z:0.07
[[ 0.97281791  0.16073105 -0.16670586  3.85341194]
 [-0.15516851  0.98681837  0.04595909  0.18461227]
 [ 0.17189546 -0.01884233  0.98493498  0.06994697]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.20327356
Centerline is valid?  [False, False]
Translation: X:3.85, Y:0.18, Z:0.07
[[ 0.9730079   0.15944212 -0.16683477  3.85438415]
 [-0.1536925   0.98700463  0.04690924  0.1826795 ]
 [ 0.17214599 -0.02000181  0.98486836  0.07044771]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.26327356
Centerline is valid?  [False, False]
Translation: X:3.86, Y:0.18, Z:0.07
[[ 0.97318311  0.15854941 -0.16666351  3.85552064]
 [-0.15290715  0.98715813  0.04624097  0.1813621 ]
 [ 0.17185472 -0.01951689  0.98492896  0.07161597]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.323273559999997
Centerline is valid?  [False, False]
Translation: X:3.86, Y:0.18, Z:0.07
[[ 0.9732561   0.15839825 -0.16638078  3.85663767]
 [-0.15283415  0.98718942  0.04581243  0.18012131]
 [ 0.17150595 -0.01915856  0.98499678  0.07227367]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.38327356
Centerline is valid?  [False, False]
Translation: X:3.86, Y:0.18, Z:0.07
[[ 0.97295262  0.15939388 -0.16720284  3.85977782]
 [-0.1536753   0.98701795  0.04668479  0.17904192]
 [ 0.17247347 -0.01972714  0.9848166   0.07215757]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.443273559999998
Centerline is valid?  [False, False]
Translation: X:3.86, Y:0.18, Z:0.07
[[ 0.97270501  0.16003959 -0.16802471  3.86323159]
 [-0.15428854  0.98691548  0.04682831  0.17813945]
 [ 0.17332057 -0.01962584  0.9846699   0.07227128]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.50327356
Centerline is valid?  [False, False]
Translation: X:3.87, Y:0.18, Z:0.07
[[ 0.97255139  0.16107218 -0.1679272   3.865138  ]
 [-0.15541895  0.98675978  0.04636907  0.17685537]
 [ 0.17317257 -0.01899724  0.98470826  0.07269655]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.56327356
Centerline is valid?  [False, False]
Translation: X:3.87, Y:0.18, Z:0.07
[[ 0.97227829  0.1629485  -0.16769826  3.86679388]
 [-0.1573612   0.98646101  0.046175    0.17628199]
 [ 0.17295194 -0.01850575  0.9847564   0.07368094]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.623273559999998
Centerline is valid?  [False, False]
Translation: X:3.87, Y:0.18, Z:0.08
[[ 0.97145871  0.16792962 -0.16753395  3.86948492]
 [-0.16215041  0.98561255  0.04769845  0.17622295]
 [ 0.17313355 -0.01917137  0.98471175  0.07507182]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.68327356
Centerline is valid?  [False, True]
Translation: X:3.87, Y:0.18, Z:0.08
[[ 0.9705337   0.17230809 -0.16844661  3.87366323]
 [-0.16632293  0.98484686  0.04912582  0.17582235]
 [ 0.17435889 -0.01966173  0.98448585  0.07571282]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.74327356
Centerline is valid?  [True, True]
Translation: X:3.94, Y:0.17, Z:0.07
[[ 0.9709446   0.16756806 -0.17084355  3.93639289]
 [-0.16837711  0.98567345  0.00984844  0.17135774]
 [ 0.17004624  0.01920385  0.98524895  0.06873331]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.803273559999997
Centerline is valid?  [True, False]
Translation: X:3.94, Y:0.17, Z:0.07
[[ 0.97043843  0.17009827 -0.17121867  3.93912377]
 [-0.17108569  0.98521429  0.00908259  0.17164339]
 [ 0.17023201  0.02047897  0.98519119  0.06932907]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.86327356
Centerline is valid?  [False, False]
Translation: X:3.94, Y:0.17, Z:0.07
[[ 0.97023515  0.17232604 -0.17013962  3.94021662]
 [-0.17319768  0.98483812  0.00982002  0.17178498]
 [ 0.16925223  0.01994006  0.98537104  0.07051568]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.92327356
Centerline is valid?  [False, False]
Translation: X:3.94, Y:0.17, Z:0.07
[[ 0.97007671  0.17315226 -0.1702042   3.94316521]
 [-0.17393331  0.98470223  0.01042723  0.17148331]
 [ 0.16940595  0.01948897  0.98535364  0.07154515]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 30.983273559999997
Centerline is valid?  [False, False]
Translation: X:3.95, Y:0.17, Z:0.07
[[ 0.96997508  0.17253183 -0.17140919  3.94526083]
 [-0.1733349   0.98480818  0.01038582  0.17110826]
 [ 0.17059706  0.01963721  0.98514518  0.07242894]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.04327356
Centerline is valid?  [False, False]
Translation: X:3.95, Y:0.17, Z:0.07
[[ 0.97001014  0.1712869  -0.17245618  3.94760503]
 [-0.17208104  0.98502738  0.01044868  0.17080923]
 [ 0.17166378  0.01954112  0.98496177  0.07304282]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.103273559999998
Centerline is valid?  [False, False]
Translation: X:3.95, Y:0.17, Z:0.07
[[ 0.97056521  0.16810859 -0.17246064  3.94861838]
 [-0.16906392  0.98556176  0.00924177  0.17085626]
 [ 0.17152424  0.02018713  0.98497305  0.07354701]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.16327356
Centerline is valid?  [False, False]
Translation: X:3.95, Y:0.17, Z:0.07
[[ 0.97087669  0.16658252 -0.17218805  3.94993485]
 [-0.16748303  0.98583025  0.00938928  0.1714249 ]
 [ 0.17131228  0.01972274  0.98501935  0.07312094]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.945507 with order 1
Centerline goodness : 0.944271 with order 1
Centerline goodness : 0.943379 with order 1
Centerline goodness : 0.946771 with order 1
Centerline goodness : 0.944854 with order 1
Centerline goodness : 0.945076 with order 1
Centerline goodness : 0.947184 with order 1
Centerline goodness : 0.944073 with order 1
Centerline goodness : 0.941472 with order 1
Centerline goodness : 0.940551 with order 1
Centerline goodness : 0.946546 with order 1
Centerline goodness : 0.944994 with order 1
Centerline goodness : 0.947610 with order 1
Centerline goodness : 0.946421 with order 1
Centerline goodness : 0.941343 with order 1
Centerline goodness : 0.943464 with order 1
Centerline goodness : 0.941167 with order 1
Centerline goodness : 0.946688 with order 1
Centerline goodness : 0.946409 with order 1
Centerline goodness : 0.943046 with order 1
SLAMing on frame at distance 31.22327356
Centerline is valid?  [False, False]
Translation: X:3.95, Y:0.17, Z:0.07
[[ 0.9707787   0.16741226 -0.1719356   3.95214117]
 [-0.16829586  0.98569046  0.0095305   0.17309737]
 [ 0.1710708   0.01968405  0.98506209  0.07323739]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.283273559999998
Centerline is valid?  [False, False]
Translation: X:3.95, Y:0.17, Z:0.07
[[ 0.97066782  0.16783805 -0.17214639  3.95423774]
 [-0.16872228  0.98561698  0.0095892   0.17360553]
 [ 0.17127984  0.019737    0.9850247   0.07347937]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.34327356
Centerline is valid?  [False, False]
Translation: X:3.96, Y:0.18, Z:0.07
[[ 0.97023386  0.1694874  -0.17297479  3.95788955]
 [-0.17038131  0.9853297   0.00977748  0.17556544]
 [ 0.17209435  0.01998523  0.98487772  0.07369634]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.40327356
Centerline is valid?  [False, False]
Translation: X:3.96, Y:0.18, Z:0.07
[[ 0.96988392  0.17112558 -0.17332401  3.96081843]
 [-0.17188607  0.98505844  0.01072653  0.17721045]
 [ 0.17256986  0.0193885   0.98480644  0.07357631]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.463273559999998
Centerline is valid?  [False, False]
Translation: X:3.96, Y:0.18, Z:0.07
[[ 0.96984672  0.17144624 -0.17321528  3.96201658]
 [-0.17219804  0.98500323  0.01079237  0.1777409 ]
 [ 0.17246793  0.01936038  0.98482485  0.07430698]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.52327356
Centerline is valid?  [False, False]
Translation: X:3.96, Y:0.18, Z:0.08
[[ 0.96984293  0.17137798 -0.17330399  3.96395565]
 [-0.17214627  0.98501326  0.01070219  0.17889488]
 [ 0.17254085  0.01945419  0.98481023  0.07542028]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.58327356
Centerline is valid?  [False, False]
Translation: X:3.97, Y:0.18, Z:0.08
[[ 0.96995078  0.17034155 -0.17372172  3.96603178]
 [-0.1710855   0.98519704  0.01079588  0.18033737]
 [ 0.17298911  0.01924979  0.98473561  0.07568437]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.643273559999997
Centerline is valid?  [False, False]
Translation: X:3.97, Y:0.18, Z:0.08
[[ 0.96999423  0.16991827 -0.17389357  3.96841974]
 [-0.17076283  0.98525931  0.01020509  0.18159321]
 [ 0.17306429  0.01979568  0.98471157  0.07585293]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.70327356
Centerline is valid?  [False, False]
Translation: X:3.97, Y:0.18, Z:0.08
[[ 0.96976405  0.17023022 -0.17486956  3.97175655]
 [-0.17113168  0.98519717  0.01002445  0.18412601]
 [ 0.17398746  0.02020437  0.98454058  0.07633214]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.76327356
Centerline is valid?  [False, False]
Translation: X:3.97, Y:0.19, Z:0.08
[[ 0.96961421  0.17029197 -0.17563861  3.97454814]
 [-0.17123588  0.9851805   0.00988158  0.18575908]
 [ 0.17471848  0.02049431  0.98440512  0.07682272]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.823273559999997
Centerline is valid?  [False, False]
Translation: X:3.98, Y:0.19, Z:0.08
[[ 0.96935762  0.17070988 -0.17664636  3.97751648]
 [-0.17178226  0.98509086  0.00931979  0.18691958]
 [ 0.1756037   0.0213105   0.98423026  0.07787988]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.88327356
Centerline is valid?  [False, False]
Translation: X:3.98, Y:0.19, Z:0.08
[[ 0.96905128  0.17159381 -0.17746884  3.97962288]
 [-0.17264709  0.98493688  0.00960839  0.1896449 ]
 [ 0.17644434  0.02132846  0.98407951  0.07904781]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 31.943273559999998
Centerline is valid?  [False, False]
Translation: X:3.98, Y:0.19, Z:0.08
[[ 0.96888424  0.17258247 -0.17742215  3.98134345]
 [-0.17362192  0.98476392  0.00977023  0.19215816]
 [ 0.1764051   0.02133815  0.98408634  0.08062142]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 32.003273560000004
Centerline is valid?  [False, False]
Translation: X:3.98, Y:0.19, Z:0.08
[[ 0.96865333  0.17290313 -0.17836827  3.98415569]
 [-0.17395303  0.98470461  0.00985789  0.19452711]
 [ 0.17734452  0.02147882  0.98391442  0.08112158]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 32.06327356
Centerline is valid?  [False, False]
Translation: X:3.99, Y:0.20, Z:0.08
[[ 0.9682319   0.17420038 -0.17939123  3.98713408]
 [-0.17522648  0.98447495  0.01023482  0.19766176]
 [ 0.17838908  0.02152442  0.98372457  0.08162995]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 32.12327356
Centerline is valid?  [False, False]
Translation: X:3.99, Y:0.20, Z:0.08
[[ 0.9679284   0.17537436 -0.17988453  3.99018472]
 [-0.17668521  0.98422774  0.00883721  0.19975758]
 [ 0.17859717  0.02322915  0.98364804  0.08246599]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 32.183273559999996
Centerline is valid?  [False, False]
Translation: X:3.99, Y:0.20, Z:0.08
[[ 0.96768833  0.17670033 -0.17987854  3.99166533]
 [-0.17809907  0.98397606  0.00847517  0.20295081]
 [ 0.17849374  0.02383488  0.98365232  0.08330755]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 32.24327356
Centerline is valid?  [False, False]
Translation: X:3.99, Y:0.21, Z:0.08
[[ 0.96723498  0.17937235 -0.17967209  3.9941029 ]
 [-0.18057139  0.9835131   0.00979612  0.20584108]
 [ 0.17846701  0.02296849  0.98367778  0.08460506]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 32.30327356
Centerline is valid?  [False, False]
Translation: X:4.00, Y:0.21, Z:0.08
[[ 0.96691987  0.18070419 -0.18003324  3.99720174]
 [-0.18187426  0.98326965  0.01012649  0.20835614]
 [ 0.17885112  0.02295191  0.9836084   0.08480029]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 32.363273559999996
Centerline is valid?  [False, False]
Translation: X:4.00, Y:0.21, Z:0.09
[[ 0.96640562  0.18182293 -0.18166068  4.00102179]
 [-0.18312031  0.98304217  0.00974954  0.21117027]
 [ 0.1803528   0.02384375  0.98331294  0.08588173]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.923565 with order 1
Centerline goodness : 0.922654 with order 1
Centerline goodness : 0.937202 with order 1
Centerline goodness : 0.928661 with order 1
Centerline goodness : 0.928489 with order 1
Centerline goodness : 0.928438 with order 1
Centerline goodness : 0.933157 with order 1
Centerline goodness : 0.926318 with order 1
Centerline goodness : 0.930001 with order 1
Centerline goodness : 0.923371 with order 1
Centerline goodness : 0.922517 with order 1
Centerline goodness : 0.930544 with order 1
Centerline goodness : 0.923497 with order 1
Centerline goodness : 0.923880 with order 1
Centerline goodness : 0.927038 with order 1
Centerline goodness : 0.928625 with order 1
Centerline goodness : 0.930475 with order 1
Centerline goodness : 0.938256 with order 1
Centerline goodness : 0.926632 with order 1
Centerline goodness : 0.925082 with order 1
SLAMing on frame at distance 32.42327356
Centerline is valid?  [False, False]
Translation: X:4.00, Y:0.21, Z:0.09
[[ 0.96630661  0.1813164  -0.18269074  4.00342857]
 [-0.18288121  0.98309922  0.00838955  0.2139523 ]
 [ 0.18112428  0.02530382  0.98313463  0.08676727]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 32.48327356
Centerline is valid?  [False, False]
Translation: X:4.01, Y:0.22, Z:0.09
[[ 0.96631245  0.18084235 -0.18312915  4.00597088]
 [-0.18246552  0.98317896  0.00809095  0.21570205]
 [ 0.18151191  0.02559637  0.98305557  0.0871658 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 32.543273559999996
Centerline is valid?  [False, False]
Translation: X:4.01, Y:0.22, Z:0.09
[[ 0.96636396  0.18022546 -0.1834652   4.00823593]
 [-0.18185724  0.98329212  0.00803418  0.21812409]
 [ 0.18184785  0.02560053  0.98299337  0.0876533 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 32.60327356
Centerline is valid?  [False, False]
Translation: X:4.01, Y:0.22, Z:0.09
[[ 0.96653872  0.17966205 -0.18309685  4.0094425 ]
 [-0.18129366  0.98339704  0.00792908  0.2199546 ]
 [ 0.18148146  0.02553054  0.9830629   0.08792477]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 32.66327356
Centerline is valid?  [False, False]
Translation: X:4.01, Y:0.22, Z:0.09
[[ 0.96711435  0.17717273 -0.18248193  4.00958326]
 [-0.17878478  0.98385797  0.00771299  0.22238792]
 [ 0.18090283  0.02516565  0.98317895  0.08887485]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 32.723273559999996
Centerline is valid?  [False, False]
Translation: X:4.01, Y:0.22, Z:0.09
[[ 0.96763037  0.17376615 -0.18302129  4.01051437]
 [-0.17557671  0.984445    0.00639194  0.2241271 ]
 [ 0.18128509  0.02594924  0.98308817  0.0890202 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 32.78327356
Centerline is valid?  [False, False]
Translation: X:4.01, Y:0.23, Z:0.09
[[ 0.96810462  0.17000929 -0.18403884  4.0120653 ]
 [-0.17187486  0.9851012   0.00588739  0.22537255]
 [ 0.1822978   0.02593204  0.98290134  0.08891197]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 32.84327356
Centerline is valid?  [False, False]
Translation: X:4.01, Y:0.23, Z:0.09
[[ 0.96844548  0.16818945 -0.18391753  4.01402633]
 [-0.16999513  0.98542651  0.0060208   0.22631062]
 [ 0.18224984  0.02543427  0.98292324  0.08926986]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 32.903273559999995
Centerline is valid?  [False, False]
Translation: X:4.01, Y:0.23, Z:0.09
[[ 0.9689683   0.16595427 -0.18319282  4.0141009 ]
 [-0.167896    0.98579218  0.00497027  0.22775256]
 [ 0.18141489  0.02594131  0.98306444  0.09032522]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 32.96327356
Centerline is valid?  [False, False]
Translation: X:4.02, Y:0.23, Z:0.09
[[ 0.96902078  0.16528534 -0.18351972  4.01593825]
 [-0.16732172  0.98589234  0.00444272  0.22863465]
 [ 0.18166501  0.02640175  0.98300599  0.09063726]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.02327356
Centerline is valid?  [False, False]
Translation: X:4.02, Y:0.23, Z:0.09
[[ 0.96895662  0.16475709 -0.18433168  4.01864373]
 [-0.16683666  0.98597526  0.00427993  0.22938243]
 [ 0.18245162  0.02660622  0.98285478  0.09026211]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.08327356
Centerline is valid?  [False, False]
Translation: X:4.02, Y:0.23, Z:0.09
[[ 0.96879591  0.16506713 -0.18489814  4.0204574 ]
 [-0.16710023  0.98592898  0.0046428   0.22972126]
 [ 0.18306281  0.0263986   0.98274672  0.0906902 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.14327356
Centerline is valid?  [False, False]
Translation: X:4.02, Y:0.23, Z:0.09
[[ 0.96883216  0.16463532 -0.18509313  4.02170637]
 [-0.16658954  0.98601338  0.00505324  0.22962306]
 [ 0.18333625  0.02593884  0.98270799  0.09150664]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.20327356
Centerline is valid?  [False, False]
Translation: X:4.02, Y:0.23, Z:0.09
[[ 0.96888373  0.16419148 -0.18521737  4.02313033]
 [-0.16614428  0.98608859  0.00503657  0.22903931]
 [ 0.18346769  0.02589295  0.98268467  0.09203593]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.26327356
Centerline is valid?  [False, False]
Translation: X:4.02, Y:0.23, Z:0.09
[[ 0.96912187  0.1626654  -0.18531803  4.02409704]
 [-0.16461134  0.98634612  0.00494252  0.22731982]
 [ 0.18359169  0.02571554  0.98266617  0.09311205]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.32327356
Centerline is valid?  [False, False]
Translation: X:4.02, Y:0.23, Z:0.09
[[ 0.96925943  0.16174159 -0.18540715  4.02495706]
 [-0.16362431  0.98650899  0.00520546  0.22608728]
 [ 0.18374776  0.02529168  0.982648    0.0934497 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.38327356
Centerline is valid?  [False, False]
Translation: X:4.03, Y:0.23, Z:0.09
[[ 0.9691555   0.162014   -0.18571234  4.0269123 ]
 [-0.16391189  0.98646131  0.00519315  0.2257055 ]
 [ 0.1840394   0.02540749  0.98259043  0.09363961]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.44327356
Centerline is valid?  [False, False]
Translation: X:4.03, Y:0.23, Z:0.09
[[ 0.96877883  0.163276   -0.18657041  4.03018385]
 [-0.16538282  0.98621997  0.00432372  0.22517119]
 [ 0.18470543  0.02666681  0.98243208  0.09455468]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.50327356
Centerline is valid?  [False, False]
Translation: X:4.03, Y:0.22, Z:0.10
[[ 0.96835186  0.1650986  -0.18718208  4.03274943]
 [-0.16719774  0.98591251  0.00462934  0.22425629]
 [ 0.18530945  0.02681359  0.98231433  0.09544543]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.56327356
Centerline is valid?  [False, False]
Translation: X:4.03, Y:0.22, Z:0.10
[[ 0.96793589  0.16757251 -0.18713517  4.03452266]
 [-0.16955473  0.98550554  0.00548015  0.22346505]
 [ 0.18534107  0.02642522  0.98231889  0.09631211]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.930219 with order 1
Centerline goodness : 0.930161 with order 1
Centerline goodness : 0.926607 with order 1
Centerline goodness : 0.928796 with order 1
Centerline goodness : 0.926027 with order 1
Centerline goodness : 0.929675 with order 1
Centerline goodness : 0.930124 with order 1
Centerline goodness : 0.927921 with order 1
Centerline goodness : 0.926746 with order 1
Centerline goodness : 0.932952 with order 1
Centerline goodness : 0.928604 with order 1
Centerline goodness : 0.924903 with order 1
Centerline goodness : 0.927752 with order 1
Centerline goodness : 0.928428 with order 1
Centerline goodness : 0.927132 with order 1
Centerline goodness : 0.928389 with order 1
Centerline goodness : 0.927231 with order 1
Centerline goodness : 0.925534 with order 1
Centerline goodness : 0.931434 with order 1
Centerline goodness : 0.930330 with order 1
SLAMing on frame at distance 33.62327356
Centerline is valid?  [False, False]
Translation: X:4.04, Y:0.22, Z:0.10
[[ 0.96736438  0.17039785 -0.18753859  4.03732702]
 [-0.17233204  0.98502024  0.00606518  0.22175734]
 [ 0.1857628   0.02645167  0.98223851  0.09772081]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.683273559999996
Centerline is valid?  [False, False]
Translation: X:4.04, Y:0.22, Z:0.10
[[ 0.96737418  0.17045036 -0.1874403   4.03886118]
 [-0.17241824  0.9850063   0.00587776  0.22006421]
 [ 0.18563174  0.02663213  0.98225841  0.09882765]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.74327356
Centerline is valid?  [False, False]
Translation: X:4.04, Y:0.22, Z:0.10
[[ 0.96729273  0.17048008 -0.18783322  4.04036504]
 [-0.17239361  0.98500847  0.00622486  0.2181061 ]
 [ 0.18607853  0.02635999  0.98218121  0.09948079]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.80327356
Centerline is valid?  [False, False]
Translation: X:4.04, Y:0.22, Z:0.10
[[ 0.96684804  0.17175764 -0.18895547  4.04403818]
 [-0.17363867  0.98478677  0.00668116  0.21712171]
 [ 0.18722839  0.02635031  0.98196293  0.09979272]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.863273559999996
Centerline is valid?  [False, False]
Translation: X:4.05, Y:0.22, Z:0.10
[[ 0.96639531  0.17356836 -0.18961575  4.04682695]
 [-0.17543029  0.9844666   0.0070524   0.21617143]
 [ 0.18789444  0.02644894  0.98183305  0.09963533]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.92327356
Centerline is valid?  [False, False]
Translation: X:4.05, Y:0.21, Z:0.10
[[ 0.96621728  0.17490627 -0.18929334  4.04847011]
 [-0.17679801  0.9842224   0.00698059  0.21492743]
 [ 0.1875277   0.02672192  0.98189577  0.100741  ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 33.98327356
Centerline is valid?  [False, False]
Translation: X:4.05, Y:0.21, Z:0.10
[[ 0.96606655  0.17561212 -0.18940912  4.05055269]
 [-0.17763478  0.98407579  0.00638097  0.21398962]
 [ 0.18751351  0.02748121  0.98187752  0.10216168]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.043273559999996
Centerline is valid?  [False, False]
Translation: X:4.05, Y:0.21, Z:0.10
[[ 0.96582445  0.1758961  -0.19037777  4.05330529]
 [-0.17803754  0.9840058   0.00593437  0.21239835]
 [ 0.18837666  0.02816283  0.98169297  0.10303657]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.10327356
Centerline is valid?  [False, False]
Translation: X:4.06, Y:0.21, Z:0.10
[[ 0.96543858  0.17708527 -0.19123062  4.05634981]
 [-0.17912094  0.98380405  0.0067298   0.21116934]
 [ 0.1893252   0.0277562   0.98152206  0.10383198]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.16327356
Centerline is valid?  [False, False]
Translation: X:4.06, Y:0.21, Z:0.10
[[ 0.96500688  0.17844474 -0.1921437   4.05877979]
 [-0.18033092  0.9835753   0.00777158  0.20966421]
 [ 0.19037459  0.02714982  0.98133603  0.10417577]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.223273559999996
Centerline is valid?  [False, False]
Translation: X:4.06, Y:0.21, Z:0.10
[[ 0.96484663  0.17848164 -0.19291266  4.0613547 ]
 [-0.18041469  0.98356092  0.00764623  0.20779154]
 [ 0.19110606  0.02742684  0.98118614  0.10484063]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.28327356
Centerline is valid?  [False, False]
Translation: X:4.06, Y:0.21, Z:0.11
[[ 0.96479756  0.17874322 -0.19291585  4.0627936 ]
 [-0.18057137  0.98352761  0.0082112   0.20594121]
 [ 0.19120576  0.02691293  0.98118095  0.10595361]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.34327356
Centerline is valid?  [False, False]
Translation: X:4.06, Y:0.20, Z:0.11
[[ 0.96487533  0.17854022 -0.19271476  4.06372826]
 [-0.18043495  0.98355583  0.00782006  0.20358125]
 [ 0.19094192  0.0272271   0.98122366  0.10698044]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.403273559999995
Centerline is valid?  [False, False]
Translation: X:4.07, Y:0.20, Z:0.11
[[ 0.96470596  0.17894043 -0.19319092  4.06514025]
 [-0.18078951  0.98348793  0.00816308  0.20078773]
 [ 0.19146164  0.02705192  0.98112723  0.10823293]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.46327356
Centerline is valid?  [False, False]
Translation: X:4.07, Y:0.20, Z:0.11
[[ 0.96454908  0.17944797 -0.19350321  4.06699296]
 [-0.18127137  0.98339732  0.00839018  0.19815548]
 [ 0.19179614  0.02698386  0.98106377  0.10893066]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.52327356
Centerline is valid?  [False, False]
Translation: X:4.07, Y:0.20, Z:0.11
[[ 0.96441931  0.17922445 -0.19435531  4.0693427 ]
 [-0.18095051  0.98345116  0.00898523  0.19593019]
 [ 0.19274933  0.02650316  0.98089004  0.10978282]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.58327356
Centerline is valid?  [False, False]
Translation: X:4.07, Y:0.19, Z:0.11
[[ 0.96444569  0.1778655  -0.19546965  4.0719996 ]
 [-0.17972567  0.98368154  0.00832537  0.19220058]
 [ 0.19376068  0.02710155  0.98067441  0.10997607]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.64327356
Centerline is valid?  [False, False]
Translation: X:4.07, Y:0.19, Z:0.11
[[ 0.96444129  0.17754541 -0.19578206  4.07445192]
 [-0.17952555  0.98372293  0.00773123  0.19036787]
 [ 0.19396795  0.02769157  0.98061695  0.11043425]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.70327356
Centerline is valid?  [False, False]
Translation: X:4.08, Y:0.19, Z:0.11
[[ 0.96447511  0.17851483 -0.19473112  4.07635051]
 [-0.18052935  0.983541    0.00750058  0.18862024]
 [ 0.192865    0.02792056  0.98082798  0.11099636]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.76327356
Centerline is valid?  [False, False]
Translation: X:4.08, Y:0.19, Z:0.11
[[ 0.96439865  0.1794062  -0.19429013  4.07833722]
 [-0.18131236  0.98339239  0.00807709  0.18667452]
 [ 0.19251252  0.02743767  0.98091085  0.11105648]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.926150 with order 1
Centerline goodness : 0.924574 with order 1
Centerline goodness : 0.925592 with order 1
Centerline goodness : 0.923064 with order 1
Centerline goodness : 0.928887 with order 1
Centerline goodness : 0.929716 with order 1
Centerline goodness : 0.922765 with order 1
Centerline goodness : 0.922043 with order 1
Centerline goodness : 0.923214 with order 1
Centerline goodness : 0.917884 with order 1
Centerline goodness : 0.918914 with order 1
Centerline goodness : 0.917847 with order 1
Centerline goodness : 0.925105 with order 1
Centerline goodness : 0.933249 with order 1
Centerline goodness : 0.923521 with order 1
Centerline goodness : 0.920160 with order 1
Centerline goodness : 0.921877 with order 1
Centerline goodness : 0.934100 with order 1
Centerline goodness : 0.925398 with order 1
Centerline goodness : 0.917624 with order 1
SLAMing on frame at distance 34.82327356
Centerline is valid?  [False, False]
Translation: X:4.08, Y:0.19, Z:0.11
[[ 0.96432865  0.17958206 -0.19447502  4.08138276]
 [-0.18143326  0.98336737  0.00840134  0.18518578]
 [ 0.19274912  0.02718259  0.98087149  0.11129577]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.88327356
Centerline is valid?  [False, False]
Translation: X:4.08, Y:0.18, Z:0.11
[[ 0.96438952  0.17973541 -0.19403102  4.08325196]
 [-0.18151514  0.98334951  0.0087173   0.1834394 ]
 [ 0.19236711  0.0268127   0.98095666  0.11123751]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 34.94327356
Centerline is valid?  [False, False]
Translation: X:4.09, Y:0.18, Z:0.11
[[ 0.96431441  0.18012595 -0.19404216  4.0862369 ]
 [-0.18208594  0.98325138  0.00783847  0.18249838]
 [ 0.19220413  0.0277736   0.98096187  0.11156348]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.00327356
Centerline is valid?  [False, False]
Translation: X:4.09, Y:0.18, Z:0.11
[[ 0.96444161  0.18024077 -0.19330197  4.08788475]
 [-0.18237212  0.98320563  0.0068622   0.18120896]
 [ 0.19129244  0.0286347   0.98111531  0.11129352]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.06327356
Centerline is valid?  [False, False]
Translation: X:4.09, Y:0.18, Z:0.11
[[ 0.96455955  0.18000201 -0.19293563  4.08949531]
 [-0.18213328  0.98325046  0.0067829   0.18020274]
 [ 0.19092498  0.02859749  0.98118797  0.11161658]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.12327356
Centerline is valid?  [False, False]
Translation: X:4.09, Y:0.18, Z:0.11
[[ 0.96448567  0.18031471 -0.19301296  4.09211904]
 [-0.182327    0.98320982  0.00743687  0.17878387]
 [ 0.19111321  0.02801872  0.98116802  0.11139478]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.183273559999996
Centerline is valid?  [False, False]
Translation: X:4.10, Y:0.18, Z:0.11
[[ 0.96412795  0.18159969 -0.19359456  4.09588387]
 [-0.18352462  0.98298175  0.00809924  0.17787108]
 [ 0.19177074  0.02772066  0.98104819  0.11108504]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.24327356
Centerline is valid?  [False, False]
Translation: X:4.10, Y:0.18, Z:0.11
[[ 0.96389073  0.18336649 -0.19310981  4.09776862]
 [-0.18527639  0.98265156  0.00828119  0.17693733]
 [ 0.19127815  0.02779653  0.9811422   0.11144447]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.30327356
Centerline is valid?  [False, False]
Translation: X:4.10, Y:0.18, Z:0.11
[[ 0.96375753  0.18430011 -0.19288571  4.09944549]
 [-0.18630942  0.98245992  0.00783035  0.17607164]
 [ 0.19094561  0.02838987  0.98118999  0.11276299]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.363273559999996
Centerline is valid?  [False, False]
Translation: X:4.10, Y:0.17, Z:0.11
[[ 0.96326031  0.18547711 -0.19423651  4.10284426]
 [-0.18765325  0.9822082   0.00730144  0.17477534]
 [ 0.19213494  0.02941593  0.98092755  0.11363065]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.42327356
Centerline is valid?  [False, False]
Translation: X:4.11, Y:0.17, Z:0.11
[[ 0.96279175  0.18693955 -0.19515546  4.10702409]
 [-0.18905499  0.98193472  0.00790063  0.17393351]
 [ 0.19310686  0.02928845  0.9807405   0.1137957 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.48327356
Centerline is valid?  [False, False]
Translation: X:4.11, Y:0.17, Z:0.11
[[ 0.96218717  0.1895525  -0.1956162   4.11031213]
 [-0.19163291  0.98143061  0.00841388  0.17338326]
 [ 0.19357859  0.02939078  0.98064444  0.11400768]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.543273559999996
Centerline is valid?  [False, False]
Translation: X:4.11, Y:0.17, Z:0.11
[[ 0.9619652   0.19070038 -0.19559222  4.11184012]
 [-0.19292663  0.98118228  0.00778732  0.17332989]
 [ 0.19339667  0.03024382  0.98065439  0.11466485]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.60327356
Centerline is valid?  [False, False]
Translation: X:4.11, Y:0.17, Z:0.12
[[ 0.96197831  0.19076593 -0.19546377  4.11382774]
 [-0.19310434  0.98115178  0.00720412  0.17290833]
 [ 0.19315393  0.0308147   0.98068446  0.11585295]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.66327356
Centerline is valid?  [False, False]
Translation: X:4.12, Y:0.17, Z:0.12
[[ 0.96209204  0.18948436 -0.1961494   4.1157066 ]
 [-0.19196896  0.98137983  0.0064457   0.17225368]
 [ 0.19371842  0.03145324  0.98055284  0.11674563]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.723273559999996
Centerline is valid?  [False, False]
Translation: X:4.12, Y:0.17, Z:0.12
[[ 0.96201654  0.18864775 -0.19732258  4.11884769]
 [-0.19120357  0.98153085  0.00619592  0.17161246]
 [ 0.19484704  0.03176821  0.98031903  0.11690905]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.78327356
Centerline is valid?  [False, False]
Translation: X:4.12, Y:0.17, Z:0.12
[[ 0.96211646  0.18726251 -0.19815316  4.12150072]
 [-0.18990966  0.98178482  0.00573437  0.17092195]
 [ 0.1956176   0.03211407  0.98015429  0.11619212]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.84327356
Centerline is valid?  [False, False]
Translation: X:4.12, Y:0.17, Z:0.12
[[ 0.96204703  0.18774665 -0.19803207  4.12388337]
 [-0.19053387  0.98166758  0.00506108  0.17123568]
 [ 0.19535187  0.03286282  0.98018247  0.11657151]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.903273559999995
Centerline is valid?  [False, False]
Translation: X:4.13, Y:0.17, Z:0.12
[[ 0.96181573  0.18917843 -0.1977929   4.1264582 ]
 [-0.19191196  0.98139709  0.00543608  0.17164321]
 [ 0.19514177  0.03273032  0.98022876  0.11775974]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 35.96327356
Centerline is valid?  [False, False]
Translation: X:4.13, Y:0.17, Z:0.12
[[ 0.96145485  0.19051273 -0.19826617  4.12889781]
 [-0.19342893  0.98110285  0.00473807  0.17278594]
 [ 0.19542217  0.03379497  0.98013676  0.11876288]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.939245 with order 1
Centerline goodness : 0.928399 with order 1
Centerline goodness : 0.940156 with order 1
Centerline goodness : 0.942800 with order 1
Centerline goodness : 0.940415 with order 1
Centerline goodness : 0.936097 with order 1
Centerline goodness : 0.938456 with order 1
Centerline goodness : 0.934224 with order 1
Centerline goodness : 0.934912 with order 1
Centerline goodness : 0.937630 with order 1
Centerline goodness : 0.938117 with order 1
Centerline goodness : 0.937083 with order 1
Centerline goodness : 0.932664 with order 1
Centerline goodness : 0.939219 with order 1
Centerline goodness : 0.936129 with order 1
Centerline goodness : 0.940013 with order 1
Centerline goodness : 0.935204 with order 1
Centerline goodness : 0.940286 with order 1
Centerline goodness : 0.926025 with order 1
Centerline goodness : 0.932891 with order 1
SLAMing on frame at distance 36.02327356
Centerline is valid?  [False, False]
Translation: X:4.13, Y:0.17, Z:0.12
[[ 0.96115642  0.19075206 -0.1994793   4.13273922]
 [-0.19369847  0.98104924  0.00482571  0.17285576]
 [ 0.19661953  0.03400057  0.97989016  0.11904879]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 36.083273559999995
Centerline is valid?  [False, False]
Translation: X:4.14, Y:0.17, Z:0.12
[[ 0.96103887  0.1900498  -0.20071213  4.13646196]
 [-0.19283233  0.98121469  0.00578085  0.17341474]
 [ 0.19804034  0.03314816  0.97963321  0.11844692]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 36.14327356
Centerline is valid?  [False, False]
Translation: X:4.14, Y:0.17, Z:0.12
[[ 0.96124741  0.188826   -0.20086849  4.13937312]
 [-0.19157919  0.98145987  0.00582539  0.17334552]
 [ 0.19824435  0.03288258  0.9796009   0.11856982]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 36.20327356
Centerline is valid?  [False, False]
Translation: X:4.14, Y:0.17, Z:0.12
[[ 9.62038278e-01  1.84951447e-01 -2.00687102e-01  4.13998400e+00]
 [-1.88148381e-01  9.82135414e-01  3.19612712e-03  1.73129755e-01]
 [ 1.97693038e-01  3.46841568e-02  9.79650178e-01  1.19059406e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.26327356
Centerline is valid?  [False, False]
Translation: X:4.14, Y:0.17, Z:0.12
[[ 9.62357518e-01  1.83214637e-01 -2.00749606e-01  4.14163149e+00]
 [-1.86639097e-01  9.82426709e-01  1.89995124e-03  1.73059163e-01]
 [ 1.97569874e-01  3.56392928e-02  9.79640743e-01  1.19938630e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.32327356
Centerline is valid?  [False, False]
Translation: X:4.14, Y:0.17, Z:0.12
[[ 9.62618237e-01  1.81931220e-01 -2.00666793e-01  4.14337988e+00]
 [-1.85227401e-01  9.82692783e-01  2.38814823e-03  1.73435623e-01]
 [ 1.97628288e-01  3.48701135e-02  9.79656641e-01  1.20557992e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.38327356
Centerline is valid?  [False, False]
Translation: X:4.15, Y:0.17, Z:0.12
[[ 9.62505037e-01  1.81429720e-01 -2.01661376e-01  4.14616295e+00]
 [-1.84689573e-01  9.82793216e-01  2.69388816e-03  1.73275583e-01]
 [ 1.98680184e-01  3.46518726e-02  9.79451598e-01  1.20376691e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.44327356
Centerline is valid?  [False, False]
Translation: X:4.15, Y:0.17, Z:0.12
[[ 9.62384131e-01  1.81225421e-01 -2.02420680e-01  4.14908925e+00]
 [-1.84524182e-01  9.82824491e-01  2.61651822e-03  1.73040153e-01]
 [ 1.99418182e-01  3.48334149e-02  9.79295166e-01  1.20615752e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.50327356
Centerline is valid?  [False, False]
Translation: X:4.15, Y:0.17, Z:0.12
[[ 9.62384799e-01  1.80941317e-01 -2.02671503e-01  4.15196913e+00]
 [-1.84094981e-01  9.82902774e-01  3.34290257e-03  1.73431001e-01]
 [ 1.99811252e-01  3.40936478e-02  9.79241077e-01  1.20166592e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.56327356
Centerline is valid?  [False, False]
Translation: X:4.15, Y:0.17, Z:0.12
[[ 9.62459289e-01  1.80429725e-01 -2.02773845e-01  4.15423411e+00]
 [-1.83712358e-01  9.82976405e-01  2.67537744e-03  1.72952770e-01]
 [ 1.99804623e-01  3.46771194e-02  9.79221941e-01  1.21069281e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.62327356
Centerline is valid?  [False, False]
Translation: X:4.15, Y:0.17, Z:0.12
[[ 9.62634631e-01  1.80060757e-01 -2.02268859e-01  4.15488571e+00]
 [-1.83615866e-01  9.82997332e-01  1.20756471e-03  1.72380491e-01]
 [ 1.99047184e-01  3.59773281e-02  9.79329286e-01  1.22273326e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.683273559999996
Centerline is valid?  [False, False]
Translation: X:4.16, Y:0.17, Z:0.12
[[ 9.62560375e-01  1.80197843e-01 -2.02500031e-01  4.15686602e+00]
 [-1.83556148e-01  9.83006695e-01  2.23117140e-03  1.71910793e-01]
 [ 1.99460939e-01  3.50224884e-02  9.79279715e-01  1.22916052e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.74327356
Centerline is valid?  [False, False]
Translation: X:4.16, Y:0.17, Z:0.12
[[ 9.62637012e-01  1.79500220e-01 -2.02755156e-01  4.15914710e+00]
 [-1.82714610e-01  9.83161689e-01  2.90938604e-03  1.70629219e-01]
 [ 1.99863337e-01  3.42456465e-02  9.79225144e-01  1.22297704e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.80327356
Centerline is valid?  [False, False]
Translation: X:4.16, Y:0.17, Z:0.12
[[ 9.62583047e-01  1.78610792e-01 -2.03794168e-01  4.16185794e+00]
 [-1.82007927e-01  9.83294807e-01  2.10663255e-03  1.69439227e-01]
 [ 2.00766015e-01  3.50643453e-02  9.79011491e-01  1.22755120e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.863273559999996
Centerline is valid?  [False, False]
Translation: X:4.16, Y:0.17, Z:0.12
[[ 9.62661234e-01  1.77790526e-01 -2.04141806e-01  4.16490885e+00]
 [-1.81360424e-01  9.83415912e-01  1.24121236e-03  1.69050478e-01]
 [ 2.00976976e-01  3.58283773e-02  9.78940541e-01  1.22321680e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.92327356
Centerline is valid?  [False, False]
Translation: X:4.17, Y:0.17, Z:0.12
[[ 9.62520927e-01  1.78343979e-01 -2.04320557e-01  4.16774275e+00]
 [-1.81915538e-01  9.83313269e-01  1.32384282e-03  1.68409229e-01]
 [ 2.01147214e-01  3.58948577e-02  9.78903140e-01  1.22253865e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.98327356
Centerline is valid?  [False, False]
Translation: X:4.17, Y:0.17, Z:0.12
[[ 9.62567442e-01  1.78880328e-01 -2.03631402e-01  4.16873633e+00]
 [-1.82454337e-01  9.83213543e-01  1.24223044e-03  1.66885630e-01]
 [ 2.00435362e-01  3.59577017e-02  9.79046837e-01  1.22164392e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.043273559999996
Centerline is valid?  [False, False]
Translation: X:4.17, Y:0.17, Z:0.12
[[ 9.62440663e-01  1.79474022e-01 -2.03708234e-01  4.17076941e+00]
 [-1.83018111e-01  9.83108451e-01  1.46462271e-03  1.65572061e-01]
 [ 2.00530148e-01  3.58726838e-02  9.79030546e-01  1.22435380e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.10327356
Centerline is valid?  [False, False]
Translation: X:4.17, Y:0.16, Z:0.12
[[ 9.62165226e-01  1.80302310e-01 -2.04277152e-01  4.17361420e+00]
 [-1.83746614e-01  9.82971310e-01  2.14118577e-03  1.64262706e-01]
 [ 2.01184640e-01  3.54750605e-02  9.78910752e-01  1.22716529e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.16327356
Centerline is valid?  [False, False]
Translation: X:4.18, Y:0.16, Z:0.12
[[ 9.61999653e-01  1.81026793e-01 -2.04416162e-01  4.17591123e+00]
 [-1.84539984e-01  9.82823156e-01  1.90749491e-03  1.62433573e-01]
 [ 2.01250246e-01  3.58879459e-02  9.78882217e-01  1.22080628e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.905124 with order 1
Centerline goodness : 0.924187 with order 1
Centerline goodness : 0.904190 with order 1
Centerline goodness : 0.913563 with order 1
Centerline goodness : 0.903396 with order 1
Centerline goodness : 0.914549 with order 1
Centerline goodness : 0.906680 with order 1
Centerline goodness : 0.904963 with order 1
Centerline goodness : 0.912243 with order 1
Centerline goodness : 0.921120 with order 1
Centerline goodness : 0.904490 with order 1
Centerline goodness : 0.908460 with order 1
Centerline goodness : 0.919503 with order 1
Centerline goodness : 0.924286 with order 1
Centerline goodness : 0.927254 with order 1
Centerline goodness : 0.917408 with order 1
Centerline goodness : 0.914858 with order 1
Centerline goodness : 0.909308 with order 1
Centerline goodness : 0.907457 with order 1
Centerline goodness : 0.921964 with order 1
SLAMing on frame at distance 37.223273559999996
Centerline is valid?  [False, False]
Translation: X:4.18, Y:0.16, Z:0.12
[[ 9.61690484e-01  1.82053821e-01 -2.04958090e-01  4.17950763e+00]
 [-1.85719885e-01  9.82601771e-01  1.37277295e-03  1.60822835e-01]
 [ 2.01642100e-01  3.67446102e-02  9.78769788e-01  1.21516490e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.28327356
Centerline is valid?  [False, False]
Translation: X:4.18, Y:0.16, Z:0.12
[[ 9.61554387e-01  1.82792676e-01 -2.04939012e-01  4.18267945e+00]
 [-1.86355165e-01  9.82480509e-01  1.94992339e-03  1.59660654e-01]
 [ 2.01705017e-01  3.63164860e-02  9.78772803e-01  1.20807909e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.34327356
Centerline is valid?  [False, False]
Translation: X:4.19, Y:0.16, Z:0.12
[[ 9.61435815e-01  1.83509663e-01 -2.04854528e-01  4.18506719e+00]
 [-1.87235009e-01  9.82314392e-01  1.21910417e-03  1.58080220e-01]
 [ 2.01455269e-01  3.71838491e-02  9.78791671e-01  1.20620050e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.403273559999995
Centerline is valid?  [False, False]
Translation: X:4.19, Y:0.16, Z:0.12
[[ 9.61427852e-01  1.83602221e-01 -2.04808958e-01  4.18725767e+00]
 [-1.87405499e-01  9.82282277e-01  8.41471124e-04  1.56584571e-01]
 [ 2.01334705e-01  3.75733112e-02  9.78801605e-01  1.20917521e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.46327356
Centerline is valid?  [False, False]
Translation: X:4.19, Y:0.16, Z:0.12
[[ 9.61362435e-01  1.84486355e-01 -2.04320957e-01  4.18865312e+00]
 [-1.88158709e-01  9.82137522e-01  1.47932613e-03  1.55294331e-01]
 [ 2.00944194e-01  3.70225990e-02  9.78902834e-01  1.21246543e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.52327356
Centerline is valid?  [False, False]
Translation: X:4.19, Y:0.15, Z:0.12
[[ 9.60856173e-01  1.85827786e-01 -2.05483453e-01  4.19178561e+00]
 [-1.89781888e-01  9.81826161e-01  4.74405569e-04  1.54138834e-01]
 [ 2.01837187e-01  3.85412021e-02  9.78660475e-01  1.21449690e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.583273559999995
Centerline is valid?  [False, False]
Translation: X:4.20, Y:0.15, Z:0.12
[[ 9.60281077e-01  1.87558973e-01 -2.06595946e-01  4.19516719e+00]
 [-1.91576406e-01  9.81477537e-01  5.69817111e-04  1.52944201e-01]
 [ 2.02876155e-01  3.90317242e-02  9.78426180e-01  1.21859238e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.64327356
Centerline is valid?  [False, False]
Translation: X:4.20, Y:0.15, Z:0.12
[[ 9.59724631e-01  1.90184569e-01 -2.06781193e-01  4.19813214e+00]
 [-1.93996956e-01  9.81000341e-01  1.87381231e-03  1.51934847e-01]
 [ 2.03208791e-01  3.83165783e-02  9.78385418e-01  1.21893161e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.70327356
Centerline is valid?  [False, False]
Translation: X:4.20, Y:0.15, Z:0.12
[[ 9.59382682e-01  1.91055886e-01 -2.07563286e-01  4.20079631e+00]
 [-1.94922634e-01  9.80816863e-01  1.85695381e-03  1.51073523e-01]
 [ 2.03936353e-01  3.86772531e-02  9.78219829e-01  1.22226238e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.76327356
Centerline is valid?  [False, False]
Translation: X:4.20, Y:0.15, Z:0.12
[[ 9.59335162e-01  1.90818424e-01 -2.08000904e-01  4.20241991e+00]
 [-1.94754719e-01  9.80850698e-01  1.58333552e-03  1.49241508e-01]
 [ 2.04319962e-01  3.89902081e-02  9.78127352e-01  1.22592967e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.82327356
Centerline is valid?  [False, False]
Translation: X:4.21, Y:0.15, Z:0.12
[[ 9.59304119e-01  1.90273002e-01 -2.08642737e-01  4.20505601e+00]
 [-1.94280630e-01  9.80945117e-01  1.30924134e-03  1.48012807e-01]
 [ 2.04916187e-01  3.92792819e-02  9.77991050e-01  1.23062539e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.88327356
Centerline is valid?  [False, False]
Translation: X:4.21, Y:0.15, Z:0.12
[[ 9.59318506e-01  1.89422429e-01 -2.09349343e-01  4.20691265e+00]
 [-1.93659808e-01  9.81068708e-01  2.62625543e-04  1.46244919e-01]
 [ 2.05435836e-01  4.02906118e-02  9.77840879e-01  1.22967939e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.94327356
Centerline is valid?  [False, False]
Translation: X:4.21, Y:0.14, Z:0.12
[[ 9.59207338e-01  1.89627478e-01 -2.09672844e-01  4.20923359e+00]
 [-1.93735721e-01  9.81053282e-01  9.63090509e-04  1.44760416e-01]
 [ 2.05882861e-01  3.96973163e-02  9.77771124e-01  1.22903942e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.00327356
Centerline is valid?  [False, False]
Translation: X:4.21, Y:0.14, Z:0.12
[[ 9.58999940e-01  1.90233068e-01 -2.10072592e-01  4.21184193e+00]
 [-1.94224944e-01  9.80955615e-01  1.65888906e-03  1.43768437e-01]
 [ 2.06387465e-01  3.92104630e-02  9.77684384e-01  1.23702537e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.06327356
Centerline is valid?  [False, False]
Translation: X:4.21, Y:0.14, Z:0.12
[[ 9.58718085e-01  1.90828152e-01 -2.10818048e-01  4.21450840e+00]
 [-1.95022905e-01  9.80798265e-01  9.10425825e-04  1.43268502e-01]
 [ 2.06943710e-01  4.02415065e-02  9.77524896e-01  1.24864068e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.12327356
Centerline is valid?  [False, False]
Translation: X:4.22, Y:0.14, Z:0.13
[[ 9.58256411e-01  1.91800083e-01 -2.12031550e-01  4.21721651e+00]
 [-1.96188685e-01  9.80566102e-01  3.47094703e-04  1.43030170e-01]
 [ 2.07977523e-01  4.12655852e-02  9.77262760e-01  1.25968552e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.183273559999996
Centerline is valid?  [False, False]
Translation: X:4.22, Y:0.14, Z:0.13
[[ 9.57612308e-01  1.93063404e-01 -2.13787723e-01  4.22096683e+00]
 [-1.97617137e-01  9.80279277e-01  7.22740321e-05  1.42834300e-01]
 [ 2.09585628e-01  4.21789073e-02  9.76880138e-01  1.26846532e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.24327356
Centerline is valid?  [False, False]
Translation: X:4.22, Y:0.14, Z:0.13
[[ 9.57194699e-01  1.93928229e-01 -2.14872402e-01  4.22363514e+00]
 [-1.98608313e-01  9.80078925e-01 -1.94787576e-04  1.42504463e-01]
 [ 2.10554138e-01  4.28618951e-02  9.76642111e-01  1.28011882e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.30327356
Centerline is valid?  [False, False]
Translation: X:4.23, Y:0.14, Z:0.13
[[ 9.57027731e-01  1.94276278e-01 -2.15301299e-01  4.22535192e+00]
 [-1.98883732e-01  9.80023055e-01  2.69315401e-04  1.41655230e-01]
 [ 2.11052559e-01  4.25621836e-02  9.76547632e-01  1.28923671e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.363273559999996
Centerline is valid?  [False, False]
Translation: X:4.23, Y:0.14, Z:0.13
[[ 9.57021185e-01  1.93737975e-01 -2.15814850e-01  4.22760994e+00]
 [-1.98243745e-01  9.80152438e-01  7.84396816e-04  1.40705921e-01]
 [ 2.11683419e-01  4.20332597e-02  9.76433989e-01  1.29791619e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.917930 with order 1
Centerline goodness : 0.918264 with order 1
Centerline goodness : 0.931457 with order 1
Centerline goodness : 0.919721 with order 1
Centerline goodness : 0.921825 with order 1
Centerline goodness : 0.916429 with order 1
Centerline goodness : 0.917142 with order 1
Centerline goodness : 0.915318 with order 1
Centerline goodness : 0.921796 with order 1
Centerline goodness : 0.929760 with order 1
Centerline goodness : 0.921156 with order 1
Centerline goodness : 0.933477 with order 1
Centerline goodness : 0.931101 with order 1
Centerline goodness : 0.917904 with order 1
Centerline goodness : 0.932988 with order 1
Centerline goodness : 0.923943 with order 1
Centerline goodness : 0.924183 with order 1
Centerline goodness : 0.917801 with order 1
Centerline goodness : 0.934487 with order 1
Centerline goodness : 0.927651 with order 1
SLAMing on frame at distance 38.42327356
Centerline is valid?  [False, False]
Translation: X:4.23, Y:0.14, Z:0.13
[[ 9.56885403e-01  1.92899359e-01 -2.17163906e-01  4.22964125e+00]
 [-1.97659231e-01  9.80270773e-01 -2.00904839e-04  1.39740674e-01]
 [ 2.12840676e-01  4.31166936e-02  9.76135133e-01  1.30673581e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.48327356
Centerline is valid?  [False, False]
Translation: X:4.23, Y:0.14, Z:0.13
[[ 9.56638379e-01  1.93030134e-01 -2.18133855e-01  4.23311816e+00]
 [-1.97859115e-01  9.80230422e-01 -3.00797592e-04  1.39366077e-01]
 [ 2.13763378e-01  4.34475262e-02  9.75918814e-01  1.32057935e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.543273559999996
Centerline is valid?  [False, False]
Translation: X:4.24, Y:0.14, Z:0.13
[[ 9.56407270e-01  1.93285707e-01 -2.18919550e-01  4.23543289e+00]
 [-1.98142996e-01  9.80173095e-01 -2.37313251e-04  1.39111955e-01]
 [ 2.14533184e-01  4.36043437e-02  9.75742883e-01  1.32592322e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.60327356
Centerline is valid?  [False, False]
Translation: X:4.24, Y:0.14, Z:0.13
[[ 9.56460753e-01  1.92677670e-01 -2.19221675e-01  4.23712834e+00]
 [-1.97576101e-01  9.80287457e-01 -4.30083214e-04  1.38405562e-01]
 [ 2.14817391e-01  4.37243216e-02  9.75674983e-01  1.32857573e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.66327356
Centerline is valid?  [False, False]
Translation: X:4.24, Y:0.14, Z:0.13
[[ 9.56340090e-01  1.92843327e-01 -2.19602103e-01  4.23998184e+00]
 [-1.97751109e-01  9.80252191e-01 -3.74401655e-04  1.37803075e-01]
 [ 2.15193242e-01  4.37846148e-02  9.75589451e-01  1.32771318e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.723273559999996
Centerline is valid?  [False, False]
Translation: X:4.24, Y:0.14, Z:0.13
[[ 9.56089260e-01  1.93860155e-01 -2.19798924e-01  4.24226870e+00]
 [-1.98815786e-01  9.80036782e-01 -4.34739486e-04  1.37525851e-01]
 [ 2.15326752e-01  4.41151456e-02  9.75545101e-01  1.32713619e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.78327356
Centerline is valid?  [False, False]
Translation: X:4.24, Y:0.14, Z:0.13
[[ 9.55657375e-01  1.95201272e-01 -2.20489106e-01  4.24493598e+00]
 [-2.00411025e-01  9.79711064e-01 -1.28545247e-03  1.37200423e-01]
 [ 2.15764695e-01  4.54168999e-02  9.75388590e-01  1.33588588e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.84327356
Centerline is valid?  [False, False]
Translation: X:4.25, Y:0.14, Z:0.13
[[ 9.55363418e-01  1.96025644e-01 -2.21030961e-01  4.24758277e+00]
 [-2.01233025e-01  9.79542821e-01 -1.06391862e-03  1.36180228e-01]
 [ 2.16300736e-01  4.54951580e-02  9.75266211e-01  1.34571152e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.903273559999995
Centerline is valid?  [False, False]
Translation: X:4.25, Y:0.14, Z:0.14
[[ 9.55184795e-01  1.96542640e-01 -2.21343622e-01  4.25045967e+00]
 [-2.01654058e-01  9.79456679e-01 -5.05498914e-04  1.35658117e-01]
 [ 2.16697136e-01  4.51176844e-02  9.75195747e-01  1.35158810e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.96327356
Centerline is valid?  [False, False]
Translation: X:4.25, Y:0.13, Z:0.14
[[ 9.54910559e-01  1.97480706e-01 -2.21691668e-01  4.25339294e+00]
 [-2.02433746e-01  9.79295884e-01  3.87570383e-04  1.34571165e-01]
 [ 2.17178276e-01  4.45077797e-02  9.75116739e-01  1.35218007e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.02327356
Centerline is valid?  [False, False]
Translation: X:4.25, Y:0.13, Z:0.13
[[ 9.55245196e-01  1.96045026e-01 -2.21524182e-01  4.25453393e+00]
 [-2.01040854e-01  9.79582858e-01 -4.34651146e-06  1.33210705e-01]
 [ 2.17000440e-01  4.45395628e-02  9.75154878e-01  1.34884694e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.083273559999995
Centerline is valid?  [False, False]
Translation: X:4.26, Y:0.13, Z:0.13
[[ 9.55889524e-01  1.93213327e-01 -2.21232520e-01  4.25554220e+00]
 [-1.98663243e-01  9.80064789e-01 -2.43424540e-03  1.31911543e-01]
 [ 2.16351875e-01  4.62776397e-02  9.75218051e-01  1.34790104e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.14327356
Centerline is valid?  [False, False]
Translation: X:4.26, Y:0.13, Z:0.13
[[ 9.56309921e-01  1.91400606e-01 -2.20991274e-01  4.25797426e+00]
 [-1.96838033e-01  9.80432473e-01 -2.63718395e-03  1.31425501e-01]
 [ 2.16162263e-01  4.60214528e-02  9.75272220e-01  1.34687686e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.20327356
Centerline is valid?  [False, False]
Translation: X:4.26, Y:0.13, Z:0.13
[[ 9.56598236e-01  1.89827024e-01 -2.21100690e-01  4.26092801e+00]
 [-1.95215117e-01  9.80757081e-01 -2.57004564e-03  1.31267564e-01]
 [ 2.16358203e-01  4.56206983e-02  9.75247599e-01  1.34158504e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.26327356
Centerline is valid?  [False, False]
Translation: X:4.26, Y:0.13, Z:0.13
[[ 9.56513521e-01  1.89726369e-01 -2.21553128e-01  4.26337175e+00]
 [-1.95099153e-01  9.80780551e-01 -2.41497598e-03  1.31210926e-01]
 [ 2.16836814e-01  4.55347847e-02  9.75145312e-01  1.34535180e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.32327356
Centerline is valid?  [False, False]
Translation: X:4.27, Y:0.13, Z:0.14
[[ 9.56038823e-01  1.91047769e-01 -2.22464649e-01  4.26664844e+00]
 [-1.96533613e-01  9.80493709e-01 -2.57402079e-03  1.31783076e-01]
 [ 2.17633428e-01  4.61826450e-02  9.74937359e-01  1.35472435e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.38327356
Centerline is valid?  [False, False]
Translation: X:4.27, Y:0.13, Z:0.14
[[ 9.55320154e-01  1.94253211e-01 -2.22775880e-01  4.27022409e+00]
 [-1.99597169e-01  9.79876885e-01 -1.50360390e-03  1.33030804e-01]
 [ 2.18000855e-01  4.59018580e-02  9.74868528e-01  1.36772625e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.44327356
Centerline is valid?  [False, False]
Translation: X:4.27, Y:0.13, Z:0.14
[[ 9.54976139e-01  1.95920759e-01 -2.22790551e-01  4.27338456e+00]
 [-2.01301201e-01  9.79528284e-01 -1.47187109e-03  1.34107636e-01]
 [ 2.17941276e-01  4.62536073e-02  9.74865224e-01  1.37797059e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.50327356
Centerline is valid?  [False, False]
Translation: X:4.28, Y:0.14, Z:0.14
[[ 9.54596027e-01  1.98093145e-01 -2.22498387e-01  4.27655790e+00]
 [-2.03620305e-01  9.79048004e-01 -1.94354530e-03  1.35931534e-01]
 [ 2.17451598e-01  4.71604899e-02  9.74931121e-01  1.38580626e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.56327356
Centerline is valid?  [False, False]
Translation: X:4.28, Y:0.14, Z:0.14
[[ 9.54360128e-01  1.98551861e-01 -2.23100661e-01  4.27995037e+00]
 [-2.04101119e-01  9.78948052e-01 -1.85572030e-03  1.37059012e-01]
 [ 2.18035501e-01  4.73061201e-02  9.74793646e-01  1.39233589e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.916435 with order 1
Centerline goodness : 0.911277 with order 1
Centerline goodness : 0.917237 with order 1
Centerline goodness : 0.917484 with order 1
Centerline goodness : 0.917807 with order 1
Centerline goodness : 0.908758 with order 1
Centerline goodness : 0.917038 with order 1
Centerline goodness : 0.904945 with order 1
Centerline goodness : 0.905702 with order 1
Centerline goodness : 0.903567 with order 1
Centerline goodness : 0.901442 with order 1
Centerline goodness : 0.918418 with order 1
Centerline goodness : 0.917827 with order 1
Centerline goodness : 0.914142 with order 1
Centerline goodness : 0.907108 with order 1
Centerline goodness : 0.919784 with order 1
Centerline goodness : 0.903984 with order 1
Centerline goodness : 0.902006 with order 1
Centerline goodness : 0.908294 with order 1
Centerline goodness : 0.902069 with order 1
SLAMing on frame at distance 39.62327356
Centerline is valid?  [False, False]
Translation: X:4.28, Y:0.14, Z:0.14
[[ 9.54236382e-01  1.97728207e-01 -2.24357934e-01  4.28349926e+00]
 [-2.03284530e-01  9.79118225e-01 -1.70354174e-03  1.38581912e-01]
 [ 2.19336104e-01  4.72340786e-02  9.74505318e-01  1.39640450e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.683273559999996
Centerline is valid?  [False, False]
Translation: X:4.29, Y:0.14, Z:0.14
[[ 9.54354153e-01  1.96594341e-01 -2.24852874e-01  4.28551980e+00]
 [-2.02387680e-01  9.79301545e-01 -2.77684218e-03  1.40615869e-01]
 [ 2.19652855e-01  4.81575423e-02  9.74388770e-01  1.40375395e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.74327356
Centerline is valid?  [False, False]
Translation: X:4.29, Y:0.14, Z:0.14
[[ 9.54294221e-01  1.96489121e-01 -2.25198945e-01  4.28934438e+00]
 [-2.02260777e-01  9.79328208e-01 -2.61525214e-03  1.42487573e-01]
 [ 2.20029810e-01  4.80446335e-02  9.74309292e-01  1.40690384e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.80327356
Centerline is valid?  [False, False]
Translation: X:4.29, Y:0.15, Z:0.14
[[ 9.54360869e-01  1.96076155e-01 -2.25276435e-01  4.29263147e+00]
 [-2.01940340e-01  9.79393058e-01 -3.05550475e-03  1.46087509e-01]
 [ 2.20035065e-01  4.84084542e-02  9.74290096e-01  1.40470511e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.863273559999996
Centerline is valid?  [False, False]
Translation: X:4.29, Y:0.15, Z:0.14
[[ 9.54623979e-01  1.95090276e-01 -2.25017429e-01  4.29461506e+00]
 [-2.01026513e-01  9.79579376e-01 -3.54780815e-03  1.48998879e-01]
 [ 2.19730290e-01  4.86212919e-02  9.74348279e-01  1.40772619e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.92327356
Centerline is valid?  [False, False]
Translation: X:4.30, Y:0.15, Z:0.14
[[ 9.54850413e-01  1.93539799e-01 -2.25395285e-01  4.29718955e+00]
 [-1.99443760e-01  9.79903027e-01 -3.49927894e-03  1.50636842e-01]
 [ 2.20188273e-01  4.82949711e-02  9.74261115e-01  1.41279010e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.98327356
Centerline is valid?  [False, False]
Translation: X:4.30, Y:0.15, Z:0.14
[[ 9.55236773e-01  1.91392849e-01 -2.25591410e-01  4.29957647e+00]
 [-1.97341177e-01  9.80327111e-01 -3.90063880e-03  1.53129479e-01]
 [ 2.20406820e-01  4.82445080e-02  9.74214197e-01  1.41462697e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.043273559999996
Centerline is valid?  [False, False]
Translation: X:4.30, Y:0.15, Z:0.14
[[ 0.95540971  0.18982344 -0.2261843   4.3023278 ]
 [-0.19593495  0.98060578 -0.0046696   0.1549062 ]
 [ 0.22091123  0.04877879  0.97407333  0.14197435]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 40.10327356
Centerline is valid?  [False, False]
Translation: X:4.30, Y:0.16, Z:0.14
[[ 0.95603073  0.18649661 -0.22632777  4.30378159]
 [-0.19251926  0.98128226 -0.00463271  0.15742202]
 [ 0.22122744  0.04800146  0.97404018  0.14221098]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 40.16327356
Centerline is valid?  [False, False]
Translation: X:4.31, Y:0.16, Z:0.14
[[ 0.95636892  0.18396361 -0.2269711   4.30632428]
 [-0.19026733  0.98171387 -0.00601898  0.1586848 ]
 [ 0.22171341  0.04894156  0.97388289  0.14271215]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 40.223273559999996
Centerline is valid?  [False, False]
Translation: X:4.31, Y:0.16, Z:0.14
[[ 0.95700561  0.18026914 -0.22725162  4.30715145]
 [-0.18666704  0.98239971 -0.00679887  0.16024506]
 [ 0.2220263   0.04892694  0.97381234  0.14277095]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 40.28327356
Centerline is valid?  [False, False]
Translation: X:4.31, Y:0.16, Z:0.14
[[ 0.95755161  0.17744879 -0.22717139  4.30808823]
 [-0.18374625  0.98295085 -0.00670454  0.16230615]
 [ 0.2221086   0.04816183  0.97383172  0.14317275]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 40.34327356
Centerline is valid?  [False, False]
Translation: X:4.31, Y:0.16, Z:0.14
[[ 0.95743928  0.17635023 -0.22849645  4.31099556]
 [-0.18279089  0.98312572 -0.00716302  0.16310926]
 [ 0.22337753  0.04862522  0.9735184   0.14427231]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 40.403273559999995
Centerline is valid?  [False, False]
Translation: X:4.31, Y:0.16, Z:0.14
[[ 0.95740472  0.17410151 -0.23035813  4.31411993]
 [-0.1806326   0.98352277 -0.00740456  0.16375351]
 [ 0.22527332  0.04869935  0.97307775  0.1448412 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 40.46327356
Centerline is valid?  [False, False]
Translation: X:4.32, Y:0.16, Z:0.15
[[ 0.9573342   0.17323266 -0.23130431  4.3164314 ]
 [-0.17989232  0.98365498 -0.0078507   0.16494614]
 [ 0.22616364  0.04912561  0.97284977  0.14573569]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 40.52327356
Centerline is valid?  [False, False]
Translation: X:4.32, Y:0.17, Z:0.15
[[ 0.95731977  0.17326879 -0.23133696  4.31895645]
 [-0.17992814  0.98364853 -0.00783782  0.16510327]
 [ 0.22619621  0.04912733  0.97284211  0.14607635]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 40.583273559999995
Centerline is valid?  [False, False]
Translation: X:4.32, Y:0.17, Z:0.15
[[ 0.95699435  0.174309   -0.23190126  4.3214801 ]
 [-0.18109272  0.98343249 -0.00812231  0.16624396]
 [ 0.22664344  0.04976864  0.97270542  0.14694233]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 40.64327356
Centerline is valid?  [False, False]
Translation: X:4.32, Y:0.17, Z:0.15
[[ 0.95662412  0.17502292 -0.23288898  4.32484762]
 [-0.18196717  0.98326786 -0.00850093  0.1663347 ]
 [ 0.22750439  0.05051035  0.97246617  0.14771272]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 40.70327356
Centerline is valid?  [False, False]
Translation: X:4.33, Y:0.17, Z:0.15
[[ 0.95597395  0.1764671  -0.23446357  4.32788899]
 [-0.18353504  0.98297646 -0.00849474  0.16632505]
 [ 0.22897313  0.05115303  0.97208779  0.1487359 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 40.76327356
Centerline is valid?  [False, False]
Translation: X:4.33, Y:0.17, Z:0.15
[[ 0.95550818  0.17814363 -0.23509354  4.33069396]
 [-0.1852533   0.98265554 -0.0083253   0.16667128]
 [ 0.22953287  0.05150674  0.9719371   0.14966413]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.915216 with order 1
Centerline goodness : 0.911799 with order 1
Centerline goodness : 0.912185 with order 1
Centerline goodness : 0.913220 with order 1
Centerline goodness : 0.909615 with order 1
Centerline goodness : 0.904208 with order 1
Centerline goodness : 0.911923 with order 1
Centerline goodness : 0.911585 with order 1
Centerline goodness : 0.915871 with order 1
Centerline goodness : 0.900799 with order 1
Centerline goodness : 0.905628 with order 1
Centerline goodness : 0.909691 with order 1
Centerline goodness : 0.912981 with order 1
Centerline goodness : 0.906414 with order 1
Centerline goodness : 0.912903 with order 1
Centerline goodness : 0.916409 with order 1
Centerline goodness : 0.910813 with order 1
Centerline goodness : 0.911967 with order 1
Centerline goodness : 0.903998 with order 1
Centerline goodness : 0.902259 with order 1
SLAMing on frame at distance 40.82327356
Centerline is valid?  [False, False]
Translation: X:4.33, Y:0.17, Z:0.15
[[ 0.95541965  0.17844682 -0.23522334  4.33261309]
 [-0.18556682  0.98259657 -0.00830253  0.16645731]
 [ 0.22964809  0.05158205  0.97190588  0.150202  ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 40.88327356
Centerline is valid?  [False, False]
Translation: X:4.33, Y:0.17, Z:0.15
[[ 0.95540627  0.17770381 -0.23583939  4.33457951]
 [-0.18485785  0.98272942 -0.00839379  0.16554505]
 [ 0.2302747   0.05161624  0.9717558   0.15101956]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 40.94327356
Centerline is valid?  [False, False]
Translation: X:4.34, Y:0.16, Z:0.15
[[ 0.95520423  0.17734518 -0.23692525  4.33768163]
 [-0.18468913  0.98275592 -0.00898516  0.16456942]
 [ 0.23124621  0.05234018  0.97148633  0.15132184]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.00327356
Centerline is valid?  [False, False]
Translation: X:4.34, Y:0.16, Z:0.15
[[ 0.95523094  0.17725303 -0.23688651  4.33940369]
 [-0.18448673  0.98279788 -0.00854221  0.16393068]
 [ 0.23129743  0.0518622   0.97149977  0.15125822]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.06327356
Centerline is valid?  [False, False]
Translation: X:4.34, Y:0.16, Z:0.15
[[ 0.95512804  0.17731881 -0.23725191  4.34086823]
 [-0.1846233   0.98277044 -0.00874685  0.16195467]
 [ 0.23161318  0.05215659  0.97140878  0.15169278]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.12327356
Centerline is valid?  [False, False]
Translation: X:4.34, Y:0.16, Z:0.15
[[ 0.95513862  0.17703995 -0.23741748  4.34278853]
 [-0.18428875  0.98283531 -0.00850898  0.16024919]
 [ 0.23183586  0.05188063  0.97137044  0.15186134]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.183273559999996
Centerline is valid?  [False, False]
Translation: X:4.34, Y:0.16, Z:0.15
[[ 0.9554346   0.17590578 -0.23706935  4.34335488]
 [-0.1830011   0.98307948 -0.00808295  0.15780712]
 [ 0.23163617  0.05110668  0.9714591   0.1524066 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.24327356
Centerline is valid?  [False, False]
Translation: X:4.34, Y:0.16, Z:0.15
[[ 0.95576752  0.17469838 -0.23661977  4.34361531]
 [-0.18187781  0.98328279 -0.00868477  0.15505665]
 [ 0.23114693  0.05133651  0.97156351  0.15324413]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.30327356
Centerline is valid?  [False, False]
Translation: X:4.35, Y:0.15, Z:0.15
[[ 0.95573953  0.17412428 -0.23715538  4.34618781]
 [-0.18141872  0.9833637  -0.00911447  0.15366309]
 [ 0.23162295  0.05173548  0.97142897  0.15382937]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.363273559999996
Centerline is valid?  [False, False]
Translation: X:4.35, Y:0.15, Z:0.15
[[ 0.95539926  0.17537945 -0.23760113  4.34891172]
 [-0.18255402  0.9831603  -0.00835798  0.15257   ]
 [ 0.23213418  0.05136025  0.97132685  0.15334827]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.42327356
Centerline is valid?  [False, False]
Translation: X:4.35, Y:0.15, Z:0.15
[[ 0.95497077  0.17629255 -0.23864567  4.35230441]
 [-0.18345204  0.98299654 -0.00794641  0.15144735]
 [ 0.23318698  0.05136863  0.9710742   0.15360558]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.48327356
Centerline is valid?  [False, False]
Translation: X:4.35, Y:0.15, Z:0.15
[[ 0.95512729  0.1753357  -0.23872422  4.35287795]
 [-0.18233498  0.98320878 -0.00737888  0.14834647]
 [ 0.23342197  0.05057554  0.97105937  0.15428197]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.543273559999996
Centerline is valid?  [False, False]
Translation: X:4.35, Y:0.15, Z:0.16
[[ 0.95575016  0.17298147 -0.23794757  4.35371504]
 [-0.18008018  0.9836173  -0.00825434  0.14588947]
 [ 0.2326215   0.05073873  0.97124292  0.15511241]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.60327356
Centerline is valid?  [False, False]
Translation: X:4.35, Y:0.14, Z:0.16
[[ 0.95668504  0.16851226 -0.23739704  4.35275521]
 [-0.17552818  0.98443707 -0.00857413  0.14192747]
 [ 0.2322576   0.04987261  0.97137487  0.15548833]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.66327356
Centerline is valid?  [False, False]
Translation: X:4.35, Y:0.14, Z:0.16
[[ 0.95721198  0.16457518 -0.2380341   4.35370847]
 [-0.17143577  0.98516063 -0.00826515  0.13821274]
 [ 0.23314158  0.04871906  0.97122163  0.15521678]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.723273559999996
Centerline is valid?  [False, False]
Translation: X:4.36, Y:0.14, Z:0.15
[[ 0.95758075  0.16136905 -0.23874493  4.35503087]
 [-0.16843914  0.98566749 -0.00937336  0.13504636]
 [ 0.23381055  0.04918974  0.97103707  0.1545829 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.78327356
Centerline is valid?  [False, False]
Translation: X:4.36, Y:0.13, Z:0.16
[[ 0.95764015  0.16078741 -0.23889906  4.35688015]
 [-0.16782599  0.98577295 -0.00928021  0.13305228]
 [ 0.23400809  0.04898057  0.97100006  0.15517147]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.84327356
Centerline is valid?  [False, False]
Translation: X:4.36, Y:0.13, Z:0.16
[[ 0.95774366  0.16093582 -0.23838359  4.35783693]
 [-0.16774903  0.98579364 -0.00843625  0.13131161]
 [ 0.23363933  0.04806838  0.97113444  0.15566447]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.903273559999995
Centerline is valid?  [False, False]
Translation: X:4.36, Y:0.13, Z:0.16
[[ 0.95771684  0.16105658 -0.2384098   4.36002221]
 [-0.16773453  0.98580092 -0.00785392  0.12984621]
 [ 0.23375967  0.04751138  0.97113289  0.15548894]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 41.96327356
Centerline is valid?  [False, False]
Translation: X:4.36, Y:0.13, Z:0.16
[[ 0.95799599  0.15956702 -0.23828983  4.36164083]
 [-0.16622946  0.98605468 -0.00799596  0.12861013]
 [ 0.23369091  0.04727089  0.97116117  0.15571514]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.887167 with order 1
Centerline goodness : 0.886887 with order 1
Centerline goodness : 0.902075 with order 1
Centerline goodness : 0.903488 with order 1
Centerline goodness : 0.905623 with order 1
Centerline goodness : 0.889367 with order 1
Centerline goodness : 0.899475 with order 1
Centerline goodness : 0.885273 with order 1
Centerline goodness : 0.908741 with order 1
Centerline goodness : 0.909718 with order 1
Centerline goodness : 0.895416 with order 1
Centerline goodness : 0.887753 with order 1
Centerline goodness : 0.892637 with order 1
Centerline goodness : 0.900524 with order 1
Centerline goodness : 0.912195 with order 1
Centerline goodness : 0.894396 with order 1
Centerline goodness : 0.907258 with order 1
Centerline goodness : 0.884462 with order 1
Centerline goodness : 0.890314 with order 1
Centerline goodness : 0.908855 with order 1
SLAMing on frame at distance 42.02327356
Centerline is valid?  [False, False]
Translation: X:4.36, Y:0.13, Z:0.16
[[ 0.95857283  0.15684239 -0.23777846  4.36228024]
 [-0.16345587  0.98651632 -0.00822944  0.12712315]
 [ 0.23328161  0.0467548   0.97128455  0.15568775]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 42.083273559999995
Centerline is valid?  [False, False]
Translation: X:4.36, Y:0.13, Z:0.16
[[ 0.9598101   0.15078438 -0.2367037   4.36122152]
 [-0.15741137  0.9874899  -0.00923926  0.12525028]
 [ 0.23234937  0.04612779  0.97153795  0.15502259]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 42.14327356
Centerline is valid?  [False, False]
Translation: X:4.36, Y:0.12, Z:0.15
[[ 0.96081606  0.14288481 -0.23752144  4.36192632]
 [-0.14945822  0.98871943 -0.00980489  0.12268125]
 [ 0.23344109  0.04492022  0.97133281  0.15480705]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 42.20327356
Centerline is valid?  [False, False]
Translation: X:4.36, Y:0.12, Z:0.15
[[ 0.96179992  0.13436781 -0.23850831  4.36336764]
 [-0.14091236  0.98996614 -0.01052337  0.12042313]
 [ 0.23470115  0.04373014  0.97108344  0.15414358]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 42.263273559999995
Centerline is valid?  [False, False]
Translation: X:4.36, Y:0.12, Z:0.15
[[ 0.96251895  0.12931591 -0.23840024  4.36477028]
 [-0.13578008  0.99067988 -0.0108231   0.11953495]
 [ 0.23477872  0.04278744  0.97110668  0.15406857]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 42.32327356
Centerline is valid?  [False, False]
Translation: X:4.36, Y:0.12, Z:0.15
[[ 0.9636669   0.12366648 -0.23675453  4.36351293]
 [-0.13017772  0.99141797 -0.01200737  0.11960504]
 [ 0.23323779  0.04239127  0.9714953   0.1535153 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 42.38327356
Centerline is valid?  [False, False]
Translation: X:4.37, Y:0.12, Z:0.15
[[ 0.96397329  0.121428   -0.23666588  4.36526485]
 [-0.1279415   0.99170542 -0.01230166  0.12014698]
 [ 0.23320907  0.04213786  0.97151322  0.15395971]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 42.44327356
Centerline is valid?  [False, False]
Translation: X:4.37, Y:0.12, Z:0.15
[[ 0.96371638  0.12180713 -0.23751583  4.3688587 ]
 [-0.12835029  0.99165359 -0.01222152  0.12089699]
 [ 0.23404476  0.04226331  0.97130678  0.1545958 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 42.50327356
Centerline is valid?  [False, False]
Translation: X:4.37, Y:0.12, Z:0.16
[[ 0.96296736  0.12524594 -0.23876203  4.37335411]
 [-0.13185737  0.99119779 -0.01185634  0.12251882]
 [ 0.23517544  0.0428998   0.97100573  0.15569738]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 42.56327356
Centerline is valid?  [False, False]
Translation: X:4.38, Y:0.12, Z:0.16
[[ 0.96243554  0.12906524 -0.23887233  4.37682006]
 [-0.13559783  0.99070237 -0.01104746  0.12382555]
 [ 0.23522554  0.04302304  0.97098814  0.15727696]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 42.62327356
Centerline is valid?  [False, False]
Translation: X:4.38, Y:0.13, Z:0.16
[[ 0.9617188   0.13529722 -0.2383099   4.37980094]
 [-0.14176267  0.98984893 -0.01012136  0.12586486]
 [ 0.23452141  0.04351735  0.97113642  0.15908007]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 42.683273559999996
Centerline is valid?  [False, False]
Translation: X:4.38, Y:0.13, Z:0.16
[[ 0.9605249   0.14155604 -0.23948655  4.38446656]
 [-0.1479143   0.98896198 -0.00869289  0.12772377]
 [ 0.23561257  0.04377322  0.97086076  0.16094366]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 42.74327356
Centerline is valid?  [False, False]
Translation: X:4.39, Y:0.13, Z:0.16
[[ 0.9600765   0.14325261 -0.24027444  4.3871824 ]
 [-0.14966845  0.98869909 -0.00857118  0.12821302]
 [ 0.23633128  0.0441905   0.97066716  0.1614433 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 42.80327356
Centerline is valid?  [False, False]
Translation: X:4.39, Y:0.13, Z:0.16
[[ 0.95894519  0.14786121 -0.24199419  4.39208341]
 [-0.15421435  0.98800958 -0.00741678  0.12937495]
 [ 0.23799592  0.04443126  0.97024935  0.16240285]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 42.863273559999996
Centerline is valid?  [False, False]
Translation: X:4.40, Y:0.13, Z:0.16
[[ 0.95836446  0.15050927 -0.24266135  4.3956498 ]
 [-0.15699103  0.98757168 -0.00748342  0.12993605]
 [ 0.23851915  0.0452675   0.9700822   0.16358285]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 42.92327356
Centerline is valid?  [False, False]
Translation: X:4.40, Y:0.13, Z:0.16
[[ 0.95785977  0.15333134 -0.24288715  4.39859239]
 [-0.15989421  0.98710628 -0.00741869  0.1305484 ]
 [ 0.23861791  0.04594232  0.97002618  0.16443282]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 42.98327356
Centerline is valid?  [False, False]
Translation: X:4.40, Y:0.13, Z:0.16
[[ 0.9572803   0.15546649 -0.24381265  4.40209215]
 [-0.16183712  0.98679806 -0.00619104  0.13061463]
 [ 0.23963135  0.0453845   0.96980259  0.16473007]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 43.043273559999996
Centerline is valid?  [False, False]
Translation: X:4.40, Y:0.13, Z:0.17
[[ 0.95692022  0.15591401 -0.24493778  4.40456883]
 [-0.16221457  0.98673943 -0.00563368  0.12977577]
 [ 0.2408114   0.04512346  0.96952243  0.16569084]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 43.10327356
Centerline is valid?  [False, False]
Translation: X:4.41, Y:0.13, Z:0.17
[[ 0.95682325  0.15549411 -0.24558267  4.4060829 ]
 [-0.16188727  0.98679142 -0.00593385  0.12847992]
 [ 0.2414162   0.04543436  0.96935749  0.16612576]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 43.16327356
Centerline is valid?  [False, False]
Translation: X:4.41, Y:0.13, Z:0.17
[[ 0.95717437  0.15481933 -0.24463893  4.40575959]
 [-0.16104992  0.98693068 -0.00554657  0.12747918]
 [ 0.24058295  0.04470811  0.96959839  0.16645256]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.893794 with order 1
Centerline goodness : 0.890581 with order 1
Centerline goodness : 0.892199 with order 1
Centerline goodness : 0.895090 with order 1
Centerline goodness : 0.891122 with order 1
Centerline goodness : 0.888863 with order 1
Centerline goodness : 0.892999 with order 1
Centerline goodness : 0.884968 with order 1
Centerline goodness : 0.891778 with order 1
Centerline goodness : 0.892391 with order 1
Centerline goodness : 0.892327 with order 1
Centerline goodness : 0.895028 with order 1
Centerline goodness : 0.886042 with order 1
Centerline goodness : 0.891785 with order 1
Centerline goodness : 0.896758 with order 1
Centerline goodness : 0.892365 with order 1
Centerline goodness : 0.887472 with order 1
Centerline goodness : 0.894363 with order 1
Centerline goodness : 0.889666 with order 1
Centerline goodness : 0.891906 with order 1
SLAMing on frame at distance 43.223273559999996
Centerline is valid?  [False, False]
Translation: X:4.41, Y:0.13, Z:0.17
[[ 0.95725682  0.15418009 -0.24471999  4.40750248]
 [-0.160472    0.98702301 -0.00585822  0.12617625]
 [ 0.24064104  0.04487853  0.9695761   0.16728247]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 43.28327356
Centerline is valid?  [False, False]
Translation: X:4.41, Y:0.12, Z:0.17
[[ 0.95717915  0.15289012 -0.24583061  4.40913902]
 [-0.15924213  0.98722103 -0.00604848  0.12425259]
 [ 0.24176439  0.04493606  0.96929393  0.16788548]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 43.34327356
Centerline is valid?  [False, False]
Translation: X:4.41, Y:0.12, Z:0.17
[[ 0.95756124  0.15149443 -0.24520586  4.40911503]
 [-0.15761507  0.98748579 -0.00541376  0.12249397]
 [ 0.24131715  0.04383215  0.96945592  0.16798315]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 43.403273559999995
Centerline is valid?  [False, False]
Translation: X:4.41, Y:0.12, Z:0.17
[[ 0.95782424  0.15021027 -0.24496856  4.4103847 ]
 [-0.15628547  0.98769697 -0.00543654  0.12051606]
 [ 0.24113808  0.04349227  0.96951578  0.16804217]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 43.46327356
Centerline is valid?  [False, False]
Translation: X:4.41, Y:0.12, Z:0.17
[[ 0.95804143  0.14808261 -0.24541426  4.41164315]
 [-0.15409312  0.98804178 -0.0053615   0.11793575]
 [ 0.2416856   0.04295319  0.96940347  0.16809279]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 43.52327356
Centerline is valid?  [False, False]
Translation: X:4.41, Y:0.12, Z:0.17
[[ 0.9583432   0.1459671  -0.24550339  4.41313818]
 [-0.15182847  0.98839414 -0.00501319  0.11553412]
 [ 0.24192236  0.04207876  0.96938277  0.16766243]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 43.583273559999995
Centerline is valid?  [False, False]
Translation: X:4.41, Y:0.11, Z:0.17
[[ 0.95862564  0.14445195 -0.2452968   4.41327199]
 [-0.15031863  0.9886236  -0.00526176  0.11375782]
 [ 0.24174613  0.04191674  0.96943375  0.16845991]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 43.64327356
Centerline is valid?  [False, False]
Translation: X:4.41, Y:0.11, Z:0.17
[[ 0.95870066  0.14407609 -0.24522466  4.41456305]
 [-0.14978114  0.98870813 -0.0046736   0.11268809]
 [ 0.24178226  0.04121062  0.96945501  0.169544  ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 43.70327356
Centerline is valid?  [False, False]
Translation: X:4.42, Y:0.11, Z:0.17
[[ 9.58588948e-01  1.44327373e-01 -2.45513417e-01  4.41717034e+00]
 [-1.49901345e-01  9.88692597e-01 -4.06644573e-03  1.11825870e-01]
 [ 2.42150399e-01  4.07008414e-02  9.69384664e-01  1.70233581e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.763273559999995
Centerline is valid?  [False, False]
Translation: X:4.42, Y:0.11, Z:0.17
[[ 9.58176034e-01  1.44828343e-01 -2.46826740e-01  4.42008912e+00]
 [-1.50501495e-01  9.88600983e-01 -4.17087636e-03  1.10911184e-01]
 [ 2.43409097e-01  4.11442273e-02  9.69050651e-01  1.70858351e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.82327356
Centerline is valid?  [False, False]
Translation: X:4.42, Y:0.11, Z:0.17
[[ 9.57731710e-01  1.45855699e-01 -2.47943715e-01  4.42240954e+00]
 [-1.51494837e-01  9.88451082e-01 -3.71126839e-03  1.10338173e-01]
 [ 2.44538924e-01  4.11165921e-02  9.68767331e-01  1.71999364e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.88327356
Centerline is valid?  [False, False]
Translation: X:4.42, Y:0.11, Z:0.17
[[ 9.57830339e-01  1.45725251e-01 -2.47639238e-01  4.42368209e+00]
 [-1.51503150e-01  9.88447285e-01 -4.33124095e-03  1.10141084e-01]
 [ 2.44147161e-01  4.16667186e-02  9.68842633e-01  1.72280349e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.94327356
Centerline is valid?  [False, False]
Translation: X:4.43, Y:0.11, Z:0.17
[[ 0.95780307  0.1452367  -0.24803139  4.42552988]
 [-0.15110989  0.98850579 -0.00470179  0.10953912]
 [ 0.2444976   0.04198338  0.96874058  0.17309472]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 44.00327356
Centerline is valid?  [False, False]
Translation: X:4.43, Y:0.11, Z:0.17
[[ 9.58049431e-01  1.43485228e-01 -2.48099331e-01  4.42668787e+00]
 [-1.49171962e-01  9.88802459e-01 -4.17400186e-03  1.08814887e-01]
 [ 2.44722321e-01  4.10083641e-02  9.68725606e-01  1.73333700e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.06327356
Centerline is valid?  [False, False]
Translation: X:4.43, Y:0.11, Z:0.17
[[ 0.95843149  0.1402361  -0.2484812   4.42743557]
 [-0.14596267  0.98927903 -0.00467878  0.1081052 ]
 [ 0.24516111  0.04075326  0.96862542  0.1735851 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 44.12327356
Centerline is valid?  [False, False]
Translation: X:4.43, Y:0.11, Z:0.17
[[ 0.95866448  0.13795206 -0.24886071  4.42938597]
 [-0.14374632  0.98960106 -0.00517148  0.10762394]
 [ 0.2455594   0.04073052  0.96852548  0.17406401]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 44.183273559999996
Centerline is valid?  [False, False]
Translation: X:4.43, Y:0.11, Z:0.17
[[ 0.95909433  0.13347913 -0.24964254  4.4311695 ]
 [-0.13915444  0.99025734 -0.00514151  0.10763084]
 [ 0.24652407  0.03967006  0.96832441  0.17448068]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 44.24327356
Centerline is valid?  [False, False]
Translation: X:4.43, Y:0.11, Z:0.17
[[ 0.96016495  0.12687501 -0.24896988  4.42998717]
 [-0.13277942  0.99112093 -0.00699548  0.10791979]
 [ 0.2458717   0.03977489  0.96848596  0.17410174]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 44.30327356
Centerline is valid?  [False, False]
Translation: X:4.43, Y:0.11, Z:0.17
[[ 0.96097832  0.12125855 -0.24863031  4.43016815]
 [-0.12716034  0.99185187 -0.00775372  0.10836938]
 [ 0.24566423  0.03906707  0.96856742  0.17445549]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 44.363273559999996
Centerline is valid?  [False, False]
Translation: X:4.43, Y:0.11, Z:0.17
[[ 0.96213855  0.11144273 -0.24873668  4.42878117]
 [-0.1172198   0.99306972 -0.00848806  0.10979505]
 [ 0.24606693  0.03732356  0.96853395  0.174332  ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.902122 with order 1
Centerline goodness : 0.900970 with order 1
Centerline goodness : 0.900401 with order 1
Centerline goodness : 0.902961 with order 1
Centerline goodness : 0.903777 with order 1
Centerline goodness : 0.897376 with order 1
Centerline goodness : 0.901679 with order 1
Centerline goodness : 0.901174 with order 1
Centerline goodness : 0.901487 with order 1
Centerline goodness : 0.896901 with order 3
Centerline goodness : 0.878821 with order 2
Centerline goodness : 0.867922 with order 2
Centerline goodness : 0.874485 with order 2
Centerline goodness : 0.921386 with order 3
Centerline goodness : 0.924913 with order 3
Centerline goodness : 0.872951 with order 1
Centerline goodness : 0.881319 with order 2
Centerline goodness : 0.877997 with order 2
Centerline goodness : 0.880631 with order 2
Centerline goodness : 0.919552 with order 3
SLAMing on frame at distance 44.42327356
Centerline is valid?  [False, False]
Translation: X:4.43, Y:0.11, Z:0.17
[[ 0.96319974  0.1006756  -0.24922014  4.42901628]
 [-0.10663396  0.99424303 -0.01048789  0.11146584]
 [ 0.24672951  0.03667727  0.96839007  0.1742194 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 44.48327356
Centerline is valid?  [False, False]
Translation: X:4.43, Y:0.11, Z:0.17
[[ 0.96377036  0.09360826 -0.24976828  4.4304517 ]
 [-0.09964473  0.9949554  -0.01160513  0.11292308]
 [ 0.24742196  0.03607277  0.96823609  0.17470828]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 44.543273559999996
Centerline is valid?  [False, False]
Translation: X:4.43, Y:0.12, Z:0.17
[[ 0.9646649   0.08392832 -0.24975521  4.42998761]
 [-0.08985311  0.99587789 -0.01239524  0.11688088]
 [ 0.24768538  0.03439853  0.96822967  0.17449076]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 44.60327356
Centerline is valid?  [False, False]
Translation: X:4.43, Y:0.12, Z:0.17
[[ 0.96531065  0.07772109 -0.2492685   4.4301542 ]
 [-0.08363805  0.99640854 -0.01321764  0.11939488]
 [ 0.24734597  0.03360746  0.96834421  0.1743299 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 44.66327356
Centerline is valid?  [False, False]
Translation: X:4.43, Y:0.12, Z:0.17
[[ 0.96572648  0.07227619 -0.24929603  4.43168061]
 [-0.07822213  0.99683746 -0.0140137   0.12255518]
 [ 0.24749477  0.03303387  0.96832593  0.17484553]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 44.723273559999996
Centerline is valid?  [False, False]
Translation: X:4.43, Y:0.13, Z:0.17
[[ 0.96604701  0.06815327 -0.24921538  4.43312604]
 [-0.07415157  0.99713791 -0.01474906  0.12654058]
 [ 0.24749691  0.032728    0.96833577  0.17496809]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 44.78327356
Centerline is valid?  [False, False]
Translation: X:4.43, Y:0.13, Z:0.17
[[ 0.96620675  0.06467496 -0.24952287  4.43461158]
 [-0.07074875  0.99737466 -0.01544049  0.13392537]
 [ 0.24786917  0.03257214  0.9682458   0.17476228]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 44.84327356
Centerline is valid?  [False, False]
Translation: X:4.44, Y:0.14, Z:0.18
[[ 0.96608475  0.06576348 -0.24971066  4.43832536]
 [-0.07199219  0.99727873 -0.01588255  0.14244855]
 [ 0.24798664  0.03332111  0.96819024  0.17543277]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 44.903273559999995
Centerline is valid?  [False, False]
Translation: X:4.44, Y:0.15, Z:0.18
[[ 0.96576642  0.06854313 -0.25019405  4.44191083]
 [-0.07485508  0.99706942 -0.0157888   0.14872612]
 [ 0.24837862  0.03397658  0.96806697  0.17608918]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 44.96327356
Centerline is valid?  [False, False]
Translation: X:4.45, Y:0.16, Z:0.18
[[ 0.96524571  0.07309151 -0.25091501  4.44619142]
 [-0.07967023  0.99669047 -0.01614787  0.15875923]
 [ 0.24890433  0.03557712  0.96787442  0.17760624]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 45.02327356
Centerline is valid?  [False, False]
Translation: X:4.45, Y:0.16, Z:0.18
[[ 0.96482424  0.07570468 -0.25175978  4.44997749]
 [-0.08249634  0.99645449 -0.01651655  0.16499118]
 [ 0.24961679  0.03670483  0.96764881  0.17880272]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 45.083273559999995
Centerline is valid?  [False, False]
Translation: X:4.45, Y:0.17, Z:0.18
[[ 0.96437643  0.07961122 -0.25226999  4.45447033]
 [-0.08668152  0.99609068 -0.01701991  0.17411224]
 [ 0.24992881  0.03828075  0.9675072   0.17987262]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 45.14327356
Centerline is valid?  [False, False]
Translation: X:4.46, Y:0.18, Z:0.18
[[ 0.96401354  0.0828932  -0.25259972  4.45779496]
 [-0.08996259  0.9958077  -0.01654583  0.18350308]
 [ 0.25016921  0.03867493  0.96742939  0.18091205]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 45.20327356
Centerline is valid?  [False, False]
Translation: X:4.46, Y:0.19, Z:0.18
[[ 0.96391664  0.08397286 -0.2526129   4.46002506]
 [-0.09132454  0.99566744 -0.01749794  0.19266334]
 [ 0.25004909  0.03993631  0.96740919  0.18140049]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 45.263273559999995
Centerline is valid?  [False, False]
Translation: X:4.46, Y:0.20, Z:0.18
[[ 0.96390337  0.0835131  -0.25281584  4.46201459]
 [-0.09106259  0.99567724 -0.0182878   0.19885702]
 [ 0.25019571  0.04064974  0.96734157  0.18208989]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 45.32327356
Centerline is valid?  [False, False]
Translation: X:4.46, Y:0.21, Z:0.18
[[ 0.96412736  0.081376   -0.25265861  4.46308528]
 [-0.08920166  0.99581964 -0.01965475  0.20875655]
 [ 0.25000298  0.04148725  0.96735584  0.18241768]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 45.38327356
Centerline is valid?  [False, False]
Translation: X:4.46, Y:0.22, Z:0.18
[[ 0.96421713  0.07762887 -0.25349375  4.46466459]
 [-0.08555025  0.99612583 -0.02035908  0.21926659]
 [ 0.25093122  0.04131703  0.96712276  0.18220922]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 45.44327356
Centerline is valid?  [False, False]
Translation: X:4.47, Y:0.23, Z:0.18
[[ 0.96434391  0.07444779 -0.25396525  4.46596346]
 [-0.0825909   0.99635077 -0.02153804  0.22661817]
 [ 0.25143501  0.0417453   0.96697351  0.1818104 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 45.50327356
Centerline is valid?  [False, False]
Translation: X:4.46, Y:0.24, Z:0.18
[[ 0.96495436  0.06789608 -0.25348215  4.46456538]
 [-0.07626948  0.99681398 -0.02334211  0.23814017]
 [ 0.25108971  0.04185703  0.9670584   0.18102587]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 45.56327356
Centerline is valid?  [False, False]
Translation: X:4.46, Y:0.25, Z:0.18
[[ 0.96533661  0.06391961 -0.2530603   4.46485814]
 [-0.07234056  0.99708871 -0.02410285  0.24640156]
 [ 0.25078292  0.04157388  0.96715021  0.1805655 ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.925018 with order 1
Centerline goodness : 0.928404 with order 1
Centerline goodness : 0.904870 with order 1
Centerline goodness : 0.895195 with order 1
Centerline goodness : 0.892462 with order 1
Centerline goodness : 0.896378 with order 1
Centerline goodness : 0.893909 with order 1
Centerline goodness : 0.919057 with order 1
Centerline goodness : 0.926638 with order 1
Centerline goodness : 0.896663 with order 1
Centerline goodness : 0.913488 with order 1
Centerline goodness : 0.894793 with order 1
Centerline goodness : 0.892839 with order 1
Centerline goodness : 0.909661 with order 1
Centerline goodness : 0.940333 with order 3
Centerline goodness : 0.886584 with order 2
Centerline goodness : 0.944016 with order 3
Centerline goodness : 0.883812 with order 1
Centerline goodness : 0.843318 with order 3
Centerline goodness : 0.928193 with order 3
SLAMing on frame at distance 45.62327356
Centerline is valid?  [False, False]
Translation: X:4.46, Y:0.26, Z:0.18
[[ 0.96581879  0.05917005 -0.25237467  4.46397711]
 [-0.06765101  0.99739445 -0.02505297  0.25976128]
 [ 0.25023471  0.04127003  0.96730521  0.18064707]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 45.683273559999996
Centerline is valid?  [False, False]
Translation: X:4.46, Y:0.27, Z:0.18
[[ 0.96612654  0.05657621 -0.25179086  4.46401535]
 [-0.06530391  0.9975152  -0.02643546  0.27411181]
 [ 0.24966959  0.04198293  0.96742056  0.18177794]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 45.74327356
Centerline is valid?  [False, False]
Translation: X:4.47, Y:0.28, Z:0.18
[[ 0.96627294  0.05698992 -0.25113492  4.46542025]
 [-0.06580012  0.99747237 -0.02681827  0.28482987]
 [ 0.24897177  0.04243848  0.9675805   0.18238648]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 45.80327356
Centerline is valid?  [False, False]
Translation: X:4.47, Y:0.30, Z:0.18
[[ 0.96612466  0.05804329 -0.25146397  4.46828593]
 [-0.06699531  0.99738305 -0.02717856  0.2959323 ]
 [ 0.24922837  0.04310478  0.96748499  0.18347398]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 45.863273559999996
Centerline is valid?  [False, False]
Translation: X:4.47, Y:0.31, Z:0.18
[[ 0.96584244  0.06034394 -0.25200595  4.47260535]
 [-0.0696609   0.99717188 -0.0282064   0.31345272]
 [ 0.24959116  0.0447979   0.96731453  0.18383027]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 45.92327356
Centerline is valid?  [False, False]
Translation: X:4.48, Y:0.33, Z:0.18
[[ 0.96559796  0.06406848 -0.25202342  4.47702815]
 [-0.07367824  0.99686409 -0.02887033  0.33231273]
 [ 0.24938342  0.04644577  0.96729039  0.18444206]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 45.98327356
Centerline is valid?  [False, False]
Translation: X:4.48, Y:0.35, Z:0.19
[[ 0.9652344   0.06803573 -0.25237608  4.4818782 ]
 [-0.07808057  0.99649588 -0.02998988  0.3510904 ]
 [ 0.24945134  0.04865293  0.96716437  0.18608477]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 46.043273559999996
Centerline is valid?  [False, False]
Translation: X:4.49, Y:0.36, Z:0.19
[[ 0.96493953  0.07070968 -0.25276837  4.48567863]
 [-0.08102235  0.99624208 -0.03061186  0.36272388]
 [ 0.24965393  0.05001849  0.96704243  0.18726283]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 46.10327356
Centerline is valid?  [False, False]
Translation: X:4.49, Y:0.38, Z:0.19
[[ 0.96442846  0.07547156 -0.25334124  4.49106687]
 [-0.08633505  0.99575133 -0.03202428  0.37966308]
 [ 0.24984796  0.05275736  0.96684676  0.18934089]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 46.16327356
Centerline is valid?  [False, False]
Translation: X:4.50, Y:0.40, Z:0.19
[[ 0.96403872  0.08061869 -0.25323896  4.49527091]
 [-0.09155649  0.99529558 -0.03168776  0.39516537]
 [ 0.24949299  0.0537339   0.96688464  0.19190066]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 46.223273559999996
Centerline is valid?  [False, False]
Translation: X:4.50, Y:0.40, Z:0.19
[[ 0.96344807  0.08360054 -0.25451674  4.49992084]
 [-0.09462792  0.99501823 -0.03137328  0.40392003]
 [ 0.25062597  0.05431092  0.96655933  0.19294726]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 46.28327356
Centerline is valid?  [False, False]
Translation: X:4.51, Y:0.42, Z:0.19
[[ 0.96267887  0.08721547 -0.25620862  4.50559757]
 [-0.09863845  0.99460702 -0.03205213  0.41576367]
 [ 0.25203145  0.05612793  0.96608996  0.19378229]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 46.34327356
Centerline is valid?  [False, False]
Translation: X:4.51, Y:0.42, Z:0.19
[[ 0.96239759  0.08948889 -0.25648121  4.50866928]
 [-0.10109705  0.99434854 -0.03240945  0.4229676 ]
 [ 0.25213143  0.05712027  0.9660057   0.19467949]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 46.403273559999995
Centerline is valid?  [False, False]
Translation: X:4.51, Y:0.43, Z:0.20
[[ 0.96212843  0.09283181 -0.25630282  4.51250312]
 [-0.10462228  0.99397344 -0.03272578  0.43225278]
 [ 0.2517202   0.05830139  0.96604238  0.19590405]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 46.46327356
Centerline is valid?  [False, False]
Translation: X:4.52, Y:0.44, Z:0.20
[[ 0.96175053  0.09639886 -0.25640433  4.51587309]
 [-0.10824858  0.99359327 -0.03247553  0.44032598]
 [ 0.25163102  0.05898877  0.96602389  0.19665612]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 46.52327356
Centerline is valid?  [False, False]
Translation: X:4.52, Y:0.44, Z:0.20
[[ 0.96148909  0.09781869 -0.25684673  4.51897096]
 [-0.10983339  0.99340801 -0.03282011  0.4422811 ]
 [ 0.25194318  0.05976652  0.96589471  0.19747411]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 46.583273559999995
Centerline is valid?  [False, False]
Translation: X:4.52, Y:0.45, Z:0.20
[[ 0.96074833  0.10212886 -0.25793864  4.52433443]
 [-0.11437008  0.99289437 -0.03286709  0.44803524]
 [ 0.25274915  0.06107746  0.9656021   0.19907645]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 46.64327356
Centerline is valid?  [False, False]
Translation: X:4.53, Y:0.45, Z:0.20
[[ 0.96005153  0.10609527 -0.25893021  4.52843491]
 [-0.11833019  0.99245575 -0.03208673  0.45123595]
 [ 0.25357253  0.06144417  0.96536293  0.2005402 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 46.70327356
Centerline is valid?  [False, False]
Translation: X:4.53, Y:0.46, Z:0.20
[[ 0.9593639   0.11270019 -0.2586882   4.53248458]
 [-0.12514349  0.99161941 -0.03209443  0.45610219]
 [ 0.25290319  0.06316338  0.96542756  0.20289716]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 46.763273559999995
Centerline is valid?  [False, False]
Translation: X:4.54, Y:0.46, Z:0.20
[[ 0.95845779  0.12017439 -0.2586828   4.53779774]
 [-0.13287735  0.9906116  -0.03212886  0.45943759]
 [ 0.25239311  0.06516724  0.96542786  0.20494121]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.932484 with order 1
Centerline goodness : 0.932878 with order 1
Centerline goodness : 0.926038 with order 1
Centerline goodness : 0.908236 with order 1
Centerline goodness : 0.928815 with order 1
Centerline goodness : 0.934051 with order 1
Centerline goodness : 0.931750 with order 1
Centerline goodness : 0.930452 with order 1
Centerline goodness : 0.903574 with order 1
Centerline goodness : 0.931778 with order 1
Centerline goodness : 0.926301 with order 1
Centerline goodness : 0.899516 with order 1
Centerline goodness : 0.907480 with order 1
Centerline goodness : 0.916804 with order 1
Centerline goodness : 0.912229 with order 1
Centerline goodness : 0.931280 with order 1
Centerline goodness : 0.932351 with order 1
Centerline goodness : 0.923009 with order 1
Centerline goodness : 0.928470 with order 1
Centerline goodness : 0.910552 with order 1
SLAMing on frame at distance 46.82327356
Centerline is valid?  [False, False]
Translation: X:4.54, Y:0.46, Z:0.21
[[ 0.95792142  0.12474931 -0.25850372  4.54140716]
 [-0.1373133   0.99004065 -0.03105746  0.46109391]
 [ 0.25205479  0.0652466   0.96551088  0.20627994]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 46.88327356
Centerline is valid?  [False, False]
Translation: X:4.54, Y:0.46, Z:0.21
[[ 0.95772828  0.12820968 -0.25752441  4.54321734]
 [-0.14070106  0.98957919 -0.03059806  0.46279914]
 [ 0.25091783  0.06553859  0.96578721  0.20681154]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 46.94327356
Centerline is valid?  [False, False]
Translation: X:4.54, Y:0.46, Z:0.21
[[ 0.95777187  0.12819783 -0.25736813  4.54473251]
 [-0.1407719   0.98955785 -0.03096032  0.46313865]
 [ 0.25071161  0.06588313  0.96581732  0.20789834]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.00327356
Centerline is valid?  [False, False]
Translation: X:4.55, Y:0.46, Z:0.21
[[ 0.95796108  0.12588883 -0.25780335  4.54688308]
 [-0.1386006   0.98984194 -0.03166729  0.46290252]
 [ 0.25119801  0.06606773  0.96567832  0.20834886]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.06327356
Centerline is valid?  [False, False]
Translation: X:4.55, Y:0.46, Z:0.21
[[ 0.9580274   0.1239743  -0.25848381  4.54963998]
 [-0.13651708  0.99015002 -0.03108104  0.46173613]
 [ 0.2520845   0.06506394  0.96551545  0.20827043]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.12327356
Centerline is valid?  [False, False]
Translation: X:4.55, Y:0.46, Z:0.21
[[ 0.95804632  0.12241322 -0.25915681  4.55229635]
 [-0.13499533  0.99035322 -0.03125306  0.45941903]
 [ 0.25283099  0.06492684  0.96532947  0.20782685]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.183273559999996
Centerline is valid?  [False, False]
Translation: X:4.56, Y:0.46, Z:0.21
[[ 0.95793214  0.12295699 -0.2593214   4.55531848]
 [-0.13559006  0.99026942 -0.03133381  0.45705575]
 [ 0.25294534  0.06517707  0.96528266  0.20776041]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.24327356
Centerline is valid?  [False, False]
Translation: X:4.56, Y:0.45, Z:0.21
[[ 0.95784385  0.12467841 -0.25882513  4.55796778]
 [-0.13725791  0.99004888 -0.03103999  0.4549485 ]
 [ 0.25237951  0.06525726  0.96542533  0.20835221]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.30327356
Centerline is valid?  [False, False]
Translation: X:4.56, Y:0.45, Z:0.21
[[ 0.95792903  0.12702608 -0.25736424  4.5584139 ]
 [-0.1393134   0.98979359 -0.03000708  0.45185632]
 [ 0.2509258   0.06459894  0.96584845  0.20886687]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.363273559999996
Centerline is valid?  [False, False]
Translation: X:4.56, Y:0.45, Z:0.21
[[ 0.9578517   0.12861715 -0.25686134  4.56064939]
 [-0.14069343  0.98962477 -0.02912358  0.4475167 ]
 [ 0.25045055  0.06403477  0.96600935  0.20918559]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.42327356
Centerline is valid?  [False, False]
Translation: X:4.56, Y:0.44, Z:0.21
[[ 0.95762871  0.12962355 -0.25718668  4.56380236]
 [-0.14169181  0.98948951 -0.02887786  0.4445586 ]
 [ 0.25074027  0.06409552  0.96593016  0.20930262]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.48327356
Centerline is valid?  [False, False]
Translation: X:4.57, Y:0.44, Z:0.21
[[ 0.95684915  0.13203737 -0.25885485  4.56927146]
 [-0.1441463   0.98915212 -0.02828314  0.44052621]
 [ 0.25231239  0.06437567  0.96550206  0.20944449]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.543273559999996
Centerline is valid?  [False, False]
Translation: X:4.57, Y:0.44, Z:0.21
[[ 0.95615433  0.13502885 -0.2598771   4.57407042]
 [-0.1470464   0.9887534  -0.02727759  0.43673985]
 [ 0.25327111  0.06429557  0.96525635  0.20960444]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.60327356
Centerline is valid?  [False, False]
Translation: X:4.58, Y:0.43, Z:0.21
[[ 0.95594201  0.1374249  -0.25940176  4.57611955]
 [-0.14946236  0.98839411 -0.02716785  0.43396952]
 [ 0.25265763  0.06474168  0.9653873   0.21072036]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.66327356
Centerline is valid?  [False, False]
Translation: X:4.58, Y:0.43, Z:0.21
[[ 0.95565104  0.14080094 -0.2586623   4.57911696]
 [-0.15311256  0.98781258 -0.02797948  0.42933168]
 [ 0.25157034  0.06634307  0.96556251  0.21216267]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.723273559999996
Centerline is valid?  [False, False]
Translation: X:4.58, Y:0.43, Z:0.21
[[ 0.95508783  0.14357561 -0.25921666  4.58305253]
 [-0.15571437  0.98743831 -0.0268071   0.42609884]
 [ 0.25211161  0.06596689  0.9654471   0.21365773]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.78327356
Centerline is valid?  [False, False]
Translation: X:4.59, Y:0.42, Z:0.21
[[ 0.95434484  0.14706114 -0.25999799  4.58656132]
 [-0.1586792   0.98703468 -0.02415492  0.42136152]
 [ 0.25307478  0.0643084   0.96530699  0.21398376]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.84327356
Centerline is valid?  [False, False]
Translation: X:4.59, Y:0.42, Z:0.21
[[ 0.95390249  0.14803251 -0.26106784  4.59007786]
 [-0.15971544  0.98687147 -0.02399336  0.417202  ]
 [ 0.25408861  0.06458389  0.96502223  0.21434186]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.903273559999995
Centerline is valid?  [False, False]
Translation: X:4.59, Y:0.41, Z:0.21
[[ 0.95344273  0.14911969 -0.26212644  4.59322888]
 [-0.16082033  0.98670056 -0.02363933  0.41172397]
 [ 0.25511522  0.06469401  0.96474396  0.2141282 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 47.96327356
Centerline is valid?  [False, False]
Translation: X:4.60, Y:0.41, Z:0.21
[[ 0.95310684  0.15054999 -0.26253009  4.59515977]
 [-0.16205143  0.98652365 -0.02259244  0.40737378]
 [ 0.25559085  0.06407639  0.96465928  0.21463289]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.899610 with order 1
Centerline goodness : 0.904266 with order 1
Centerline goodness : 0.908279 with order 1
Centerline goodness : 0.897137 with order 1
Centerline goodness : 0.918352 with order 1
Centerline goodness : 0.890586 with order 1
Centerline goodness : 0.923222 with order 1
Centerline goodness : 0.899412 with order 1
Centerline goodness : 0.909057 with order 1
Centerline goodness : 0.893497 with order 1
Centerline goodness : 0.900516 with order 1
Centerline goodness : 0.897214 with order 1
Centerline goodness : 0.924352 with order 1
Centerline goodness : 0.890717 with order 1
Centerline goodness : 0.894376 with order 1
Centerline goodness : 0.900004 with order 1
Centerline goodness : 0.897927 with order 1
Centerline goodness : 0.891541 with order 1
Centerline goodness : 0.891164 with order 1
Centerline goodness : 0.893682 with order 1
SLAMing on frame at distance 48.02327356
Centerline is valid?  [False, False]
Translation: X:4.60, Y:0.40, Z:0.22
[[ 0.95302434  0.1516316  -0.26220691  4.59684712]
 [-0.16303867  0.98637041 -0.02217675  0.40423928]
 [ 0.25527044  0.06388485  0.96475682  0.21574509]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.083273559999995
Centerline is valid?  [False, False]
Translation: X:4.60, Y:0.40, Z:0.22
[[ 0.95337172  0.15027653 -0.26172376  4.59651552]
 [-0.16184378  0.98654628 -0.02308742  0.3999922 ]
 [ 0.2547331   0.06436926  0.96486665  0.21650574]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.14327356
Centerline is valid?  [False, False]
Translation: X:4.60, Y:0.40, Z:0.22
[[ 0.95347444  0.14772843 -0.26279802  4.59790408]
 [-0.15929463  0.98695984 -0.0231407   0.39707236]
 [ 0.25595255  0.06392638  0.96457333  0.21644346]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.20327356
Centerline is valid?  [False, False]
Translation: X:4.60, Y:0.39, Z:0.22
[[ 0.95407701  0.14181801 -0.26386494  4.59749787]
 [-0.15330987  0.98790172 -0.02337245  0.39268884]
 [ 0.25735799  0.06275222  0.96427642  0.21558175]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.263273559999995
Centerline is valid?  [False, False]
Translation: X:4.59, Y:0.39, Z:0.21
[[ 0.95553767  0.13260447 -0.26337011  4.59342631]
 [-0.14397876  0.98928295 -0.02427684  0.38785936]
 [ 0.25732834  0.06111713  0.96438935  0.21433039]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.32327356
Centerline is valid?  [False, False]
Translation: X:4.59, Y:0.38, Z:0.21
[[ 0.95658654  0.12544242 -0.26307109  4.59128939]
 [-0.13675907  0.99028679 -0.02508034  0.38423667]
 [ 0.25736969  0.05996888  0.9644504   0.21358073]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.38327356
Centerline is valid?  [False, False]
Translation: X:4.59, Y:0.38, Z:0.21
[[ 0.95812691  0.11371991 -0.26279385  4.58607684]
 [-0.12468442  0.99187197 -0.02537317  0.37858138]
 [ 0.25777242  0.05707702  0.96451832  0.21204118]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.44327356
Centerline is valid?  [False, False]
Translation: X:4.58, Y:0.37, Z:0.21
[[ 0.95936282  0.10424659 -0.26221295  4.58219383]
 [-0.11486048  0.99305588 -0.02543805  0.3738758 ]
 [ 0.25774028  0.05452223  0.9646747   0.21180164]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.50327356
Centerline is valid?  [False, False]
Translation: X:4.58, Y:0.37, Z:0.21
[[ 0.95958393  0.10263946 -0.26203781  4.58263435]
 [-0.11307831  0.9932707  -0.0250321   0.37262801]
 [ 0.2577052   0.05365119  0.96473291  0.21194994]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.56327356
Centerline is valid?  [False, False]
Translation: X:4.58, Y:0.37, Z:0.21
[[ 0.9597674   0.10019937 -0.26231017  4.58273948]
 [-0.11033672  0.99360039 -0.02416779  0.37172628]
 [ 0.25820989  0.0521379   0.96468093  0.21252957]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.62327356
Centerline is valid?  [False, False]
Translation: X:4.58, Y:0.37, Z:0.21
[[ 0.95976962  0.09874313 -0.26285371  4.58448272]
 [-0.10913861  0.99370684 -0.02520868  0.3720044 ]
 [ 0.25871035  0.05288201  0.96450632  0.21220398]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.683273559999996
Centerline is valid?  [False, False]
Translation: X:4.59, Y:0.37, Z:0.21
[[ 0.95946457  0.09998859 -0.26349578  4.58770077]
 [-0.11064801  0.99352238 -0.02589013  0.37368682]
 [ 0.25920024  0.05399595  0.96431306  0.21231228]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.74327356
Centerline is valid?  [False, False]
Translation: X:4.59, Y:0.38, Z:0.21
[[ 0.95932704  0.10129564 -0.2634973   4.59017723]
 [-0.11198173  0.99337485 -0.02581644  0.37549362]
 [ 0.2591365   0.0542733   0.96431462  0.21241138]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.80327356
Centerline is valid?  [False, False]
Translation: X:4.59, Y:0.38, Z:0.21
[[ 0.95900467  0.10267379 -0.26413658  4.59309766]
 [-0.11346655  0.9932044  -0.02589148  0.37849242]
 [ 0.25968324  0.05480072  0.9641377   0.21312876]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.863273559999996
Centerline is valid?  [False, False]
Translation: X:4.59, Y:0.38, Z:0.21
[[ 0.9590147   0.10196845 -0.26437331  4.59430381]
 [-0.11280551  0.9932743  -0.02609757  0.38249747]
 [ 0.25993409  0.05485072  0.96406725  0.21344051]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.92327356
Centerline is valid?  [False, False]
Translation: X:4.60, Y:0.39, Z:0.21
[[ 0.95907508  0.09913806 -0.26522941  4.59539493]
 [-0.11007652  0.99356545 -0.0266618   0.38633878]
 [ 0.26087958  0.0547662   0.96381664  0.21293032]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 48.98327356
Centerline is valid?  [False, False]
Translation: X:4.60, Y:0.39, Z:0.21
[[ 0.95914356  0.09684768 -0.26582731  4.5963606 ]
 [-0.10762518  0.99384509 -0.02624416  0.38937742]
 [ 0.26164948  0.05378163  0.96366337  0.21244264]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 49.043273559999996
Centerline is valid?  [False, False]
Translation: X:4.60, Y:0.39, Z:0.21
[[ 0.9594781   0.09263614 -0.26612087  4.59725463]
 [-0.10355712  0.99424958 -0.02727084  0.39371645]
 [ 0.2620643   0.05372448  0.96355383  0.21195268]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 49.10327356
Centerline is valid?  [False, False]
Translation: X:4.60, Y:0.40, Z:0.21
[[ 0.95981318  0.08950079 -0.26598546  4.5980531 ]
 [-0.10059229  0.99452391 -0.02834416  0.3965099 ]
 [ 0.26199207  0.05396119  0.96356024  0.21193614]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 49.16327356
Centerline is valid?  [False, False]
Translation: X:4.60, Y:0.40, Z:0.21
[[ 0.960478    0.08524968 -0.26498019  4.59672136]
 [-0.09631791  0.99492701 -0.02903622  0.4017948 ]
 [ 0.26116062  0.05341099  0.96381658  0.2114716 ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.942269 with order 1
Centerline goodness : 0.929121 with order 1
Centerline goodness : 0.932491 with order 1
Centerline goodness : 0.926988 with order 1
Centerline goodness : 0.926949 with order 1
Centerline goodness : 0.940507 with order 1
Centerline goodness : 0.926711 with order 1
Centerline goodness : 0.964526 with order 3
Centerline goodness : 0.962040 with order 3
Centerline goodness : 0.921873 with order 1
Centerline goodness : 0.923021 with order 1
Centerline goodness : 0.927034 with order 1
Centerline goodness : 0.908932 with order 1
Centerline goodness : 0.925916 with order 1
Centerline goodness : 0.929165 with order 3
Centerline goodness : 0.923200 with order 1
Centerline goodness : 0.919517 with order 3
Centerline goodness : 0.869987 with order 2
Centerline goodness : 0.950513 with order 3
Centerline goodness : 0.916528 with order 1
SLAMing on frame at distance 49.223273559999996
Centerline is valid?  [False, False]
Translation: X:4.60, Y:0.41, Z:0.21
[[ 0.96087121  0.08146766 -0.26474427  4.59667829]
 [-0.09280901  0.99521377 -0.03059468  0.40765526]
 [ 0.26098467  0.05396821  0.9638332   0.2120019 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 49.28327356
Centerline is valid?  [False, False]
Translation: X:4.60, Y:0.41, Z:0.21
[[ 0.96075215  0.07948052 -0.2657784   4.5986824 ]
 [-0.0910956   0.99533927 -0.03164369  0.41202514]
 [ 0.26202462  0.05461298  0.96351467  0.21286151]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 49.34327356
Centerline is valid?  [False, False]
Translation: X:4.60, Y:0.42, Z:0.21
[[ 0.96069015  0.07919652 -0.26608712  4.60104022]
 [-0.09062824  0.99540401 -0.03094148  0.42056486]
 [ 0.26241373  0.05384019  0.96345227  0.21300274]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 49.403273559999995
Centerline is valid?  [False, False]
Translation: X:4.60, Y:0.43, Z:0.21
[[ 0.96081406  0.07930422 -0.2656072   4.60358973]
 [-0.09096727  0.99534345 -0.03188052  0.43033508]
 [ 0.26184213  0.05479281  0.96355407  0.21385104]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 49.46327356
Centerline is valid?  [False, False]
Translation: X:4.61, Y:0.44, Z:0.21
[[ 0.96083569  0.07894358 -0.26563638  4.60640283]
 [-0.09089898  0.99531328 -0.0329977   0.43718079]
 [ 0.26178646  0.05585145  0.96350841  0.2149053 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 49.52327356
Centerline is valid?  [False, False]
Translation: X:4.61, Y:0.45, Z:0.22
[[ 0.96062316  0.07902719 -0.26637914  4.61142367]
 [-0.09096241  0.99531571 -0.03274878  0.44803095]
 [ 0.2625433   0.05568972  0.96331182  0.21622199]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 49.583273559999995
Centerline is valid?  [False, False]
Translation: X:4.62, Y:0.46, Z:0.22
[[ 0.96036834  0.07910576 -0.26727316  4.61617592]
 [-0.09095138  0.99533414 -0.03221483  0.45562014]
 [ 0.26347772  0.05524696  0.96308217  0.21721736]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 49.64327356
Centerline is valid?  [False, True]
Translation: X:4.62, Y:0.47, Z:0.22
[[ 0.9604836   0.07897839 -0.26689637  4.61850888]
 [-0.09091133  0.99532416 -0.03263343  0.46820801]
 [ 0.26307107  0.05560778  0.96317256  0.2187759 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 49.70327356
Centerline is valid?  [True, True]
Translation: X:4.68, Y:0.48, Z:0.24
[[ 0.96138417  0.09700196 -0.25754825  4.67527473]
 [-0.09047576  0.99520737  0.03710026  0.4768931 ]
 [ 0.25991271 -0.01236573  0.96555293  0.23709048]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 49.763273559999995
Centerline is valid?  [True, False]
Translation: X:4.68, Y:0.49, Z:0.24
[[ 0.96114694  0.09750488 -0.25824284  4.68098995]
 [-0.09101103  0.99516184  0.03701231  0.48582076]
 [ 0.2606023  -0.01207132  0.96537077  0.23788572]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 49.82327356
Centerline is valid?  [False, False]
Translation: X:4.69, Y:0.50, Z:0.24
[[ 0.96051713  0.09756699 -0.26055235  4.68901669]
 [-0.09142941  0.99517487  0.035604    0.4986978 ]
 [ 0.26276893 -0.01037611  0.964803    0.23796932]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 49.88327356
Centerline is valid?  [False, False]
Translation: X:4.70, Y:0.51, Z:0.24
[[ 0.96001271  0.09897913 -0.2618754   4.69635324]
 [-0.09272042  0.99503461  0.03618085  0.51183807]
 [ 0.26415624 -0.01045287  0.96442326  0.23863961]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 49.94327356
Centerline is valid?  [False, False]
Translation: X:4.70, Y:0.52, Z:0.24
[[ 0.95972977  0.10048068 -0.26234023  4.70243291]
 [-0.09428561  0.99488935  0.03613039  0.51981542]
 [ 0.26462991 -0.0099405   0.96429881  0.24019906]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 50.00327356
Centerline is valid?  [False, False]
Translation: X:4.71, Y:0.53, Z:0.24
[[ 0.95948576  0.10322973 -0.2621654   4.70692659]
 [-0.0975677   0.99462865  0.03455999  0.53220444]
 [ 0.26432484 -0.00758094  0.96440391  0.24195669]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 50.06327356
Centerline is valid?  [False, False]
Translation: X:4.71, Y:0.54, Z:0.24
[[ 0.95916432  0.10592079 -0.26226818  4.71237479]
 [-0.1002768   0.99434902  0.03485101  0.54014258]
 [ 0.26447756 -0.00712844  0.9643655   0.24340138]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 50.12327356
Centerline is valid?  [False, False]
Translation: X:4.72, Y:0.55, Z:0.24
[[ 0.9582388   0.10937898 -0.26422459  4.72046208]
 [-0.10375614  0.99398014  0.03518738  0.55136578]
 [ 0.26648275 -0.00630299  0.96381908  0.24453931]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 50.183273559999996
Centerline is valid?  [False, False]
Translation: X:4.73, Y:0.56, Z:0.25
[[ 9.57485224e-01  1.11288680e-01 -2.66151978e-01  4.72899119e+00]
 [-1.05994405e-01  9.93777678e-01  3.42215329e-02  5.61128942e-01]
 [ 2.68304363e-01 -4.55599151e-03  9.63323420e-01  2.46692227e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.24327356
Centerline is valid?  [False, False]
Translation: X:4.73, Y:0.57, Z:0.25
[[ 9.57302087e-01  1.12820511e-01 -2.66165827e-01  4.73336854e+00]
 [-1.07821378e-01  9.93610080e-01  3.33700494e-02  5.70072573e-01]
 [ 2.68229875e-01 -3.24685168e-03  9.63349465e-01  2.48857960e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.30327356
Centerline is valid?  [False, False]
Translation: X:4.74, Y:0.57, Z:0.25
[[ 9.57058936e-01  1.13795609e-01 -2.66624740e-01  4.73837357e+00]
 [-1.08768436e-01  9.93499173e-01  3.35979315e-02  5.74682386e-01]
 [ 2.68714755e-01 -3.15484460e-03  9.63214632e-01  2.50749246e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.363273559999996
Centerline is valid?  [False, True]
Translation: X:4.74, Y:0.58, Z:0.25
[[ 9.56727272e-01  1.14895708e-01 -2.67342295e-01  4.74396046e+00]
 [-1.10046222e-01  9.93375007e-01  3.31047610e-02  5.78861182e-01]
 [ 2.69374749e-01 -2.25221806e-03  9.63032799e-01  2.51898428e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.918160 with order 1
Centerline goodness : 0.916952 with order 1
Centerline goodness : 0.919423 with order 2
Centerline goodness : 0.879381 with order 2
Centerline goodness : 0.873864 with order 2
Centerline goodness : 0.918529 with order 2
Centerline goodness : 0.919534 with order 3
Centerline goodness : 0.942848 with order 3
Centerline goodness : 0.916900 with order 1
Centerline goodness : 0.926148 with order 2
Centerline goodness : 0.947794 with order 3
Centerline goodness : 0.924385 with order 1
Centerline goodness : 0.912117 with order 1
Centerline goodness : 0.917769 with order 1
Centerline goodness : 0.924609 with order 1
Centerline goodness : 0.922739 with order 2
Centerline goodness : 0.914705 with order 3
Centerline goodness : 0.878965 with order 2
Centerline goodness : 0.953229 with order 3
Centerline goodness : 0.927229 with order 2
SLAMing on frame at distance 50.42327356
Centerline is valid?  [True, True]
Translation: X:4.80, Y:0.58, Z:0.27
[[ 9.56542529e-01  1.16743340e-01 -2.67202889e-01  4.80171880e+00]
 [-1.11692779e-01  9.93158304e-01  3.40779426e-02  5.75118075e-01]
 [ 2.69353140e-01 -2.75236832e-03  9.63037543e-01  2.67972494e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.48327356
Centerline is valid?  [True, False]
Translation: X:4.81, Y:0.58, Z:0.27
[[ 9.55472395e-01  1.21068443e-01 -2.69100230e-01  4.80925805e+00]
 [-1.16224104e-01  9.92643510e-01  3.39237232e-02  5.80871131e-01]
 [ 2.71227689e-01 -1.13724800e-03  9.62514544e-01  2.69701517e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.543273559999996
Centerline is valid?  [False, False]
Translation: X:4.81, Y:0.59, Z:0.27
[[ 9.54704817e-01  1.26448698e-01 -2.69350033e-01  4.81340503e+00]
 [-1.21929959e-01  9.91972786e-01  3.35123311e-02  5.85796268e-01]
 [ 2.71425493e-01  8.47454572e-04  9.62459082e-01  2.72020004e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.60327356
Centerline is valid?  [False, False]
Translation: X:4.82, Y:0.59, Z:0.27
[[ 9.54243000e-01  1.30564159e-01 -2.69022857e-01  4.81832460e+00]
 [-1.26127846e-01  9.91438423e-01  3.37878689e-02  5.88547452e-01]
 [ 2.71131082e-01  1.68943628e-03  9.62540951e-01  2.74030484e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.66327356
Centerline is valid?  [False, False]
Translation: X:4.82, Y:0.59, Z:0.28
[[ 9.53329710e-01  1.37170163e-01 -2.68973624e-01  4.82323526e+00]
 [-1.32824680e-01  9.90543102e-01  3.43797458e-02  5.92348301e-01]
 [ 2.71145843e-01  2.95110247e-03  9.62533752e-01  2.76090157e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.723273559999996
Centerline is valid?  [False, False]
Translation: X:4.83, Y:0.59, Z:0.28
[[ 9.51905534e-01  1.42699350e-01 -2.71132346e-01  4.83123000e+00]
 [-1.38419979e-01  9.89756892e-01  3.49457409e-02  5.93508556e-01]
 [ 2.73341843e-01  4.26508954e-03  9.61907504e-01  2.78144646e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.78327356
Centerline is valid?  [False, False]
Translation: X:4.84, Y:0.59, Z:0.28
[[ 9.51021003e-01  1.45489796e-01 -2.72748551e-01  4.83788131e+00]
 [-1.41191794e-01  9.89348038e-01  3.54307405e-02  5.93188414e-01]
 [ 2.74998055e-01  4.81447880e-03  9.61432728e-01  2.79348820e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.84327356
Centerline is valid?  [False, False]
Translation: X:4.84, Y:0.59, Z:0.28
[[ 0.95049707  0.14728497 -0.27361004  4.84255678]
 [-0.14320032  0.98907618  0.03495696  0.59216543]
 [ 0.2757698   0.00595456  0.96120526  0.28124048]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 50.903273559999995
Centerline is valid?  [False, False]
Translation: X:4.84, Y:0.59, Z:0.28
[[ 0.95065015  0.14750847 -0.27295705  4.84463411]
 [-0.1435799   0.98903968  0.0344284   0.5909994 ]
 [ 0.27504383  0.00646178  0.96140997  0.2823094 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 50.96327356
Centerline is valid?  [False, False]
Translation: X:4.85, Y:0.59, Z:0.28
[[ 0.95081989  0.14676972 -0.27276398  4.84611412]
 [-0.1428846   0.98914942  0.0341675   0.58807347]
 [ 0.27481909  0.00648664  0.96147407  0.28334147]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 51.02327356
Centerline is valid?  [False, False]
Translation: X:4.85, Y:0.58, Z:0.28
[[ 0.95077561  0.14534559 -0.27367936  4.84927759]
 [-0.14167009  0.9893551   0.03325765  0.58376887]
 [ 0.27559993  0.00715162  0.96124582  0.28365484]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 51.083273559999995
Centerline is valid?  [False, False]
Translation: X:4.85, Y:0.58, Z:0.28
[[ 0.95078149  0.14416428 -0.27428309  4.854177  ]
 [-0.14050101  0.98952829  0.0330639   0.57970135]
 [ 0.27617751  0.00710051  0.96108042  0.28485628]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 51.14327356
Centerline is valid?  [False, False]
Translation: X:4.86, Y:0.57, Z:0.29
[[ 0.95065323  0.14397877 -0.27482459  4.85708428]
 [-0.14011252  0.98955998  0.03375686  0.5736514 ]
 [ 0.27681569  0.0064153   0.96090162  0.28564008]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 51.20327356
Centerline is valid?  [False, False]
Translation: X:4.86, Y:0.57, Z:0.29
[[ 0.95051987  0.14459653 -0.27496151  4.85907924]
 [-0.14042679  0.98947575  0.03490054  0.56763192]
 [ 0.27711424  0.0054383   0.96082159  0.28694221]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 51.263273559999995
Centerline is valid?  [False, False]
Translation: X:4.86, Y:0.56, Z:0.29
[[ 0.95045283  0.14481185 -0.27507987  4.86225633]
 [-0.14083132  0.98944003  0.03427775  0.56319989]
 [ 0.27713886  0.00616048  0.96081013  0.28889311]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 51.32327356
Centerline is valid?  [False, False]
Translation: X:4.86, Y:0.56, Z:0.29
[[ 0.95026416  0.14521008 -0.27552143  4.86416504]
 [-0.14134742  0.98937819  0.03393674  0.55822369]
 [ 0.27752285  0.00669538  0.96069571  0.29067343]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 51.38327356
Centerline is valid?  [False, False]
Translation: X:4.87, Y:0.55, Z:0.29
[[ 0.94970845  0.14565837 -0.27719579  4.86888483]
 [-0.14159306  0.98931517  0.03474046  0.55344298]
 [ 0.27929424  0.00625569  0.96018519  0.29178776]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 51.443273559999994
Centerline is valid?  [False, False]
Translation: X:4.87, Y:0.55, Z:0.29
[[ 0.9492742   0.14519575 -0.27892056  4.87383072]
 [-0.14101931  0.98938464  0.03509405  0.54974624]
 [ 0.28105522  0.00601931  0.95967272  0.29338489]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 51.50327356
Centerline is valid?  [False, False]
Translation: X:4.88, Y:0.55, Z:0.29
[[ 0.94944529  0.14414269 -0.27888445  4.87556772]
 [-0.13975539  0.98954368  0.03566134  0.5459223 ]
 [ 0.28110866  0.00511711  0.9596623   0.29422478]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 51.56327356
Centerline is valid?  [False, False]
Translation: X:4.88, Y:0.54, Z:0.30
[[ 0.94964778  0.14348556 -0.27853363  4.87689243]
 [-0.13923601  0.98963735  0.03508914  0.54303806]
 [ 0.28068206  0.00545959  0.95978527  0.29619817]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.937111 with order 3
Centerline goodness : 0.956687 with order 3
Centerline goodness : 0.912128 with order 1
Centerline goodness : 0.919585 with order 1
Centerline goodness : 0.909458 with order 1
Centerline goodness : 0.916501 with order 1
Centerline goodness : 0.914328 with order 1
Centerline goodness : 0.974638 with order 3
Centerline goodness : 0.912254 with order 1
Centerline goodness : 0.954577 with order 3
Centerline goodness : 0.919654 with order 1
Centerline goodness : 0.916699 with order 1
Centerline goodness : 0.943916 with order 3
Centerline goodness : 0.943383 with order 3
Centerline goodness : 0.917463 with order 1
Centerline goodness : 0.917752 with order 1
Centerline goodness : 0.918507 with order 1
Centerline goodness : 0.918687 with order 1
Centerline goodness : 0.912021 with order 2
Centerline goodness : 0.954117 with order 3
SLAMing on frame at distance 51.62327356
Centerline is valid?  [False, False]
Translation: X:4.88, Y:0.54, Z:0.30
[[ 0.94973935  0.14316896 -0.2783843   4.87881558]
 [-0.13897711  0.98968243  0.0348431   0.54118926]
 [ 0.2805005   0.00559718  0.95983756  0.2973526 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 51.683273559999996
Centerline is valid?  [False, False]
Translation: X:4.88, Y:0.54, Z:0.30
[[ 9.49405688e-01  1.42339110e-01 -2.79943596e-01  4.88335185e+00]
 [-1.37825558e-01  9.89807507e-01  3.58499028e-02  5.38641407e-01]
 [ 2.82193116e-01  4.54728065e-03  9.59346844e-01  2.98293742e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.74327356
Centerline is valid?  [False, False]
Translation: X:4.89, Y:0.54, Z:0.30
[[ 9.49117356e-01  1.41245187e-01 -2.81471210e-01  4.88836494e+00]
 [-1.36781536e-01  9.89963198e-01  3.55482441e-02  5.35946122e-01]
 [ 2.83667158e-01  4.76060914e-03  9.58910987e-01  2.98818477e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.80327356
Centerline is valid?  [False, True]
Translation: X:4.89, Y:0.53, Z:0.30
[[ 9.49634810e-01  1.40906106e-01 -2.79891403e-01  4.88732897e+00]
 [-1.36500068e-01  9.90011780e-01  3.52761418e-02  5.34919514e-01]
 [ 2.82066409e-01  4.70574322e-03  9.59383342e-01  2.99864576e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.863273559999996
Centerline is valid?  [True, False]
Translation: X:4.89, Y:0.53, Z:0.30
[[ 9.49640435e-01  1.40785151e-01 -2.79933182e-01  4.89020407e+00]
 [-1.36279543e-01  9.90030642e-01  3.55979540e-02  5.33825270e-01]
 [ 2.82154091e-01  4.34390953e-03  9.59359265e-01  3.01728806e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.92327356
Centerline is valid?  [False, False]
Translation: X:4.89, Y:0.53, Z:0.30
[[ 9.49299053e-01  1.39578989e-01 -2.81689570e-01  4.89468962e+00]
 [-1.35086670e-01  9.90200980e-01  3.54063634e-02  5.31960130e-01]
 [ 2.83871272e-01  4.44127876e-03  9.58852114e-01  3.02838267e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.98327356
Centerline is valid?  [False, False]
Translation: X:4.90, Y:0.53, Z:0.30
[[ 9.49196754e-01  1.36382207e-01 -2.83593750e-01  4.89895390e+00]
 [-1.31974234e-01  9.90646063e-01  3.46868763e-02  5.30134022e-01]
 [ 2.85671705e-01  4.50239762e-03  9.58316965e-01  3.03777285e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.043273559999996
Centerline is valid?  [False, True]
Translation: X:4.90, Y:0.53, Z:0.31
[[ 9.49420432e-01  1.32687336e-01 -2.84596055e-01  4.90213379e+00]
 [-1.28488489e-01  9.91146329e-01  3.34613541e-02  5.28814259e-01]
 [ 2.86516233e-01  4.79842369e-03  9.58063371e-01  3.05166413e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.10327356
Centerline is valid?  [True, False]
Translation: X:4.90, Y:0.53, Z:0.31
[[ 9.49948723e-01  1.28686176e-01 -2.84670496e-01  4.90365148e+00]
 [-1.24580950e-01  9.91675009e-01  3.25616814e-02  5.27159126e-01]
 [ 2.86490855e-01  4.53259324e-03  9.58072255e-01  3.06817012e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.16327356
Centerline is valid?  [False, True]
Translation: X:4.90, Y:0.53, Z:0.31
[[ 9.51032561e-01  1.24047106e-01 -2.83106666e-01  4.90194515e+00]
 [-1.20164425e-01  9.92266430e-01  3.11101750e-02  5.25962418e-01]
 [ 2.84776368e-01  4.43256029e-03  9.58583733e-01  3.07747708e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.223273559999996
Centerline is valid?  [True, True]
Translation: X:4.96, Y:0.52, Z:0.32
[[ 9.51200476e-01  1.25183056e-01 -2.82040523e-01  4.95756094e+00]
 [-1.19061842e-01  9.92128054e-01  3.88098144e-02  5.16731212e-01]
 [ 2.84678646e-01 -3.33564968e-03  9.58617203e-01  3.24131856e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.28327356
Centerline is valid?  [True, False]
Translation: X:4.96, Y:0.52, Z:0.33
[[ 9.50878864e-01  1.24873349e-01 -2.83259654e-01  4.96277905e+00]
 [-1.18738671e-01  9.92167348e-01  3.87953844e-02  5.15705640e-01]
 [ 2.85885490e-01 -3.25583619e-03  9.58258257e-01  3.25432777e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.34327356
Centerline is valid?  [False, False]
Translation: X:4.97, Y:0.51, Z:0.33
[[ 9.50691736e-01  1.23006414e-01 -2.84700974e-01  4.96721406e+00]
 [-1.16926585e-01  9.92400895e-01  3.83227974e-02  5.14914672e-01]
 [ 2.87251452e-01 -3.14405414e-03  9.57850050e-01  3.25766635e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.403273559999995
Centerline is valid?  [False, False]
Translation: X:4.97, Y:0.52, Z:0.33
[[ 9.51108162e-01  1.21071653e-01 -2.84138906e-01  4.96766679e+00]
 [-1.14860318e-01  9.92635838e-01  3.84863709e-02  5.15416511e-01]
 [ 2.86706070e-01 -3.96841622e-03  9.58010376e-01  3.26925450e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.46327356
Centerline is valid?  [False, False]
Translation: X:4.97, Y:0.52, Z:0.33
[[ 9.51002670e-01  1.20131910e-01 -2.84889883e-01  4.97187899e+00]
 [-1.13824217e-01  9.92748462e-01  3.86592677e-02  5.15999444e-01]
 [ 2.87468205e-01 -4.33769899e-03  9.57780359e-01  3.28724669e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.52327356
Centerline is valid?  [False, False]
Translation: X:4.98, Y:0.52, Z:0.33
[[ 9.50661017e-01  1.19790967e-01 -2.86170849e-01  4.97639760e+00]
 [-1.13707385e-01  9.92793179e-01  3.78461894e-02  5.17814798e-01]
 [ 2.88642098e-01 -3.43915796e-03  9.57430891e-01  3.30446439e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.583273559999995
Centerline is valid?  [False, False]
Translation: X:4.98, Y:0.52, Z:0.33
[[ 9.50308784e-01  1.20648382e-01 -2.86979413e-01  4.98177726e+00]
 [-1.14647810e-01  9.92691028e-01  3.76882275e-02  5.18780768e-01]
 [ 2.89428912e-01 -2.91389238e-03  9.57195076e-01  3.32142766e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.64327356
Centerline is valid?  [False, False]
Translation: X:4.98, Y:0.52, Z:0.33
[[ 9.50186230e-01  1.23325914e-01 -2.86246130e-01  4.98460895e+00]
 [-1.16867129e-01  9.92357406e-01  3.96087359e-02  5.20916122e-01]
 [ 2.88943250e-01 -4.18291202e-03  9.57337089e-01  3.32697875e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.70327356
Centerline is valid?  [False, False]
Translation: X:4.99, Y:0.52, Z:0.33
[[ 9.50073719e-01  1.25724499e-01 -2.85575346e-01  4.98679909e+00]
 [-1.19333735e-01  9.92058362e-01  3.97450085e-02  5.23458621e-01]
 [ 2.88304331e-01 -3.68191537e-03  9.57531752e-01  3.34791950e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.763273559999995
Centerline is valid?  [False, False]
Translation: X:4.99, Y:0.53, Z:0.34
[[ 9.49292446e-01  1.29823964e-01 -2.86338243e-01  4.99102361e+00]
 [-1.23349424e-01  9.91531775e-01  4.06159818e-02  5.25521686e-01]
 [ 2.89186394e-01 -3.23678720e-03  9.57267336e-01  3.36585407e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.949565 with order 1
Centerline goodness : 0.946378 with order 3
Centerline goodness : 0.949128 with order 3
Centerline goodness : 0.920401 with order 3
Centerline goodness : 0.940747 with order 3
Centerline goodness : 0.951518 with order 3
Centerline goodness : 0.939042 with order 3
Centerline goodness : 0.952654 with order 3
Centerline goodness : 0.940114 with order 3
Centerline goodness : 0.942916 with order 3
Centerline goodness : 0.959068 with order 3
Centerline goodness : 0.948477 with order 3
Centerline goodness : 0.939194 with order 3
Centerline goodness : 0.947229 with order 3
Centerline goodness : 0.951635 with order 3
Centerline goodness : 0.937705 with order 3
Centerline goodness : 0.949860 with order 3
Centerline goodness : 0.943008 with order 3
Centerline goodness : 0.938462 with order 3
Centerline goodness : 0.948757 with order 3
SLAMing on frame at distance 52.82327356
Centerline is valid?  [False, False]
Translation: X:5.00, Y:0.53, Z:0.34
[[ 9.47772247e-01  1.35532680e-01 -2.88719000e-01  5.00076272e+00]
 [-1.28829705e-01  9.90768952e-01  4.21875679e-02  5.26887563e-01]
 [ 2.91771615e-01 -2.78862254e-03  9.56483951e-01  3.39095728e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.88327356
Centerline is valid?  [False, False]
Translation: X:5.01, Y:0.53, Z:0.34
[[ 9.46719485e-01  1.40342785e-01 -2.89872592e-01  5.00833316e+00]
 [-1.33338342e-01  9.90098759e-01  4.38786267e-02  5.27286387e-01]
 [ 2.93160543e-01 -2.88962002e-03  9.56058861e-01  3.40902204e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.943273559999994
Centerline is valid?  [False, False]
Translation: X:5.02, Y:0.53, Z:0.34
[[ 9.45765445e-01  1.46025731e-01 -2.90179615e-01  5.01515864e+00]
 [-1.39419683e-01  9.89280600e-01  4.34286346e-02  5.27652444e-01]
 [ 2.93410761e-01 -6.16551973e-04  9.55986268e-01  3.43034243e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.00327356
Centerline is valid?  [False, False]
Translation: X:5.02, Y:0.53, Z:0.35
[[ 9.45214323e-01  1.49111910e-01 -2.90405787e-01  5.01995494e+00]
 [-1.42797440e-01  9.88819935e-01  4.29421309e-02  5.27694054e-01]
 [ 2.93562215e-01  8.79685791e-04  9.55939565e-01  3.45385714e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.06327356
Centerline is valid?  [False, False]
Translation: X:5.03, Y:0.53, Z:0.35
[[ 9.44158502e-01  1.54405354e-01 -2.91073376e-01  5.02553285e+00]
 [-1.47678388e-01  9.88007494e-01  4.50808734e-02  5.28107482e-01]
 [ 2.94543405e-01  4.21756948e-04  9.55638009e-01  3.47348541e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.12327356
Centerline is valid?  [False, False]
Translation: X:5.03, Y:0.53, Z:0.35
[[ 9.43240666e-01  1.57967972e-01 -2.92135525e-01  5.03111910e+00]
 [-1.51383764e-01  9.87442896e-01  4.51606486e-02  5.27568922e-01]
 [ 2.95601085e-01  1.62721498e-03  9.55310081e-01  3.49068110e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.183273559999996
Centerline is valid?  [False, False]
Translation: X:5.04, Y:0.53, Z:0.35
[[ 9.42653336e-01  1.58860440e-01 -2.93543948e-01  5.03817927e+00]
 [-1.52507642e-01  9.87297185e-01  4.45610554e-02  5.26014940e-01]
 [ 2.96894102e-01  2.76206779e-03  9.54906416e-01  3.51461611e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.24327356
Centerline is valid?  [False, False]
Translation: X:5.04, Y:0.52, Z:0.35
[[ 9.42647285e-01  1.58495108e-01 -2.93760782e-01  5.04135725e+00]
 [-1.51941954e-01  9.87357587e-01  4.51512836e-02  5.23055802e-01]
 [ 2.97203195e-01  2.07285246e-03  9.54812005e-01  3.52239307e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.30327356
Centerline is valid?  [False, False]
Translation: X:5.05, Y:0.52, Z:0.35
[[ 9.42677940e-01  1.56152938e-01 -2.94914500e-01  5.04539321e+00]
 [-1.49466244e-01  9.87731834e-01  4.52290329e-02  5.19185787e-01]
 [ 2.98359086e-01  1.44335101e-03  9.54452604e-01  3.53866694e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.363273559999996
Centerline is valid?  [False, True]
Translation: X:5.05, Y:0.52, Z:0.36
[[ 9.42785764e-01  1.53648803e-01 -2.95883504e-01  5.05037100e+00]
 [-1.47096701e-01  9.88124153e-01  4.44209205e-02  5.15763030e-01]
 [ 2.99194858e-01  1.64407572e-03  9.54190617e-01  3.55017962e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.42327356
Centerline is valid?  [True, True]
Translation: X:5.10, Y:0.51, Z:0.37
[[ 9.43976263e-01  1.44494849e-01 -2.96698590e-01  5.10389691e+00]
 [-1.39363678e-01  9.89492853e-01  3.84923171e-02  5.07376488e-01]
 [ 2.99143076e-01  5.01317310e-03  9.54195100e-01  3.72334837e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.48327356
Centerline is valid?  [True, False]
Translation: X:5.11, Y:0.50, Z:0.37
[[ 9.44715653e-01  1.39481652e-01 -2.96744341e-01  5.10538737e+00]
 [-1.34383787e-01  9.90215140e-01  3.76161407e-02  5.02666122e-01]
 [ 2.99087501e-01  4.34107127e-03  9.54215815e-01  3.73470543e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.543273559999996
Centerline is valid?  [False, False]
Translation: X:5.11, Y:0.50, Z:0.38
[[ 9.45032419e-01  1.36916233e-01 -2.96930417e-01  5.10693467e+00]
 [-1.31629718e-01  9.90577005e-01  3.78261081e-02  4.98034544e-01]
 [ 2.99311451e-01  3.33796848e-03  9.54149628e-01  3.75024796e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.60327356
Centerline is valid?  [False, False]
Translation: X:5.11, Y:0.49, Z:0.38
[[ 9.44820492e-01  1.37304468e-01 -2.97425153e-01  5.11165059e+00]
 [-1.31955202e-01  9.90523535e-01  3.80913579e-02  4.94817999e-01]
 [ 2.99836727e-01  3.25730062e-03  9.53984972e-01  3.76931376e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.66327356
Centerline is valid?  [False, True]
Translation: X:5.12, Y:0.49, Z:0.38
[[ 9.43989407e-01  1.41218374e-01 -2.98230398e-01  5.11687277e+00]
 [-1.36030136e-01  9.89968182e-01  3.81942589e-02  4.90266792e-01]
 [ 3.00632336e-01  4.51334584e-03  9.53729431e-01  3.79262592e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.723273559999996
Centerline is valid?  [True, False]
Translation: X:5.12, Y:0.49, Z:0.38
[[ 0.94287819  0.14541863 -0.29972345  5.12453165]
 [-0.14045531  0.98935131  0.03816136  0.48710806]
 [ 0.30208117  0.00611624  0.95326259  0.38180463]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 53.78327356
Centerline is valid?  [False, False]
Translation: X:5.13, Y:0.48, Z:0.38
[[ 0.94116747  0.15357426 -0.30102947  5.13050974]
 [-0.14828643  0.98811549  0.04048355  0.48280913]
 [ 0.30366911  0.00653678  0.95275513  0.38458917]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 53.84327356
Centerline is valid?  [False, False]
Translation: X:5.14, Y:0.48, Z:0.39
[[ 0.93974467  0.16104476 -0.30157011  5.13661779]
 [-0.15589922  0.98691241  0.04122297  0.47755954]
 [ 0.30426203  0.00827548  0.95255243  0.38704679]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 53.903273559999995
Centerline is valid?  [False, False]
Translation: X:5.14, Y:0.47, Z:0.39
[[ 0.93876444  0.16559218 -0.30215982  5.14247528]
 [-0.16048179  0.98615134  0.04184659  0.47366124]
 [ 0.30490478  0.00920706  0.95233834  0.38912755]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 53.96327356
Centerline is valid?  [False, True]
Translation: X:5.15, Y:0.47, Z:0.39
[[ 0.93741411  0.17230716 -0.30259715  5.14945201]
 [-0.16704245  0.98499392  0.04340277  0.46759197]
 [ 0.30553496  0.0098602   0.95212981  0.39116   ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.908051 with order 1
Centerline goodness : 0.947153 with order 1
Centerline goodness : 0.928112 with order 1
Centerline goodness : 0.926888 with order 1
Centerline goodness : 0.916687 with order 1
Centerline goodness : 0.946375 with order 1
Centerline goodness : 0.951419 with order 1
Centerline goodness : 0.933810 with order 1
Centerline goodness : 0.912484 with order 1
Centerline goodness : 0.917368 with order 1
Centerline goodness : 0.949505 with order 1
Centerline goodness : 0.921767 with order 1
Centerline goodness : 0.946770 with order 1
Centerline goodness : 0.940140 with order 1
Centerline goodness : 0.952503 with order 1
Centerline goodness : 0.918257 with order 3
Centerline goodness : 0.917865 with order 3
Centerline goodness : 0.925188 with order 3
Centerline goodness : 0.917973 with order 3
Centerline goodness : 0.916155 with order 3
SLAMing on frame at distance 54.02327356
Centerline is valid?  [True, False]
Translation: X:5.16, Y:0.46, Z:0.39
[[ 0.93630308  0.17660355 -0.30355843  5.15549531]
 [-0.17169713  0.98421068  0.04300505  0.46042186]
 [ 0.30636029  0.01185435  0.95184182  0.39361272]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 54.083273559999995
Centerline is valid?  [False, False]
Translation: X:5.16, Y:0.45, Z:0.40
[[ 0.93519993  0.17976168 -0.30510135  5.16209522]
 [-0.17490647  0.9836274   0.04341505  0.45253064]
 [ 0.30791041  0.01276245  0.95132975  0.39564873]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 54.14327356
Centerline is valid?  [False, False]
Translation: X:5.17, Y:0.45, Z:0.40
[[ 0.93474056  0.18055997 -0.30603623  5.16611665]
 [-0.17567504  0.98347889  0.04367566  0.44977051]
 [ 0.30886625  0.01293751  0.95101749  0.39694904]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 54.20327356
Centerline is valid?  [False, False]
Translation: X:5.17, Y:0.44, Z:0.40
[[ 0.93399632  0.18240655 -0.3072112   5.17180173]
 [-0.1775814   0.98312904  0.04384218  0.441235  ]
 [ 0.31002535  0.01360656  0.95063092  0.39885165]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 54.263273559999995
Centerline is valid?  [False, False]
Translation: X:5.18, Y:0.43, Z:0.40
[[ 0.93358012  0.18273707 -0.30827801  5.17723406]
 [-0.1781467   0.98305397  0.04322781  0.4343186 ]
 [ 0.31095324  0.01456208  0.95031365  0.40077833]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 54.32327356
Centerline is valid?  [False, True]
Translation: X:5.18, Y:0.42, Z:0.40
[[ 0.93365635  0.18317822 -0.30778491  5.18011598]
 [-0.17822489  0.9829882   0.04438564  0.4242055 ]
 [ 0.31067942  0.01341399  0.9504201   0.40221756]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 54.38327356
Centerline is valid?  [True, True]
Translation: X:5.23, Y:0.41, Z:0.42
[[ 0.93362477  0.18244509 -0.3083157   5.23319726]
 [-0.17878087  0.98306119  0.04034966  0.40611941]
 [ 0.3104548   0.01744951  0.95042797  0.42009923]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 54.443273559999994
Centerline is valid?  [True, False]
Translation: X:5.24, Y:0.40, Z:0.42
[[ 0.93346007  0.18210055 -0.3090173   5.23768158]
 [-0.17867536  0.98311065  0.03960515  0.39805971]
 [ 0.31101031  0.01824395  0.95023142  0.42299146]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 54.50327356
Centerline is valid?  [False, False]
Translation: X:5.24, Y:0.39, Z:0.42
[[ 0.93345499  0.18154401 -0.3093599   5.23893674]
 [-0.17787856  0.98322817  0.04026882  0.38756883]
 [ 0.31148193  0.01743936  0.95009204  0.42497017]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 54.56327356
Centerline is valid?  [False, False]
Translation: X:5.24, Y:0.38, Z:0.43
[[ 0.93304738  0.18040682 -0.31124905  5.24329326]
 [-0.17683496  0.98343099  0.03991099  0.37769387]
 [ 0.31329218  0.01780087  0.94948994  0.42620868]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 54.62327356
Centerline is valid?  [False, False]
Translation: X:5.25, Y:0.37, Z:0.43
[[ 0.93271698  0.17878336 -0.31317016  5.24856396]
 [-0.17567311  0.98370056  0.0383689   0.370244  ]
 [ 0.31492538  0.01922825  0.94892164  0.42803293]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 54.683273559999996
Centerline is valid?  [False, False]
Translation: X:5.25, Y:0.36, Z:0.43
[[ 0.93284448  0.17627917 -0.31420826  5.250091  ]
 [-0.17302697  0.98416635  0.03844829  0.35984789]
 [ 0.31601082  0.01850023  0.94857519  0.42907028]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 54.74327356
Centerline is valid?  [False, False]
Translation: X:5.25, Y:0.35, Z:0.43
[[ 0.93309947  0.17430643 -0.31455151  5.25031541]
 [-0.17082236  0.98453608  0.03883853  0.3500308 ]
 [ 0.31645711  0.01749222  0.94844553  0.43096029]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 54.80327356
Centerline is valid?  [False, False]
Translation: X:5.25, Y:0.34, Z:0.43
[[ 0.93359119  0.17162968 -0.31456436  5.24994045]
 [-0.16812213  0.98501533  0.03846758  0.34031213]
 [ 0.3164529   0.01697224  0.94845638  0.4326647 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 54.863273559999996
Centerline is valid?  [False, False]
Translation: X:5.25, Y:0.33, Z:0.43
[[ 0.93374298  0.16972966 -0.31514424  5.25134499]
 [-0.16612547  0.98535373  0.03847527  0.33375765]
 [ 0.31705895  0.01642747  0.94826355  0.43362592]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 54.92327356
Centerline is valid?  [False, False]
Translation: X:5.25, Y:0.32, Z:0.43
[[ 0.93374688  0.16686184 -0.31666052  5.2525502 ]
 [-0.16297354  0.98586221  0.03892733  0.32424958]
 [ 0.31867912  0.01525901  0.94773983  0.43481111]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 54.98327356
Centerline is valid?  [False, False]
Translation: X:5.25, Y:0.31, Z:0.44
[[ 0.93385022  0.16260902 -0.3185625   5.25379419]
 [-0.15836282  0.98659572  0.03937127  0.31460598]
 [ 0.32069453  0.01368158  0.94708386  0.43500482]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 55.043273559999996
Centerline is valid?  [False, False]
Translation: X:5.25, Y:0.31, Z:0.44
[[ 0.9345226   0.15733152 -0.31924018  5.25296678]
 [-0.15292889  0.98746809  0.03898118  0.30626462]
 [ 0.32137246  0.01239225  0.94687178  0.43559486]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 55.10327356
Centerline is valid?  [False, False]
Translation: X:5.25, Y:0.30, Z:0.44
[[ 0.93540655  0.15319229 -0.31866394  5.25171524]
 [-0.14901211  0.98811981  0.03761153  0.30122154]
 [ 0.32063995  0.01230271  0.94712125  0.43614322]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 55.16327356
Centerline is valid?  [False, False]
Translation: X:5.25, Y:0.29, Z:0.44
[[ 0.93638535  0.14885497 -0.31784378  5.24864505]
 [-0.14466307  0.98879293  0.03689347  0.29462491]
 [ 0.31977346  0.01143376  0.94742504  0.43732098]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.901612 with order 1
Centerline goodness : 0.906566 with order 1
Centerline goodness : 0.898414 with order 1
Centerline goodness : 0.896598 with order 1
Centerline goodness : 0.903596 with order 1
Centerline goodness : 0.899833 with order 1
Centerline goodness : 0.899941 with order 1
Centerline goodness : 0.892901 with order 1
Centerline goodness : 0.897988 with order 1
Centerline goodness : 0.891425 with order 1
Centerline goodness : 0.892069 with order 1
Centerline goodness : 0.898364 with order 1
Centerline goodness : 0.901622 with order 1
Centerline goodness : 0.899563 with order 1
Centerline goodness : 0.894792 with order 1
Centerline goodness : 0.898226 with order 1
Centerline goodness : 0.896186 with order 1
Centerline goodness : 0.898578 with order 1
Centerline goodness : 0.890026 with order 1
Centerline goodness : 0.894373 with order 1
SLAMing on frame at distance 55.223273559999996
Centerline is valid?  [False, False]
Translation: X:5.25, Y:0.29, Z:0.44
[[ 0.93663318  0.14780128 -0.31760522  5.24917779]
 [-0.14348008  0.98895781  0.0370933   0.29091819]
 [ 0.3195806   0.01082721  0.94749724  0.43858101]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 55.28327356
Centerline is valid?  [False, False]
Translation: X:5.25, Y:0.29, Z:0.44
[[ 0.93623637  0.14754935 -0.31888973  5.25145655]
 [-0.14306439  0.98899962  0.03758092  0.28647263]
 [ 0.32092686  0.01043714  0.94704647  0.4399326 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 55.34327356
Centerline is valid?  [False, False]
Translation: X:5.26, Y:0.28, Z:0.44
[[ 0.93511777  0.14964552 -0.32118681  5.25613477]
 [-0.14517199  0.98867726  0.03797855  0.28298405]
 [ 0.32323342  0.01111291  0.94625401  0.44062236]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 55.403273559999995
Centerline is valid?  [False, False]
Translation: X:5.26, Y:0.28, Z:0.44
[[ 0.93453449  0.15242159 -0.32157884  5.2589968 ]
 [-0.1479149   0.98824826  0.03855601  0.28100939]
 [ 0.3236765   0.01153438  0.9460975   0.4418913 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 55.46327356
Centerline is valid?  [False, False]
Translation: X:5.26, Y:0.28, Z:0.44
[[ 0.93395081  0.15618369 -0.32146934  5.26183361]
 [-0.15189009  0.9876449   0.03856093  0.27892566]
 [ 0.32352014  0.01281399  0.94613452  0.44452136]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 55.52327356
Centerline is valid?  [False, False]
Translation: X:5.26, Y:0.28, Z:0.45
[[ 0.93367614  0.15734787 -0.32169941  5.26364488]
 [-0.15307538  0.98745626  0.03870479  0.27669488]
 [ 0.32375421  0.01310652  0.94605044  0.44565728]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 55.583273559999995
Centerline is valid?  [False, False]
Translation: X:5.27, Y:0.27, Z:0.45
[[ 0.93341707  0.15665283 -0.32278856  5.26506931]
 [-0.15217952  0.98757444  0.03921877  0.27477631]
 [ 0.32492146  0.01251434  0.9456582   0.44648881]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 55.64327356
Centerline is valid?  [False, False]
Translation: X:5.27, Y:0.27, Z:0.45
[[ 0.93343658  0.15603143 -0.32303305  5.26600848]
 [-0.15165377  0.98767006  0.03884555  0.27380629]
 [ 0.3251112   0.01272932  0.94559012  0.44748457]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 55.70327356
Centerline is valid?  [False, False]
Translation: X:5.27, Y:0.27, Z:0.45
[[ 0.93314823  0.15697018 -0.32341111  5.2675309 ]
 [-0.15283786  0.98750855  0.03830732  0.27231415]
 [ 0.32538435  0.01368305  0.94548284  0.44923669]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 55.763273559999995
Centerline is valid?  [False, False]
Translation: X:5.27, Y:0.27, Z:0.45
[[ 0.93218838  0.16142778 -0.3239844   5.27108661]
 [-0.15724957  0.9867797   0.03922239  0.27098943]
 [ 0.32603281  0.01438375  0.94524902  0.45074501]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 55.82327356
Centerline is valid?  [False, False]
Translation: X:5.28, Y:0.27, Z:0.45
[[ 0.9307961   0.1675828  -0.32486092  5.27674553]
 [-0.16356961  0.98572721  0.03983541  0.26954751]
 [ 0.32689998  0.01605873  0.94492249  0.45239826]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 55.88327356
Centerline is valid?  [False, False]
Translation: X:5.28, Y:0.27, Z:0.46
[[ 0.92897454  0.17409008 -0.32664804  5.28272221]
 [-0.17036399  0.98455997  0.04022163  0.26726565]
 [ 0.32860677  0.01828419  0.94428983  0.4552162 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 55.943273559999994
Centerline is valid?  [False, False]
Translation: X:5.29, Y:0.27, Z:0.46
[[ 0.92797581  0.17822456 -0.32725664  5.28670071]
 [-0.17441861  0.98380932  0.04119928  0.26589061]
 [ 0.32930086  0.01884771  0.94403692  0.45741528]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 56.00327356
Centerline is valid?  [False, False]
Translation: X:5.29, Y:0.26, Z:0.46
[[ 0.92672895  0.18343518 -0.32791002  5.29111467]
 [-0.17969417  0.98282746  0.04195461  0.26254516]
 [ 0.32997492  0.02004297  0.9437769   0.45980731]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 56.06327356
Centerline is valid?  [False, False]
Translation: X:5.29, Y:0.26, Z:0.46
[[ 0.92637841  0.18461525 -0.32823811  5.29315527]
 [-0.18094403  0.982597    0.04198096  0.26110968]
 [ 0.3302761   0.02050248  0.94366167  0.46073472]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 56.12327356
Centerline is valid?  [False, False]
Translation: X:5.30, Y:0.26, Z:0.46
[[ 0.92582271  0.18752863 -0.32815441  5.29535495]
 [-0.1837645   0.98204041  0.04274618  0.25726485]
 [ 0.33027702  0.02072775  0.94365642  0.46250694]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 56.183273559999996
Centerline is valid?  [False, False]
Translation: X:5.30, Y:0.25, Z:0.46
[[ 0.92527807  0.19025881 -0.32811901  5.29777268]
 [-0.18673311  0.98148939  0.04253623  0.25240538]
 [ 0.33013822  0.02191284  0.94367822  0.46412598]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 56.24327356
Centerline is valid?  [False, False]
Translation: X:5.30, Y:0.25, Z:0.47
[[ 0.92421765  0.19361703 -0.32914157  5.3010551 ]
 [-0.19040856  0.98079363  0.04229     0.24651031]
 [ 0.33100802  0.02358621  0.94333312  0.46652403]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 56.30327356
Centerline is valid?  [False, False]
Translation: X:5.30, Y:0.24, Z:0.47
[[ 0.92315401  0.19620086 -0.33059323  5.30455962]
 [-0.19295239  0.98026693  0.04296653  0.24211149]
 [ 0.33249969  0.02412403  0.94279478  0.46848257]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 56.363273559999996
Centerline is valid?  [False, False]
Translation: X:5.31, Y:0.23, Z:0.47
[[ 0.92155267  0.200879   -0.33224736  5.30911829]
 [-0.19771426  0.97928586  0.04368388  0.23456016]
 [ 0.33414032  0.02543305  0.94218014  0.47035808]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.898620 with order 1
Centerline goodness : 0.899404 with order 1
Centerline goodness : 0.896719 with order 1
Centerline goodness : 0.906042 with order 1
Centerline goodness : 0.891227 with order 1
Centerline goodness : 0.887364 with order 1
Centerline goodness : 0.897361 with order 1
Centerline goodness : 0.905520 with order 1
Centerline goodness : 0.905492 with order 1
Centerline goodness : 0.921288 with order 3
Centerline goodness : 0.898493 with order 2
Centerline goodness : 0.919049 with order 3
Centerline goodness : 0.908100 with order 2
Centerline goodness : 0.895838 with order 2
Centerline goodness : 0.896444 with order 3
Centerline goodness : 0.892769 with order 2
Centerline goodness : 0.904581 with order 2
Centerline goodness : 0.899936 with order 2
Centerline goodness : 0.886465 with order 2
Centerline goodness : 0.910322 with order 3
SLAMing on frame at distance 56.42327356
Centerline is valid?  [False, False]
Translation: X:5.31, Y:0.23, Z:0.47
[[ 0.92025269  0.20518458 -0.33321806  5.31241274]
 [-0.20177457  0.97838776  0.0452151   0.22607975]
 [ 0.33529391  0.02562561  0.941765    0.47199005]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 56.48327356
Centerline is valid?  [False, False]
Translation: X:5.31, Y:0.22, Z:0.47
[[ 0.91947986  0.20744107 -0.33395357  5.31464284]
 [-0.20381025  0.97791521  0.04629494  0.22011885]
 [ 0.33618175  0.0254959   0.94145196  0.4733039 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 56.543273559999996
Centerline is valid?  [False, False]
Translation: X:5.32, Y:0.21, Z:0.48
[[ 0.91866313  0.21024714 -0.33444611  5.31635376]
 [-0.20664473  0.97729824  0.0467557   0.21060715]
 [ 0.33668384  0.02615879  0.94125433  0.47527037]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 56.60327356
Centerline is valid?  [False, False]
Translation: X:5.32, Y:0.20, Z:0.48
[[ 0.91763566  0.21405399 -0.33485175  5.31834247]
 [-0.21048251  0.97644862  0.04738355  0.20053847]
 [ 0.33710817  0.0269996   0.94107869  0.47833449]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 56.66327356
Centerline is valid?  [False, False]
Translation: X:5.32, Y:0.19, Z:0.48
[[ 0.91637282  0.21899633 -0.33511411  5.32068531]
 [-0.21540798  0.975327    0.04833881  0.19016253]
 [ 0.33743186  0.02788988  0.94093671  0.48102798]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 56.723273559999996
Centerline is valid?  [False, False]
Translation: X:5.32, Y:0.18, Z:0.48
[[ 0.91533434  0.22216493 -0.33586573  5.32346065]
 [-0.21843962  0.97460152  0.04935602  0.18318387]
 [ 0.33830042  0.02818912  0.94061586  0.48262375]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 56.78327356
Centerline is valid?  [False, False]
Translation: X:5.33, Y:0.17, Z:0.48
[[ 0.91377298  0.22591214 -0.33761316  5.32654041]
 [-0.22200388  0.97372697  0.05069587  0.17165267]
 [ 0.34019585  0.02862692  0.93991876  0.48454312]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 56.84327356
Centerline is valid?  [False, False]
Translation: X:5.33, Y:0.16, Z:0.49
[[ 0.91280743  0.22796932 -0.33884006  5.32903502]
 [-0.2242639   0.97321276  0.0506224   0.15920449]
 [ 0.34130383  0.02978109  0.93948113  0.48634785]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 56.903273559999995
Centerline is valid?  [False, False]
Translation: X:5.33, Y:0.15, Z:0.49
[[ 0.9130099   0.22889866 -0.337666    5.32697879]
 [-0.22533641  0.97298242  0.05028638  0.14714048]
 [ 0.34005356  0.03017648  0.93992178  0.48872385]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 56.96327356
Centerline is valid?  [False, False]
Translation: X:5.33, Y:0.14, Z:0.49
[[ 0.91303319  0.22924095 -0.33737068  5.32694813]
 [-0.22550614  0.97291652  0.05079788  0.13828906]
 [ 0.33987846  0.02969901  0.94000032  0.49067597]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 57.02327356
Centerline is valid?  [False, False]
Translation: X:5.33, Y:0.12, Z:0.49
[[ 0.91300468  0.22815612 -0.33818226  5.32576866]
 [-0.22350434  0.97324983  0.05320326  0.12423421]
 [ 0.34127447  0.02701038  0.93957553  0.49186667]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 57.083273559999995
Centerline is valid?  [False, False]
Translation: X:5.32, Y:0.11, Z:0.49
[[ 0.91322573  0.22544637 -0.33940049  5.32484279]
 [-0.21979958  0.97396285  0.05553841  0.10966046]
 [ 0.3430844   0.02388098  0.93900095  0.49269823]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 57.14327356
Centerline is valid?  [False, False]
Translation: X:5.32, Y:0.10, Z:0.49
[[ 0.91380529  0.22165035 -0.34033956  5.32278103]
 [-0.21581345  0.97485977  0.05543444  0.0955236 ]
 [ 0.34407041  0.02279357  0.93866714  0.49403601]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 57.20327356
Centerline is valid?  [False, False]
Translation: X:5.32, Y:0.09, Z:0.50
[[ 0.91414571  0.21995582 -0.34052467  5.32274694]
 [-0.21408368  0.97525243  0.05523469  0.08656027]
 [ 0.3442467   0.02240822  0.93861178  0.49544458]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 57.263273559999995
Centerline is valid?  [False, False]
Translation: X:5.32, Y:0.07, Z:0.50
[[ 0.91426031  0.21948212 -0.34052265  5.32125437]
 [-0.2131015   0.97539308  0.05653398  0.07377972]
 [ 0.34455163  0.02087911  0.93853515  0.49678266]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 57.32327356
Centerline is valid?  [False, False]
Translation: X:5.32, Y:0.06, Z:0.50
[[ 0.91391544  0.21932081 -0.3415508   5.32173655]
 [-0.21271054  0.97543991  0.05719449  0.06103654]
 [ 0.34570623  0.02038052  0.93812144  0.4984219 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 57.38327356
Centerline is valid?  [False, False]
Translation: X:5.32, Y:0.05, Z:0.50
[[ 0.91363609  0.21939007 -0.34225297  5.32106294]
 [-0.21237184  0.97544494  0.05835554  0.04875661]
 [ 0.34665155  0.01936916  0.93779397  0.4997304 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 57.443273559999994
Centerline is valid?  [False, False]
Translation: X:5.32, Y:0.04, Z:0.50
[[ 0.9135313   0.21943045 -0.34250669  5.32099402]
 [-0.21212764  0.9754504   0.0591471   0.0377595 ]
 [ 0.34707696  0.01862241  0.93765174  0.50065888]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 57.50327356
Centerline is valid?  [False, False]
Translation: X:5.32, Y:0.03, Z:0.50
[[ 0.91317629  0.22032827 -0.34287682  5.32085887]
 [-0.21273024  0.9752591   0.06012927  0.02628454]
 [ 0.34764191  0.01803164  0.93745398  0.50236404]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 57.56327356
Centerline is valid?  [False, False]
Translation: X:5.32, Y:0.02, Z:0.50
[[ 0.91291964  0.22110572 -0.34305974  5.32115772]
 [-0.21341528  0.97508456  0.06053107  0.01885377]
 [ 0.34789603  0.01795418  0.93736119  0.5038297 ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.905215 with order 1
Centerline goodness : 0.906332 with order 1
Centerline goodness : 0.902208 with order 1
Centerline goodness : 0.894809 with order 1
Centerline goodness : 0.898323 with order 1
Centerline goodness : 0.898990 with order 1
Centerline goodness : 0.898901 with order 1
Centerline goodness : 0.905977 with order 1
Centerline goodness : 0.899896 with order 1
Centerline goodness : 0.901214 with order 1
Centerline goodness : 0.902447 with order 1
Centerline goodness : 0.903589 with order 1
Centerline goodness : 0.902559 with order 1
Centerline goodness : 0.910365 with order 1
Centerline goodness : 0.900142 with order 1
Centerline goodness : 0.904217 with order 1
Centerline goodness : 0.903544 with order 1
Centerline goodness : 0.903942 with order 1
Centerline goodness : 0.900606 with order 1
Centerline goodness : 0.903819 with order 1
SLAMing on frame at distance 57.623273559999994
Centerline is valid?  [False, False]
Translation: X:5.32, Y:0.01, Z:0.51
[[ 0.91269577  0.22280419 -0.34255615  5.3201637 ]
 [-0.21442453  0.97472776  0.06267314  0.00822415]
 [ 0.34786283  0.01625093  0.93740459  0.50525693]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 57.683273559999996
Centerline is valid?  [False, False]
Translation: X:5.32, Y:-0.00, Z:0.51
[[ 9.12123515e-01  2.24704043e-01 -3.42839301e-01  5.32081870e+00]
 [-2.15764379e-01  9.74310025e-01  6.45423019e-02 -1.10852503e-03]
 [ 3.48534684e-01  1.51019577e-02  9.37174213e-01  5.06565188e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.74327356
Centerline is valid?  [False, False]
Translation: X:5.32, Y:-0.01, Z:0.51
[[ 0.91154019  0.22623527 -0.3433833   5.32265319]
 [-0.21708153  0.97395863  0.06542326 -0.00719386]
 [ 0.34924218  0.01490624  0.93691393  0.50803972]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 57.80327356
Centerline is valid?  [False, False]
Translation: X:5.32, Y:-0.02, Z:0.51
[[ 0.9111079   0.22729682 -0.34382925  5.32366306]
 [-0.21872544  0.97368022  0.06407814 -0.01571042]
 [ 0.34934449  0.01682211  0.93684334  0.50953748]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 57.863273559999996
Centerline is valid?  [False, False]
Translation: X:5.32, Y:-0.02, Z:0.51
[[ 0.91059162  0.22865321 -0.34429727  5.32377172]
 [-0.22017348  0.9733519   0.06410712 -0.02465988]
 [ 0.3497807   0.01742972  0.93666946  0.51086244]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 57.92327356
Centerline is valid?  [False, False]
Translation: X:5.32, Y:-0.03, Z:0.51
[[ 0.90987178  0.23046941 -0.34498869  5.32467072]
 [-0.22119755  0.97295262  0.06659467 -0.03360202]
 [ 0.35100568  0.01571804  0.9362414   0.51173926]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 57.98327356
Centerline is valid?  [False, False]
Translation: X:5.33, Y:-0.04, Z:0.51
[[ 0.90958989  0.23124275 -0.34521446  5.32617792]
 [-0.22180087  0.97277351  0.06720169 -0.03684619]
 [ 0.35135538  0.01544289  0.9361148   0.51262491]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 58.043273559999996
Centerline is valid?  [False, False]
Translation: X:5.33, Y:-0.04, Z:0.51
[[ 0.90923264  0.2321633  -0.34553756  5.32741574]
 [-0.22266377  0.97255286  0.0675409  -0.04298662]
 [ 0.35173406  0.0155283   0.93597116  0.51332036]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 58.10327356
Centerline is valid?  [False, False]
Translation: X:5.33, Y:-0.05, Z:0.51
[[ 0.90914652  0.23352519 -0.34484575  5.32683726]
 [-0.22418509  0.97221759  0.06733503 -0.05110946]
 [ 0.35098953  0.01609186  0.9362411   0.51417312]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 58.16327356
Centerline is valid?  [False, False]
Translation: X:5.33, Y:-0.06, Z:0.52
[[ 0.90875688  0.23558542 -0.34447125  5.32581458]
 [-0.2261105   0.97172126  0.06805762 -0.05917258]
 [ 0.35076342  0.01604074  0.93632671  0.51639585]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 58.223273559999996
Centerline is valid?  [False, False]
Translation: X:5.33, Y:-0.07, Z:0.52
[[ 0.90813618  0.23703543 -0.34511285  5.32683223]
 [-0.22727338  0.97137475  0.06912246 -0.06713602]
 [ 0.35161838  0.01566236  0.9360124   0.51801577]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 58.28327356
Centerline is valid?  [False, False]
Translation: X:5.33, Y:-0.07, Z:0.52
[[ 0.90750753  0.23783281 -0.34621616  5.32930327]
 [-0.22808469  0.97117286  0.06928673 -0.07234732]
 [ 0.3527144   0.01608837  0.93559271  0.51893518]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 58.34327356
Centerline is valid?  [False, False]
Translation: X:5.33, Y:-0.08, Z:0.52
[[ 0.90647429  0.24023038 -0.34726608  5.33198638]
 [-0.23084244  0.97055328  0.0688338  -0.0792605 ]
 [ 0.3535762   0.01776768  0.93523696  0.51999496]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 58.403273559999995
Centerline is valid?  [False, False]
Translation: X:5.33, Y:-0.09, Z:0.52
[[ 0.90569614  0.24353786 -0.34699252  5.33345299]
 [-0.23468436  0.96968873  0.06802221 -0.0853606 ]
 [ 0.35304072  0.01982627  0.93539787  0.52080064]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 58.46327356
Centerline is valid?  [False, False]
Translation: X:5.33, Y:-0.09, Z:0.52
[[ 0.90504622  0.24691359 -0.34630191  5.33488048]
 [-0.23796011  0.96882966  0.0688772  -0.09143682]
 [ 0.35251428  0.02006899  0.93559121  0.52191873]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 58.52327356
Centerline is valid?  [False, False]
Translation: X:5.34, Y:-0.10, Z:0.52
[[ 0.90461027  0.2487619  -0.34611817  5.33636217]
 [-0.23962662  0.96836036  0.06969429 -0.095605  ]
 [ 0.3525044   0.01989296  0.9355987   0.52354613]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 58.583273559999995
Centerline is valid?  [False, False]
Translation: X:5.34, Y:-0.10, Z:0.53
[[ 0.90381045  0.25081783 -0.34672335  5.33777635]
 [-0.24164248  0.96782111  0.07022254 -0.1008605 ]
 [ 0.35317925  0.02031523  0.93533508  0.5257659 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 58.64327356
Centerline is valid?  [False, False]
Translation: X:5.34, Y:-0.11, Z:0.53
[[ 0.90356534  0.25079041 -0.34738142  5.33955397]
 [-0.24180355  0.96781435  0.06975977 -0.1056906 ]
 [ 0.3536958   0.02096555  0.93512551  0.52704233]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 58.70327356
Centerline is valid?  [False, False]
Translation: X:5.34, Y:-0.11, Z:0.53
[[ 0.90432833  0.24793693 -0.3474443   5.3409057 ]
 [-0.23911245  0.96855152  0.06879816 -0.1107693 ]
 [ 0.35357532  0.02086213  0.93517339  0.52718722]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 58.763273559999995
Centerline is valid?  [False, False]
Translation: X:5.34, Y:-0.11, Z:0.53
[[ 0.9049638   0.24571387 -0.347369    5.3433976 ]
 [-0.2366077   0.96914346  0.06912125 -0.11393147]
 [ 0.35363445  0.01963795  0.93517754  0.52821845]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.901519 with order 1
Centerline goodness : 0.900638 with order 1
Centerline goodness : 0.911803 with order 1
Centerline goodness : 0.898906 with order 1
Centerline goodness : 0.908033 with order 1
Centerline goodness : 0.908740 with order 1
Centerline goodness : 0.903604 with order 1
Centerline goodness : 0.901232 with order 1
Centerline goodness : 0.904061 with order 1
Centerline goodness : 0.909795 with order 1
Centerline goodness : 0.899623 with order 1
Centerline goodness : 0.903684 with order 1
Centerline goodness : 0.902812 with order 1
Centerline goodness : 0.901908 with order 1
Centerline goodness : 0.899230 with order 1
Centerline goodness : 0.900457 with order 1
Centerline goodness : 0.906364 with order 1
Centerline goodness : 0.904746 with order 1
Centerline goodness : 0.901328 with order 1
Centerline goodness : 0.900588 with order 1
SLAMing on frame at distance 58.82327356
Centerline is valid?  [False, False]
Translation: X:5.34, Y:-0.12, Z:0.53
[[ 0.90620894  0.24176402 -0.34689409  5.34380022]
 [-0.23277142  0.97014753  0.0680531  -0.11772511]
 [ 0.35299124  0.0190767   0.93543213  0.52830963]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 58.88327356
Centerline is valid?  [False, False]
Translation: X:5.35, Y:-0.12, Z:0.53
[[ 0.90697591  0.23868173 -0.34702412  5.34522847]
 [-0.23005711  0.97090178  0.06650909 -0.12022554]
 [ 0.35280084  0.01951322  0.93549495  0.5292535 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 58.943273559999994
Centerline is valid?  [False, False]
Translation: X:5.35, Y:-0.12, Z:0.53
[[ 0.90813979  0.23301434 -0.34783105  5.34705468]
 [-0.22419101  0.97230627  0.06602205 -0.12402411]
 [ 0.3535824   0.01802335  0.93522973  0.53069563]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 59.00327356
Centerline is valid?  [False, False]
Translation: X:5.35, Y:-0.13, Z:0.53
[[ 0.90971038  0.22547983 -0.34869167  5.35023917]
 [-0.21627071  0.9741219   0.06567731 -0.12869029]
 [ 0.3544771   0.01566447  0.93493348  0.53153646]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 59.06327356
Centerline is valid?  [False, False]
Translation: X:5.35, Y:-0.13, Z:0.53
[[ 0.91201698  0.21591231 -0.34872181  5.35112625]
 [-0.20655526  0.97632079  0.06428554 -0.13272473]
 [ 0.35434439  0.01340082  0.93501897  0.53135879]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 59.123273559999994
Centerline is valid?  [False, False]
Translation: X:5.36, Y:-0.14, Z:0.53
[[ 0.91341368  0.20938942 -0.34904373  5.35542541]
 [-0.19974387  0.97776586  0.063846   -0.1355369 ]
 [ 0.35465172  0.01140154  0.93492896  0.5325446 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 59.183273559999996
Centerline is valid?  [False, False]
Translation: X:5.36, Y:-0.14, Z:0.53
[[ 0.9159262   0.19941072 -0.3483024   5.3551638 ]
 [-0.18978204  0.97987112  0.06193026 -0.1382136 ]
 [ 0.35364102  0.00937799  0.93533421  0.53194209]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 59.24327356
Centerline is valid?  [False, False]
Translation: X:5.36, Y:-0.14, Z:0.53
[[ 0.91792222  0.19081535 -0.34786247  5.35614381]
 [-0.18137202  0.98159203  0.05984381 -0.13974897]
 [ 0.35287814  0.00816056  0.9356337   0.53202467]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 59.30327356
Centerline is valid?  [False, False]
Translation: X:5.36, Y:-0.14, Z:0.53
[[ 0.9186042   0.18687809 -0.34819952  5.35944787]
 [-0.1770317   0.98236261  0.06019533 -0.14102142]
 [ 0.35330737  0.00634667  0.93548577  0.53382329]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 59.363273559999996
Centerline is valid?  [False, False]
Translation: X:5.36, Y:-0.14, Z:0.53
[[ 9.19572375e-01  1.81218167e-01 -3.48635373e-01  5.36286546e+00]
 [-1.71052349e-01  9.83432837e-01  6.00079126e-02 -1.41538383e-01]
 [ 3.53733998e-01  4.45328090e-03  9.35335462e-01  5.34784704e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.42327356
Centerline is valid?  [False, False]
Translation: X:5.37, Y:-0.14, Z:0.54
[[ 9.20271586e-01  1.76419510e-01 -3.49251148e-01  5.36743254e+00]
 [-1.65909508e-01  9.84311398e-01  6.00425450e-02 -1.40654412e-01]
 [ 3.54364562e-01  2.68863810e-03  9.35103485e-01  5.35144350e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.48327356
Centerline is valid?  [False, False]
Translation: X:5.37, Y:-0.14, Z:0.54
[[ 9.20794055e-01  1.73548905e-01 -3.49312304e-01  5.37094032e+00]
 [-1.63301375e-01  9.84821044e-01  5.88232302e-02 -1.38676562e-01]
 [ 3.54218815e-01  2.87909902e-03  9.35158137e-01  5.35639776e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.543273559999996
Centerline is valid?  [False, False]
Translation: X:5.37, Y:-0.14, Z:0.54
[[ 9.20794011e-01  1.73966733e-01 -3.49104519e-01  5.37409152e+00]
 [-1.63922335e-01  9.84745356e-01  5.83613982e-02 -1.35809529e-01]
 [ 3.53931995e-01  3.48720202e-03  9.35264659e-01  5.37361570e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.60327356
Centerline is valid?  [False, False]
Translation: X:5.38, Y:-0.13, Z:0.54
[[ 9.20457802e-01  1.75559597e-01 -3.49193733e-01  5.37845144e+00]
 [-1.65297930e-01  9.84463593e-01  5.92286194e-02 -1.34080752e-01]
 [ 3.54166669e-01  3.20355626e-03  9.35176832e-01  5.38965671e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.66327356
Centerline is valid?  [False, False]
Translation: X:5.38, Y:-0.13, Z:0.54
[[ 9.19881801e-01  1.76959830e-01 -3.50003844e-01  5.38407071e+00]
 [-1.66314573e-01  9.84214761e-01  6.05042737e-02 -1.31701814e-01]
 [ 3.55185776e-01  2.55395947e-03  9.34792245e-01  5.40852254e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.723273559999996
Centerline is valid?  [False, False]
Translation: X:5.39, Y:-0.13, Z:0.54
[[ 9.19717187e-01  1.74706710e-01 -3.51564875e-01  5.38919427e+00]
 [-1.63978697e-01  9.84618117e-01  6.03170762e-02 -1.28615268e-01]
 [ 3.56694943e-01  2.17449867e-03  9.34218384e-01  5.42779402e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.78327356
Centerline is valid?  [False, False]
Translation: X:5.39, Y:-0.13, Z:0.54
[[ 9.20201922e-01  1.70362825e-01 -3.52427199e-01  5.39391519e+00]
 [-1.59824906e-01  9.85379342e-01  5.90216178e-02 -1.26659604e-01]
 [ 3.57329572e-01  2.01483780e-03  9.33976187e-01  5.44167333e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.84327356
Centerline is valid?  [False, False]
Translation: X:5.40, Y:-0.12, Z:0.54
[[ 9.21899107e-01  1.60470725e-01 -3.52634631e-01  5.39534904e+00]
 [-1.49830460e-01  9.87040591e-01  5.74604706e-02 -1.23067972e-01]
 [ 3.57285418e-01 -1.37347469e-04  9.33995242e-01  5.44856488e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.903273559999995
Centerline is valid?  [False, False]
Translation: X:5.40, Y:-0.12, Z:0.55
[[ 9.23222761e-01  1.53547422e-01 -3.52254059e-01  5.39887092e+00]
 [-1.42596414e-01  9.88138385e-01  5.69981968e-02 -1.20218491e-01]
 [ 3.56827683e-01 -2.39186687e-03  9.34167160e-01  5.45914567e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.96327356
Centerline is valid?  [False, False]
Translation: X:5.40, Y:-0.12, Z:0.55
[[ 9.24269400e-01  1.48922268e-01 -3.51494288e-01  5.40158821e+00]
 [-1.37594117e-01  9.88838876e-01  5.71448721e-02 -1.17001727e-01]
 [ 3.56081360e-01 -4.45371055e-03  9.34444342e-01  5.47314944e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.900120 with order 1
Centerline goodness : 0.901181 with order 1
Centerline goodness : 0.902516 with order 1
Centerline goodness : 0.911383 with order 1
Centerline goodness : 0.899426 with order 1
Centerline goodness : 0.908325 with order 1
Centerline goodness : 0.911629 with order 1
Centerline goodness : 0.915445 with order 1
Centerline goodness : 0.912698 with order 1
Centerline goodness : 0.910301 with order 1
Centerline goodness : 0.897429 with order 1
Centerline goodness : 0.899804 with order 1
Centerline goodness : 0.913061 with order 1
Centerline goodness : 0.897621 with order 1
Centerline goodness : 0.914640 with order 1
Centerline goodness : 0.905238 with order 1
Centerline goodness : 0.913694 with order 1
Centerline goodness : 0.913620 with order 1
Centerline goodness : 0.910641 with order 1
Centerline goodness : 0.905131 with order 1
SLAMing on frame at distance 60.02327356
Centerline is valid?  [False, False]
Translation: X:5.41, Y:-0.11, Z:0.55
[[ 0.92470318  0.14550606 -0.35178405  5.40566389]
 [-0.13392734  0.98934063  0.05717149 -0.10999793]
 [ 0.35635305 -0.00575316  0.93433367  0.54876195]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 60.083273559999995
Centerline is valid?  [False, False]
Translation: X:5.41, Y:-0.10, Z:0.55
[[ 9.23828504e-01  1.47010482e-01 -3.53452703e-01  5.41077614e+00]
 [-1.35413627e-01  9.89121117e-01  5.74679535e-02 -1.01348825e-01]
 [ 3.58055924e-01 -5.22822095e-03  9.33685504e-01  5.50203511e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.14327356
Centerline is valid?  [False, False]
Translation: X:5.42, Y:-0.09, Z:0.55
[[ 9.22349506e-01  1.51650524e-01 -3.55349839e-01  5.41762887e+00]
 [-1.40391656e-01  9.88429386e-01  5.74241406e-02 -9.17686933e-02]
 [ 3.59946624e-01 -3.07697526e-03  9.32967824e-01  5.52002934e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.20327356
Centerline is valid?  [False, False]
Translation: X:5.42, Y:-0.09, Z:0.55
[[ 9.21160061e-01  1.56248587e-01 -3.56441469e-01  5.42290330e+00]
 [-1.44936863e-01  9.87715441e-01  5.84081665e-02 -8.51114641e-02]
 [ 3.61188936e-01 -2.14176195e-03  9.32490196e-01  5.54269246e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.263273559999995
Centerline is valid?  [False, False]
Translation: X:5.43, Y:-0.07, Z:0.56
[[ 9.19796578e-01  1.64660904e-01 -3.56175578e-01  5.42748352e+00]
 [-1.53296275e-01  9.86349991e-01  6.01161147e-02 -7.43838331e-02]
 [ 3.61212552e-01 -6.94207086e-04  9.32483249e-01  5.57170544e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.32327356
Centerline is valid?  [False, False]
Translation: X:5.43, Y:-0.06, Z:0.56
[[ 9.17823996e-01  1.73998523e-01 -3.56824363e-01  5.43415315e+00]
 [-1.62912381e-01  9.84743866e-01  6.11479705e-02 -6.44791403e-02]
 [ 3.62020259e-01  2.00803187e-03  9.32168064e-01  5.60479547e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.38327356
Centerline is valid?  [False, False]
Translation: X:5.44, Y:-0.06, Z:0.56
[[ 9.15305833e-01  1.82800407e-01 -3.58886114e-01  5.44260916e+00]
 [-1.72081546e-01  9.83136756e-01  6.18874783e-02 -5.51865587e-02]
 [ 3.64147186e-01  5.11170747e-03  9.31327385e-01  5.63824968e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.443273559999994
Centerline is valid?  [False, False]
Translation: X:5.45, Y:-0.05, Z:0.57
[[ 0.91354657  0.18975362 -0.35975858  5.44894825]
 [-0.17975438  0.98179419  0.0613884  -0.04710773]
 [ 0.36485755  0.00858702  0.93102375  0.56616332]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 60.50327356
Centerline is valid?  [False, False]
Translation: X:5.45, Y:-0.04, Z:0.57
[[ 0.91249591  0.19302048 -0.36068588  5.4543228 ]
 [-0.18324948  0.9811436   0.06145627 -0.04297363]
 [ 0.36574696  0.01001691  0.93066042  0.56825631]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 60.56327356
Centerline is valid?  [False, False]
Translation: X:5.46, Y:-0.04, Z:0.57
[[ 0.91161606  0.19567024 -0.36148211  5.45881012]
 [-0.18588151  0.980612    0.06203356 -0.03754548]
 [ 0.36661182  0.01064205  0.93031313  0.56971319]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 60.623273559999994
Centerline is valid?  [False, False]
Translation: X:5.46, Y:-0.03, Z:0.57
[[ 0.91115535  0.19793469 -0.36141084  5.46191415]
 [-0.18772657  0.9801646   0.06353021 -0.03357303]
 [ 0.36681694  0.00996053  0.93023982  0.57097119]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 60.683273559999996
Centerline is valid?  [False, False]
Translation: X:5.47, Y:-0.03, Z:0.57
[[ 0.91044953  0.19858357 -0.36283084  5.46537929]
 [-0.18862047  0.98002214  0.06307865 -0.03080259]
 [ 0.36810864  0.01100739  0.92971763  0.5721241 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 60.74327356
Centerline is valid?  [False, False]
Translation: X:5.47, Y:-0.03, Z:0.57
[[ 0.91005422  0.1993462  -0.36340393  5.46868472]
 [-0.18954403  0.97985935  0.06283888 -0.03008968]
 [ 0.36861143  0.01169426  0.92951001  0.57317966]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 60.80327356
Centerline is valid?  [False, False]
Translation: X:5.47, Y:-0.03, Z:0.57
[[ 0.90945757  0.20138463 -0.3637735   5.47192422]
 [-0.19142513  0.9794417   0.06364255 -0.02946834]
 [ 0.36911156  0.01175519  0.92931075  0.5741441 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 60.863273559999996
Centerline is valid?  [False, False]
Translation: X:5.48, Y:-0.03, Z:0.57
[[ 0.90855903  0.20303868 -0.36509696  5.47523668]
 [-0.19288915  0.97909921  0.06448651 -0.02995424]
 [ 0.3705594   0.01183344  0.92873339  0.5748524 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 60.92327356
Centerline is valid?  [False, False]
Translation: X:5.48, Y:-0.03, Z:0.58
[[ 0.90810145  0.20403627 -0.36567875  5.47815479]
 [-0.19397302  0.97888514  0.06448526 -0.03047028]
 [ 0.37111483  0.01237265  0.92850455  0.57582039]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 60.98327356
Centerline is valid?  [False, False]
Translation: X:5.48, Y:-0.03, Z:0.58
[[ 0.90802964  0.20732562 -0.3640031   5.47839835]
 [-0.197539    0.97817944  0.06436865 -0.03135344]
 [ 0.36940562  0.01345617  0.92917082  0.57744587]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 61.043273559999996
Centerline is valid?  [False, False]
Translation: X:5.48, Y:-0.03, Z:0.58
[[ 0.9075939   0.20879724 -0.36424858  5.48103523]
 [-0.19926531  0.97785184  0.06402437 -0.03301008]
 [ 0.36954926  0.01447398  0.92909841  0.57873451]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 61.10327356
Centerline is valid?  [False, False]
Translation: X:5.48, Y:-0.04, Z:0.58
[[ 0.90631493  0.21271112 -0.36516739  5.48443564]
 [-0.20301324  0.97699995  0.06524354 -0.03531543]
 [ 0.37064655  0.01500262  0.92865282  0.58009454]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 61.16327356
Centerline is valid?  [False, False]
Translation: X:5.49, Y:-0.04, Z:0.58
[[ 0.90414004  0.21889284 -0.36690149  5.48942964]
 [-0.20899445  0.97561654  0.06703496 -0.03843138]
 [ 0.37262863  0.01607139  0.92784137  0.58207629]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.913010 with order 1
Centerline goodness : 0.912807 with order 1
Centerline goodness : 0.913792 with order 1
Centerline goodness : 0.914764 with order 1
Centerline goodness : 0.914620 with order 1
Centerline goodness : 0.915027 with order 1
Centerline goodness : 0.916495 with order 1
Centerline goodness : 0.914275 with order 1
Centerline goodness : 0.912364 with order 1
Centerline goodness : 0.916756 with order 1
Centerline goodness : 0.916549 with order 1
Centerline goodness : 0.916845 with order 1
Centerline goodness : 0.913147 with order 1
Centerline goodness : 0.910817 with order 1
Centerline goodness : 0.913457 with order 1
Centerline goodness : 0.912336 with order 1
Centerline goodness : 0.917665 with order 1
Centerline goodness : 0.914855 with order 1
Centerline goodness : 0.913930 with order 1
Centerline goodness : 0.917833 with order 1
SLAMing on frame at distance 61.223273559999996
Centerline is valid?  [False, False]
Translation: X:5.49, Y:-0.04, Z:0.58
[[ 0.9025124   0.22344162 -0.36816466  5.4940503 ]
 [-0.2135454   0.97456449  0.06798832 -0.04168521]
 [ 0.37399162  0.01725956  0.92727147  0.58426467]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 61.28327356
Centerline is valid?  [False, False]
Translation: X:5.50, Y:-0.05, Z:0.59
[[ 0.90130071  0.22866517 -0.36792563  5.49709368]
 [-0.21905092  0.9733192   0.06831122 -0.04632349]
 [ 0.37372948  0.0190255   0.92734261  0.58576521]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 61.34327356
Centerline is valid?  [False, False]
Translation: X:5.50, Y:-0.05, Z:0.59
[[ 0.90077664  0.23196247 -0.3671442   5.49743893]
 [-0.2222946   0.97253103  0.06905439 -0.05121223]
 [ 0.37307715  0.01941159  0.92759723  0.58756394]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 61.403273559999995
Centerline is valid?  [False, False]
Translation: X:5.50, Y:-0.06, Z:0.59
[[ 0.90047741  0.23362341 -0.36682494  5.49847339]
 [-0.22419144  0.9721151   0.06877808 -0.0558123 ]
 [ 0.37266424  0.0203059   0.92774406  0.58830496]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 61.46327356
Centerline is valid?  [False, False]
Translation: X:5.50, Y:-0.06, Z:0.59
[[ 0.89979327  0.2347054  -0.3678117   5.50052361]
 [-0.22511639  0.97185419  0.069441   -0.06079713]
 [ 0.37375752  0.0203179   0.92730389  0.58986689]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 61.52327356
Centerline is valid?  [False, False]
Translation: X:5.50, Y:-0.07, Z:0.59
[[ 0.89898859  0.23506597 -0.36954499  5.5034023 ]
 [-0.22507739  0.97177963  0.07060118 -0.06704048]
 [ 0.37571223  0.01970657  0.92652683  0.59093321]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 61.583273559999995
Centerline is valid?  [False, False]
Translation: X:5.51, Y:-0.07, Z:0.59
[[ 0.89901185  0.23392121 -0.37021422  5.5057929 ]
 [-0.22397883  0.97205549  0.07029654 -0.07185095]
 [ 0.37631261  0.01972272  0.9262828   0.59171932]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 61.64327356
Centerline is valid?  [False, False]
Translation: X:5.50, Y:-0.08, Z:0.59
[[ 0.9000995   0.23117869 -0.36929298  5.50484945]
 [-0.22128822  0.9727238   0.06956969 -0.07843897]
 [ 0.3753031   0.01910055  0.92670532  0.59261204]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 61.70327356
Centerline is valid?  [False, False]
Translation: X:5.50, Y:-0.09, Z:0.59
[[ 0.90084593  0.22875618 -0.36898133  5.50451132]
 [-0.21888589  0.97330627  0.06902076 -0.085179  ]
 [ 0.37492077  0.01858774  0.92687049  0.59420423]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 61.763273559999995
Centerline is valid?  [False, False]
Translation: X:5.51, Y:-0.09, Z:0.60
[[ 0.90073078  0.22830807 -0.36953957  5.50635611]
 [-0.21855143  0.97340547  0.06868093 -0.08743986]
 [ 0.37539225  0.01890037  0.92667332  0.59507456]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 61.82327356
Centerline is valid?  [False, False]
Translation: X:5.51, Y:-0.09, Z:0.60
[[ 0.89958303  0.22972827 -0.37145025  5.5098667 ]
 [-0.21938192  0.97308734  0.07051662 -0.09389267]
 [ 0.3776532   0.01805391  0.92577109  0.59687057]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 61.88327356
Centerline is valid?  [False, False]
Translation: X:5.51, Y:-0.10, Z:0.60
[[ 0.89848244  0.23253413 -0.372367    5.51394939]
 [-0.22183464  0.97242311  0.0719909  -0.09934194]
 [ 0.37883862  0.01792134  0.92528921  0.59766567]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 61.943273559999994
Centerline is valid?  [False, False]
Translation: X:5.52, Y:-0.10, Z:0.60
[[ 0.89773525  0.2360735  -0.37194182  5.51617705]
 [-0.22574955  0.97153867  0.07176177 -0.10447111]
 [ 0.37829691  0.01954263  0.925478    0.59932008]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 62.00327356
Centerline is valid?  [False, False]
Translation: X:5.52, Y:-0.11, Z:0.60
[[ 0.89721255  0.23894163 -0.37137117  5.51967625]
 [-0.22897561  0.97080795  0.07142892 -0.10711129]
 [ 0.37759742  0.02094801  0.92573288  0.60070744]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 62.06327356
Centerline is valid?  [False, False]
Translation: X:5.52, Y:-0.11, Z:0.60
[[ 0.89577772  0.2443538  -0.37131321  5.52361636]
 [-0.23464218  0.96941977  0.07189125 -0.11090222]
 [ 0.37752526  0.02272716  0.92572034  0.6027176 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 62.123273559999994
Centerline is valid?  [False, False]
Translation: X:5.53, Y:-0.12, Z:0.60
[[ 0.89408565  0.24978153 -0.37177955  5.52753629]
 [-0.24052349  0.96797608  0.07190806 -0.1152845 ]
 [ 0.37783502  0.02512975  0.92553184  0.60463653]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 62.183273559999996
Centerline is valid?  [False, False]
Translation: X:5.53, Y:-0.12, Z:0.61
[[ 0.8918425   0.25491755 -0.37367632  5.53398909]
 [-0.24559389  0.96660115  0.07325198 -0.12045287]
 [ 0.37986917  0.02644339  0.92466219  0.60679781]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 62.24327356
Centerline is valid?  [False, False]
Translation: X:5.54, Y:-0.12, Z:0.61
[[ 0.89055578  0.25768371 -0.37484598  5.53904215]
 [-0.24812546  0.9658608   0.07447601 -0.12394045]
 [ 0.3812403   0.02668379  0.9240908   0.60875505]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 62.30327356
Centerline is valid?  [False, False]
Translation: X:5.54, Y:-0.13, Z:0.61
[[ 0.89019592  0.25937878 -0.37453153  5.54041934]
 [-0.25000651  0.96538547  0.07434813 -0.12809231]
 [ 0.38085162  0.02745092  0.92422859  0.610369  ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 62.363273559999996
Centerline is valid?  [False, False]
Translation: X:5.54, Y:-0.13, Z:0.61
[[ 0.89052656  0.25921976 -0.37385501  5.54089145]
 [-0.25015983  0.96541046  0.07350307 -0.13214348]
 [ 0.37997698  0.02806707  0.92457002  0.61225794]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.906621 with order 1
Centerline goodness : 0.913127 with order 1
Centerline goodness : 0.911111 with order 1
Centerline goodness : 0.912421 with order 1
Centerline goodness : 0.910726 with order 1
Centerline goodness : 0.913178 with order 1
Centerline goodness : 0.892274 with order 1
Centerline goodness : 0.895023 with order 1
Centerline goodness : 0.912184 with order 1
Centerline goodness : 0.905488 with order 1
Centerline goodness : 0.903152 with order 1
Centerline goodness : 0.903694 with order 1
Centerline goodness : 0.901569 with order 1
Centerline goodness : 0.907789 with order 1
Centerline goodness : 0.909230 with order 1
Centerline goodness : 0.893371 with order 1
Centerline goodness : 0.898465 with order 1
Centerline goodness : 0.909449 with order 1
Centerline goodness : 0.912413 with order 1
Centerline goodness : 0.912054 with order 1
SLAMing on frame at distance 62.42327356
Centerline is valid?  [False, False]
Translation: X:5.54, Y:-0.14, Z:0.61
[[ 0.89062448  0.2584857  -0.3741299   5.5432924 ]
 [-0.2494448   0.96560873  0.07332854 -0.13555069]
 [ 0.38021748  0.02801657  0.92447268  0.61397884]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 62.48327356
Centerline is valid?  [False, False]
Translation: X:5.55, Y:-0.14, Z:0.62
[[ 0.89004456  0.25797606 -0.37585773  5.54800346]
 [-0.24889955  0.9657403   0.07344852 -0.13922716]
 [ 0.38192892  0.02817836  0.92376203  0.61534089]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 62.543273559999996
Centerline is valid?  [False, False]
Translation: X:5.55, Y:-0.14, Z:0.62
[[ 0.88948101  0.25840197 -0.3768978   5.55275939]
 [-0.24923576  0.96562403  0.07383612 -0.14193489]
 [ 0.38302097  0.02826059  0.92330725  0.61692011]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 62.60327356
Centerline is valid?  [False, False]
Translation: X:5.56, Y:-0.15, Z:0.62
[[ 0.88898622  0.25953239 -0.37728827  5.55564147]
 [-0.25055706  0.9652969   0.07364141 -0.1450066 ]
 [ 0.38330753  0.02906604  0.92316331  0.61865678]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 62.66327356
Centerline is valid?  [False, False]
Translation: X:5.56, Y:-0.15, Z:0.62
[[ 0.88873212  0.26057688 -0.37716695  5.55848078]
 [-0.25177308  0.96499625  0.07343402 -0.14838336]
 [ 0.3830999   0.02969731  0.92322941  0.62028948]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 62.723273559999996
Centerline is valid?  [False, False]
Translation: X:5.56, Y:-0.15, Z:0.62
[[ 0.88844531  0.26113452 -0.37745689  5.56101439]
 [-0.25232218  0.9648406   0.07359443 -0.1525549 ]
 [ 0.38340378  0.02985612  0.92309813  0.62196492]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 62.78327356
Centerline is valid?  [False, False]
Translation: X:5.57, Y:-0.16, Z:0.62
[[ 0.88838581  0.26080624 -0.3778237   5.56501643]
 [-0.2522483   0.96490919  0.07294547 -0.15555108]
 [ 0.3835902   0.03050167  0.92299957  0.62359958]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 62.84327356
Centerline is valid?  [False, False]
Translation: X:5.57, Y:-0.16, Z:0.63
[[ 0.88846791  0.26027934 -0.37799398  5.56765341]
 [-0.25189158  0.96504034  0.07244157 -0.15997916]
 [ 0.38363448  0.03085149  0.92296954  0.6250169 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 62.903273559999995
Centerline is valid?  [False, False]
Translation: X:5.57, Y:-0.16, Z:0.63
[[ 0.88821936  0.2604698  -0.37844662  5.57187865]
 [-0.25196883  0.96499375  0.07279267 -0.16346693]
 [ 0.38415892  0.03070089  0.9227564   0.62564074]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 62.96327356
Centerline is valid?  [False, False]
Translation: X:5.58, Y:-0.17, Z:0.63
[[ 0.88741725  0.26137239 -0.37970397  5.57699696]
 [-0.25321541  0.96470692  0.07226692 -0.16673894]
 [ 0.38519162  0.03201599  0.92228108  0.62763955]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 63.02327356
Centerline is valid?  [False, False]
Translation: X:5.58, Y:-0.17, Z:0.63
[[ 0.88706567  0.26267031 -0.37962982  5.58087353]
 [-0.25481412  0.96431998  0.07181041 -0.1689105 ]
 [ 0.38494709  0.03303449  0.92234726  0.62922985]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 63.083273559999995
Centerline is valid?  [False, False]
Translation: X:5.58, Y:-0.17, Z:0.63
[[ 0.88615743  0.26622934 -0.37927161  5.58365223]
 [-0.25829606  0.96332612  0.07270437 -0.17135704]
 [ 0.38471829  0.03353685  0.92242459  0.63140516]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 63.14327356
Centerline is valid?  [False, False]
Translation: X:5.59, Y:-0.17, Z:0.63
[[ 0.88436111  0.27161306 -0.3796469   5.58903792]
 [-0.26325302  0.9618158   0.074888   -0.17322228]
 [ 0.38549094  0.03371516  0.92209545  0.63359436]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 63.20327356
Centerline is valid?  [False, False]
Translation: X:5.59, Y:-0.18, Z:0.64
[[ 0.88236598  0.27584111 -0.38123741  5.59390726]
 [-0.26763992  0.96055228  0.07555253 -0.1750829 ]
 [ 0.38703896  0.03536937  0.92138475  0.63644708]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 63.263273559999995
Centerline is valid?  [False, False]
Translation: X:5.60, Y:-0.18, Z:0.64
[[ 0.88197827  0.27652082 -0.38164193  5.59869903]
 [-0.26856604  0.96032531  0.07515038 -0.17668241]
 [ 0.38728105  0.03621506  0.92125016  0.63841688]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 63.32327356
Centerline is valid?  [False, False]
Translation: X:5.60, Y:-0.18, Z:0.64
[[ 0.88194929  0.27691159 -0.38142552  5.60123035]
 [-0.26921825  0.96018649  0.0745884  -0.1781637 ]
 [ 0.38689403  0.03690352  0.92138545  0.64023862]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 63.38327356
Centerline is valid?  [False, False]
Translation: X:5.61, Y:-0.18, Z:0.64
[[ 0.88136918  0.27775521 -0.38215234  5.60510636]
 [-0.27013483  0.95992275  0.07466924 -0.17915104]
 [ 0.38757649  0.0374215   0.92107768  0.64221527]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 63.443273559999994
Centerline is valid?  [False, False]
Translation: X:5.61, Y:-0.18, Z:0.65
[[ 0.88040783  0.27916756 -0.38333735  5.61205264]
 [-0.27148923  0.95949664  0.07523163 -0.17915439]
 [ 0.38881312  0.03783745  0.92053934  0.64530842]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 63.50327356
Centerline is valid?  [False, False]
Translation: X:5.62, Y:-0.18, Z:0.65
[[ 0.8800172   0.27952741 -0.38397157  5.61709163]
 [-0.27219565  0.95934919  0.07455639 -0.17849999]
 [ 0.38920337  0.03890448  0.92032993  0.6473265 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 63.56327356
Centerline is valid?  [False, False]
Translation: X:5.62, Y:-0.18, Z:0.65
[[ 0.87959105  0.27919575 -0.38518739  5.62225291]
 [-0.2719142   0.95943339  0.07449992 -0.17867673]
 [ 0.3903617   0.03920845  0.91982631  0.6497854 ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.880658 with order 1
Centerline goodness : 0.886234 with order 1
Centerline goodness : 0.891654 with order 1
Centerline goodness : 0.886239 with order 1
Centerline goodness : 0.890595 with order 1
Centerline goodness : 0.892417 with order 1
Centerline goodness : 0.893345 with order 1
Centerline goodness : 0.890113 with order 1
Centerline goodness : 0.882508 with order 1
Centerline goodness : 0.892109 with order 1
Centerline goodness : 0.878457 with order 1
Centerline goodness : 0.888824 with order 1
Centerline goodness : 0.892030 with order 1
Centerline goodness : 0.890703 with order 1
Centerline goodness : 0.887608 with order 1
Centerline goodness : 0.880299 with order 1
Centerline goodness : 0.889921 with order 1
Centerline goodness : 0.889597 with order 1
Centerline goodness : 0.890898 with order 1
Centerline goodness : 0.884573 with order 1
SLAMing on frame at distance 63.623273559999994
Centerline is valid?  [False, False]
Translation: X:5.63, Y:-0.18, Z:0.65
[[ 0.87952348  0.27850251 -0.38584298  5.62794086]
 [-0.27093819  0.95966362  0.07508813 -0.17785055]
 [ 0.39119171  0.03849783  0.91950365  0.65179721]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 63.683273559999996
Centerline is valid?  [False, False]
Translation: X:5.63, Y:-0.18, Z:0.65
[[ 0.87931794  0.27798038 -0.38668704  5.63343818]
 [-0.2705679   0.95979754  0.07471075 -0.17751461]
 [ 0.39190939  0.0389306   0.91917976  0.65400263]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 63.74327356
Centerline is valid?  [False, False]
Translation: X:5.64, Y:-0.18, Z:0.66
[[ 0.87918328  0.27697669 -0.38771209  5.63883297]
 [-0.26988293  0.96005616  0.07386052 -0.17748573]
 [ 0.39268303  0.03969994  0.91881661  0.65624334]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 63.80327356
Centerline is valid?  [False, False]
Translation: X:5.64, Y:-0.18, Z:0.66
[[ 0.87967108  0.27413732 -0.3886226   5.64460664]
 [-0.26694128  0.96089917  0.07358759 -0.17718161]
 [ 0.39360024  0.03900653  0.91845378  0.65850597]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 63.863273559999996
Centerline is valid?  [False, False]
Translation: X:5.65, Y:-0.18, Z:0.66
[[ 0.8809145   0.26878099 -0.38954644  5.64866742]
 [-0.26088534  0.96251711  0.07415964 -0.17762465]
 [ 0.39487781  0.03629865  0.9180163   0.66037669]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 63.92327356
Centerline is valid?  [False, False]
Translation: X:5.65, Y:-0.18, Z:0.66
[[ 0.88222051  0.26313178 -0.39044671  5.65319142]
 [-0.25510923  0.96412785  0.07332649 -0.17852004]
 [ 0.39573508  0.03491642  0.91770071  0.66216222]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 63.98327356
Centerline is valid?  [False, False]
Translation: X:5.66, Y:-0.18, Z:0.66
[[ 0.88532378  0.25182441 -0.39087884  5.65581189]
 [-0.24382688  0.9672252   0.0708792  -0.17940902]
 [ 0.39591698  0.03255573  0.91770903  0.66346884]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 64.04327356
Centerline is valid?  [False, False]
Translation: X:5.66, Y:-0.18, Z:0.66
[[ 0.8883338   0.23964234 -0.3917073   5.65902022]
 [-0.23134714  0.97041908  0.06903119 -0.1803808 ]
 [ 0.39666304  0.02929762  0.91749664  0.6647992 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 64.10327356
Centerline is valid?  [False, False]
Translation: X:5.66, Y:-0.18, Z:0.67
[[ 0.89133455  0.22754014 -0.3921074   5.66114287]
 [-0.21869686  0.97343823  0.06774726 -0.18141526]
 [ 0.39710756  0.02536718  0.91742144  0.66530264]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 64.16327356000001
Centerline is valid?  [False, False]
Translation: X:5.67, Y:-0.18, Z:0.67
[[ 0.89259874  0.22070662 -0.3931362   5.66618478]
 [-0.21133022  0.97507488  0.06759081 -0.1830307 ]
 [ 0.39825497  0.02275009  0.91699259  0.66763474]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 64.22327356000001
Centerline is valid?  [False, False]
Translation: X:5.67, Y:-0.18, Z:0.67
[[ 0.8944158   0.21173336 -0.3939408   5.6706101 ]
 [-0.2022312   0.97710997  0.06602007 -0.18409949]
 [ 0.39890213  0.02061773  0.91676169  0.66935189]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 64.28327356
Centerline is valid?  [False, False]
Translation: X:5.67, Y:-0.18, Z:0.67
[[ 0.89535287  0.20524986 -0.39524137  5.6743027 ]
 [-0.19590116  0.97850926  0.06436124 -0.18488473]
 [ 0.39995747  0.01980222  0.91631975  0.67132682]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 64.34327356
Centerline is valid?  [False, False]
Translation: X:5.68, Y:-0.19, Z:0.67
[[ 0.8958565   0.20238493 -0.3955774   5.67771677]
 [-0.1928113   0.97912783  0.06428441 -0.18531886]
 [ 0.40033103  0.01868219  0.91618013  0.6732758 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 64.40327356
Centerline is valid?  [False, False]
Translation: X:5.68, Y:-0.19, Z:0.68
[[ 0.89565639  0.20224877 -0.39609981  5.68236554]
 [-0.1925192   0.97916201  0.06463841 -0.18562997]
 [ 0.40091892  0.01836301  0.91592948  0.67569623]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 64.46327356
Centerline is valid?  [False, False]
Translation: X:5.69, Y:-0.19, Z:0.68
[[ 0.89488808  0.20288939 -0.39750625  5.68718206]
 [-0.19334037  0.97901357  0.06443542 -0.18540419]
 [ 0.40223728  0.01919152  0.91533429  0.677768  ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 64.52327356
Centerline is valid?  [False, False]
Translation: X:5.69, Y:-0.19, Z:0.68
[[ 0.8940906   0.20316547 -0.39915634  5.6919082 ]
 [-0.19400835  0.97892997  0.06369364 -0.18504312]
 [ 0.40368645  0.02049178  0.91466788  0.67942579]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 64.58327356000001
Centerline is valid?  [False, False]
Translation: X:5.70, Y:-0.19, Z:0.68
[[ 0.89358627  0.20331954 -0.40020587  5.69625676]
 [-0.19414753  0.97889421  0.06381904 -0.18523213]
 [ 0.40473486  0.02067116  0.91420041  0.68165669]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 64.64327356000001
Centerline is valid?  [False, False]
Translation: X:5.70, Y:-0.19, Z:0.68
[[ 0.89352931  0.20325597 -0.4003653   5.69982461]
 [-0.19401528  0.97891062  0.0639693  -0.18500764]
 [ 0.40492399  0.02051854  0.9141201   0.68335418]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 64.70327356
Centerline is valid?  [False, False]
Translation: X:5.70, Y:-0.19, Z:0.69
[[ 0.89382831  0.20144647 -0.40061236  5.70326462]
 [-0.19206838  0.97929883  0.06390253 -0.18610799]
 [ 0.40519216  0.01982708  0.91401652  0.68517997]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 64.76327356
Centerline is valid?  [False, False]
Translation: X:5.71, Y:-0.19, Z:0.69
[[ 0.89402193  0.19897005 -0.40141712  5.70671197]
 [-0.18919059  0.97983195  0.06431386 -0.18703518]
 [ 0.40611785  0.01844634  0.91363451  0.68648617]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.869640 with order 1
Centerline goodness : 0.879720 with order 1
Centerline goodness : 0.874558 with order 1
Centerline goodness : 0.869268 with order 1
Centerline goodness : 0.866504 with order 1
Centerline goodness : 0.868346 with order 1
Centerline goodness : 0.870413 with order 1
Centerline goodness : 0.864802 with order 1
Centerline goodness : 0.870682 with order 1
Centerline goodness : 0.878176 with order 1
Centerline goodness : 0.867904 with order 1
Centerline goodness : 0.868125 with order 1
Centerline goodness : 0.879573 with order 1
Centerline goodness : 0.868987 with order 1
Centerline goodness : 0.873635 with order 1
Centerline goodness : 0.866166 with order 1
Centerline goodness : 0.866461 with order 1
Centerline goodness : 0.868767 with order 1
Centerline goodness : 0.873772 with order 1
Centerline goodness : 0.868709 with order 1
SLAMing on frame at distance 64.82327356
Centerline is valid?  [False, False]
Translation: X:5.71, Y:-0.19, Z:0.69
[[ 0.89442484  0.19686098 -0.40155941  5.70869094]
 [-0.18699423  0.98026998  0.06406182 -0.18794813]
 [ 0.40624791  0.01779081  0.91358969  0.68773029]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 64.88327356
Centerline is valid?  [False, False]
Translation: X:5.71, Y:-0.19, Z:0.69
[[ 0.89419458  0.19579083 -0.4025941   5.71255676]
 [-0.18624184  0.98047124  0.06316742 -0.18909087]
 [ 0.40709954  0.0184959   0.91319651  0.69004275]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 64.94327356000001
Centerline is valid?  [False, False]
Translation: X:5.72, Y:-0.19, Z:0.69
[[ 0.8938086   0.19774132 -0.40249789  5.71589255]
 [-0.18769733  0.98009401  0.06469497 -0.18990345]
 [ 0.40727864  0.01772286  0.91313198  0.69277068]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.00327356000001
Centerline is valid?  [False, False]
Translation: X:5.72, Y:-0.19, Z:0.70
[[ 0.89285232  0.20298152 -0.40201149  5.71818758]
 [-0.19220878  0.97903401  0.06744024 -0.19021122]
 [ 0.40727205  0.01705596  0.91314762  0.69551804]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.06327356
Centerline is valid?  [False, False]
Translation: X:5.72, Y:-0.19, Z:0.70
[[ 0.89092116  0.20805877 -0.4036967   5.72447059]
 [-0.1984819   0.97788292  0.06595394 -0.19064905]
 [ 0.40849041  0.02136673  0.91251249  0.69816244]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.12327356
Centerline is valid?  [False, False]
Translation: X:5.73, Y:-0.19, Z:0.70
[[ 0.88896413  0.21430007 -0.40474468  5.73043966]
 [-0.20481903  0.97649255  0.06716742 -0.19027014]
 [ 0.40962415  0.02318999  0.91195958  0.70079196]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.18327356
Centerline is valid?  [False, False]
Translation: X:5.73, Y:-0.19, Z:0.70
[[ 0.88778191  0.21852852 -0.40507847  5.73446683]
 [-0.20903991  0.9755307   0.06813353 -0.19043095]
 [ 0.4100556   0.02418985  0.91173969  0.70322655]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.24327356
Centerline is valid?  [False, False]
Translation: X:5.74, Y:-0.19, Z:0.71
[[ 0.88639179  0.22323366 -0.40555681  5.73915401]
 [-0.2143013   0.97440012  0.06796582 -0.19165461]
 [ 0.41034686  0.02666701  0.91153953  0.7064061 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.30327356000001
Centerline is valid?  [False, False]
Translation: X:5.74, Y:-0.19, Z:0.71
[[ 0.88470881  0.22759817 -0.40680387  5.74391919]
 [-0.2183608   0.97337605  0.06969671 -0.19315937]
 [ 0.41183599  0.02716873  0.91085288  0.70909078]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.36327356000001
Centerline is valid?  [False, False]
Translation: X:5.75, Y:-0.20, Z:0.71
[[ 0.88304472  0.23157749 -0.40817141  5.74900505]
 [-0.22237057  0.97240157  0.07061533 -0.19593963]
 [ 0.41325944  0.02840881  0.91017008  0.71123934]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.42327356
Centerline is valid?  [False, False]
Translation: X:5.75, Y:-0.20, Z:0.71
[[ 0.88212872  0.23479905 -0.40831157  5.75188905]
 [-0.22553304  0.97161011  0.07147472 -0.1991347 ]
 [ 0.41350185  0.02903785  0.91004012  0.71323058]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.48327356
Centerline is valid?  [False, False]
Translation: X:5.76, Y:-0.20, Z:0.72
[[ 0.88151652  0.23683843 -0.40845584  5.75504826]
 [-0.2276841   0.97109199  0.0716959  -0.2014213 ]
 [ 0.41362854  0.02979778  0.90995798  0.71535248]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.54327356
Centerline is valid?  [False, False]
Translation: X:5.76, Y:-0.20, Z:0.72
[[ 0.88024727  0.24136897 -0.40854101  5.75737528]
 [-0.23222573  0.96994177  0.07269229 -0.20475295]
 [ 0.41380665  0.03088655  0.90984069  0.71789851]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.60327356
Centerline is valid?  [False, False]
Translation: X:5.76, Y:-0.21, Z:0.72
[[ 0.87910383  0.24418385 -0.40932958  5.76223714]
 [-0.23518381  0.96919995  0.07307557 -0.20760161]
 [ 0.41456608  0.03202667  0.90945547  0.72066196]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.66327356000001
Centerline is valid?  [False, False]
Translation: X:5.77, Y:-0.21, Z:0.72
[[ 0.87811416  0.24636189 -0.41014796  5.76659993]
 [-0.23764567  0.9686038   0.0730152  -0.21085075]
 [ 0.41525903  0.03335421  0.90909154  0.72309529]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.72327356000001
Centerline is valid?  [False, False]
Translation: X:5.77, Y:-0.22, Z:0.72
[[ 0.87743812  0.24721737 -0.41107897  5.77011042]
 [-0.23888586  0.96834104  0.0724512  -0.21588361]
 [ 0.41597583  0.03462951  0.90871607  0.72462198]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.78327356
Centerline is valid?  [False, False]
Translation: X:5.77, Y:-0.22, Z:0.73
[[ 0.87762144  0.24713715 -0.41073572  5.7722989 ]
 [-0.23905175  0.96834391  0.07186326 -0.22055038]
 [ 0.41549352  0.03511836  0.90891795  0.72564702]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.84327356
Centerline is valid?  [False, False]
Translation: X:5.77, Y:-0.23, Z:0.73
[[ 0.87759597  0.24784129 -0.41036571  5.77322675]
 [-0.23973644  0.9681622   0.07203046 -0.22508056]
 [ 0.41515269  0.03516597  0.90907183  0.72728547]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.90327356
Centerline is valid?  [False, False]
Translation: X:5.78, Y:-0.23, Z:0.73
[[ 0.87697576  0.24926339 -0.41083     5.77648777]
 [-0.2410319   0.96779249  0.07267266 -0.22814266]
 [ 0.41571282  0.03529097  0.90881098  0.72945269]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 65.96327356
Centerline is valid?  [False, False]
Translation: X:5.78, Y:-0.23, Z:0.73
[[ 0.87588968  0.25183274 -0.41157931  5.77984686]
 [-0.24325342  0.96712939  0.07408458 -0.23184023]
 [ 0.41670737  0.03522815  0.90835783  0.73130477]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.873382 with order 1
Centerline goodness : 0.871606 with order 1
Centerline goodness : 0.869204 with order 1
Centerline goodness : 0.869917 with order 1
Centerline goodness : 0.867445 with order 1
Centerline goodness : 0.870365 with order 1
Centerline goodness : 0.875428 with order 1
Centerline goodness : 0.865221 with order 1
Centerline goodness : 0.870488 with order 1
Centerline goodness : 0.871561 with order 1
Centerline goodness : 0.870639 with order 1
Centerline goodness : 0.866744 with order 1
Centerline goodness : 0.865724 with order 1
Centerline goodness : 0.864807 with order 1
Centerline goodness : 0.869454 with order 1
Centerline goodness : 0.875167 with order 1
Centerline goodness : 0.863585 with order 1
Centerline goodness : 0.866268 with order 1
Centerline goodness : 0.873890 with order 1
Centerline goodness : 0.876093 with order 1
SLAMing on frame at distance 66.02327356
Centerline is valid?  [False, False]
Translation: X:5.78, Y:-0.24, Z:0.73
[[ 0.8749187   0.25332983 -0.41272421  5.7832498 ]
 [-0.24481419  0.96671168  0.07439446 -0.23564831]
 [ 0.41783165  0.03595164  0.90781286  0.73349417]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 66.08327356000001
Centerline is valid?  [False, False]
Translation: X:5.79, Y:-0.24, Z:0.74
[[ 0.87467032  0.25408834 -0.41278438  5.78539085]
 [-0.24591515  0.96647556  0.07382908 -0.2384212 ]
 [ 0.41770512  0.03693383  0.90783166  0.73552872]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 66.14327356000001
Centerline is valid?  [False, False]
Translation: X:5.79, Y:-0.24, Z:0.74
[[ 0.87466689  0.25508655 -0.41217556  5.78783663]
 [-0.24698122  0.96620213  0.07384929 -0.24008098]
 [ 0.41708286  0.03720609  0.9081066   0.7369215 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 66.20327356
Centerline is valid?  [False, False]
Translation: X:5.79, Y:-0.24, Z:0.74
[[ 0.87403145  0.25650591 -0.41264239  5.79231117]
 [-0.2482696   0.9658216   0.07450399 -0.24145071]
 [ 0.41764964  0.03732773  0.90784107  0.73941991]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 66.26327356
Centerline is valid?  [False, False]
Translation: X:5.80, Y:-0.24, Z:0.74
[[ 0.873065    0.25743062 -0.41410986  5.79749614]
 [-0.24942671  0.96553466  0.07435818 -0.24255292]
 [ 0.4189795   0.03837054  0.90718459  0.74118573]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 66.32327356
Centerline is valid?  [False, False]
Translation: X:5.80, Y:-0.24, Z:0.74
[[ 0.8724442   0.25750303 -0.41537129  5.80048269]
 [-0.24951081  0.96550372  0.07447764 -0.24390561]
 [ 0.42022075  0.03866205  0.90659791  0.74290623]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 66.38327356
Centerline is valid?  [False, False]
Translation: X:5.80, Y:-0.24, Z:0.74
[[ 0.87260947  0.25711901 -0.41526199  5.80301409]
 [-0.24864313  0.96565427  0.07542158 -0.24485357]
 [ 0.42039184  0.03743846  0.90656994  0.74419866]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 66.44327356000001
Centerline is valid?  [False, False]
Translation: X:5.81, Y:-0.25, Z:0.75
[[ 0.87286346  0.25598939 -0.41542606  5.80583711]
 [-0.24759908  0.96595583  0.07499349 -0.24614794]
 [ 0.42048077  0.03740004  0.90653029  0.74640466]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 66.50327356000001
Centerline is valid?  [False, False]
Translation: X:5.81, Y:-0.25, Z:0.75
[[ 0.87277256  0.25582175 -0.4157202   5.81015545]
 [-0.24755857  0.96598818  0.07471001 -0.24751555]
 [ 0.42069325  0.03771025  0.90641885  0.74898169]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 66.56327356
Centerline is valid?  [False, False]
Translation: X:5.81, Y:-0.25, Z:0.75
[[ 0.87261526  0.25634391 -0.41572878  5.81365434]
 [-0.24771382  0.96587747  0.07562129 -0.24828597]
 [ 0.42092811  0.03699348  0.90633934  0.75120515]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 66.62327356
Centerline is valid?  [False, False]
Translation: X:5.82, Y:-0.25, Z:0.75
[[ 0.87194441  0.25746969 -0.41644003  5.81771094]
 [-0.24872949  0.96557196  0.07618677 -0.24868111]
 [ 0.4217186   0.03715029  0.90596538  0.75327173]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 66.68327356
Centerline is valid?  [False, False]
Translation: X:5.82, Y:-0.25, Z:0.76
[[ 0.87112751  0.2589     -0.4172621   5.82213956]
 [-0.25013516  0.96517204  0.07665069 -0.24881639]
 [ 0.42257457  0.03759939  0.90554791  0.75588418]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 66.74327356
Centerline is valid?  [False, False]
Translation: X:5.83, Y:-0.25, Z:0.76
[[ 0.86989962  0.26158793 -0.4181464   5.82689185]
 [-0.25327739  0.96437288  0.07639049 -0.24883882]
 [ 0.42323188  0.03945497  0.90516191  0.75794416]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 66.80327356000001
Centerline is valid?  [False, False]
Translation: X:5.83, Y:-0.25, Z:0.76
[[ 0.8684517   0.26546809 -0.41871032  5.83040509]
 [-0.25722846  0.96326193  0.07720089 -0.24847941]
 [ 0.42382208  0.04065897  0.90483241  0.76008041]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 66.86327356000001
Centerline is valid?  [False, False]
Translation: X:5.83, Y:-0.25, Z:0.76
[[ 0.86754434  0.26964768 -0.41791978  5.83304905]
 [-0.26125745  0.96207905  0.07841206 -0.24802633]
 [ 0.4232155   0.04115872  0.9050937   0.76161414]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 66.92327356
Centerline is valid?  [False, False]
Translation: X:5.84, Y:-0.25, Z:0.76
[[ 0.8666239   0.27259901 -0.41791481  5.83768401]
 [-0.26390079  0.96124659  0.07975822 -0.24837328]
 [ 0.4234612   0.04116767  0.90497836  0.76428585]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 66.98327356
Centerline is valid?  [False, False]
Translation: X:5.84, Y:-0.25, Z:0.77
[[ 0.86525592  0.27587986 -0.41859586  5.84083136]
 [-0.26740603  0.9602472   0.08012075 -0.24779666]
 [ 0.4240592   0.04261011  0.90463151  0.76708412]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 67.04327356
Centerline is valid?  [False, False]
Translation: X:5.85, Y:-0.25, Z:0.77
[[ 0.86406666  0.27762891 -0.41989402  5.84558331]
 [-0.26939223  0.95968751  0.08017297 -0.24710813]
 [ 0.42522538  0.0438414   0.90402506  0.76971596]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 67.10327356
Centerline is valid?  [False, False]
Translation: X:5.85, Y:-0.25, Z:0.77
[[ 0.86310581  0.27905061 -0.4209265   5.85078204]
 [-0.27066868  0.95926432  0.08093475 -0.2467569 ]
 [ 0.42636466  0.04407637  0.90347687  0.77261424]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 67.16327356000001
Centerline is valid?  [False, False]
Translation: X:5.85, Y:-0.25, Z:0.77
[[ 0.86297436  0.27878287 -0.4213732   5.8538944 ]
 [-0.27058056  0.95932218  0.08054264 -0.24609181]
 [ 0.42668656  0.04450916  0.90330367  0.77463585]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.872028 with order 1
Centerline goodness : 0.866569 with order 1
Centerline goodness : 0.870906 with order 1
Centerline goodness : 0.871032 with order 1
Centerline goodness : 0.870282 with order 1
Centerline goodness : 0.868852 with order 1
Centerline goodness : 0.865534 with order 1
Centerline goodness : 0.865335 with order 1
Centerline goodness : 0.865614 with order 1
Centerline goodness : 0.870162 with order 1
Centerline goodness : 0.871560 with order 1
Centerline goodness : 0.867392 with order 1
Centerline goodness : 0.867477 with order 1
Centerline goodness : 0.866029 with order 1
Centerline goodness : 0.868826 with order 1
Centerline goodness : 0.868366 with order 1
Centerline goodness : 0.867463 with order 1
Centerline goodness : 0.865627 with order 1
Centerline goodness : 0.867851 with order 1
Centerline goodness : 0.868774 with order 1
SLAMing on frame at distance 67.22327356000001
Centerline is valid?  [False, False]
Translation: X:5.86, Y:-0.24, Z:0.78
[[ 0.86296888  0.27813026 -0.42181546  5.85622853]
 [-0.27025665  0.95948016  0.07974432 -0.24488883]
 [ 0.42690287  0.04518157  0.90316807  0.77670026]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 67.28327356
Centerline is valid?  [False, False]
Translation: X:5.86, Y:-0.24, Z:0.78
[[ 0.86234301  0.27874064 -0.4226916   5.86052714]
 [-0.27059423  0.9593162   0.08056789 -0.24307971]
 [ 0.42795245  0.04490075  0.90268523  0.77943362]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 67.34327356
Centerline is valid?  [False, False]
Translation: X:5.87, Y:-0.24, Z:0.78
[[ 0.86174064  0.27887084 -0.42383266  5.86530049]
 [-0.27078952  0.95925878  0.08059541 -0.2404649 ]
 [ 0.42904091  0.0453171   0.90214758  0.78137302]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 67.40327356
Centerline is valid?  [False, False]
Translation: X:5.87, Y:-0.24, Z:0.78
[[ 0.8613767   0.27901053 -0.42448003  5.87017686]
 [-0.27111995  0.95918984  0.0803045  -0.23870392]
 [ 0.42956274  0.04591258  0.90186911  0.78378488]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 67.46327356
Centerline is valid?  [False, False]
Translation: X:5.87, Y:-0.23, Z:0.79
[[ 0.86084877  0.28075642 -0.42439985  5.87476192]
 [-0.27256323  0.95869287  0.08134654 -0.23284604]
 [ 0.42970767  0.04564872  0.90181346  0.78621642]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 67.52327356
Centerline is valid?  [False, False]
Translation: X:5.88, Y:-0.23, Z:0.79
[[ 0.86058745  0.2808245  -0.42488451  5.87797808]
 [-0.27259929  0.95867067  0.0814873  -0.23151859]
 [ 0.43020795  0.04569627  0.9015725   0.78730607]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 67.58327356000001
Centerline is valid?  [False, False]
Translation: X:5.88, Y:-0.23, Z:0.79
[[ 0.85994336  0.28067758 -0.42628337  5.88440063]
 [-0.27263979  0.95868127  0.08122662 -0.22791545]
 [ 0.43146837  0.04637151  0.90093547  0.78982473]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 67.64327356000001
Centerline is valid?  [False, False]
Translation: X:5.89, Y:-0.22, Z:0.79
[[ 0.86007613  0.27861556 -0.42736684  5.88925739]
 [-0.27075884  0.95927679  0.08048408 -0.22378228]
 [ 0.43238721  0.04649091  0.9004887   0.79196819]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 67.70327356
Centerline is valid?  [False, False]
Translation: X:5.89, Y:-0.22, Z:0.79
[[ 0.86044984  0.27701117 -0.42765744  5.89332171]
 [-0.26908277  0.95976516  0.08028259 -0.22171065]
 [ 0.43268989  0.0459961   0.90036871  0.79311216]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 67.76327356
Centerline is valid?  [False, False]
Translation: X:5.90, Y:-0.22, Z:0.79
[[ 0.86064993  0.27482925 -0.42866139  5.89780502]
 [-0.26672259  0.96042676  0.08024652 -0.21925223]
 [ 0.43375196  0.04526952  0.89989439  0.79470563]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 67.82327356
Centerline is valid?  [False, False]
Translation: X:5.90, Y:-0.22, Z:0.80
[[ 0.86091102  0.27249516 -0.42962613  5.90165835]
 [-0.26385635  0.96116359  0.08089729 -0.21705026]
 [ 0.43498511  0.04371422  0.89937591  0.79612494]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 67.88327356
Centerline is valid?  [False, False]
Translation: X:5.90, Y:-0.22, Z:0.80
[[ 0.86229098  0.26841404 -0.42942772  5.90387016]
 [-0.25963228  0.96237242  0.08018974 -0.21539086]
 [ 0.43479345  0.04234641  0.89953401  0.79706308]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 67.94327356000001
Centerline is valid?  [False, False]
Translation: X:5.91, Y:-0.21, Z:0.80
[[ 0.86354378  0.2637039  -0.42982834  5.90515641]
 [-0.25544673  0.96367019  0.07801754 -0.21415078]
 [ 0.43478628  0.04242668  0.89953369  0.79827522]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 68.00327356000001
Centerline is valid?  [False, False]
Translation: X:5.91, Y:-0.21, Z:0.80
[[ 0.86422974  0.26106534 -0.43006028  5.90806985]
 [-0.25202844  0.9644881   0.07902134 -0.21351429]
 [ 0.43541775  0.04009483  0.89933519  0.80002146]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 68.06327356
Centerline is valid?  [False, False]
Translation: X:5.91, Y:-0.21, Z:0.80
[[ 0.86516901  0.25690447 -0.43067699  5.91064841]
 [-0.24760276  0.96566541  0.07863324 -0.21417574]
 [ 0.4360911   0.03860577  0.89907405  0.80191201]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 68.12327356
Centerline is valid?  [False, False]
Translation: X:5.91, Y:-0.22, Z:0.80
[[ 0.86665496  0.25110201 -0.43111132  5.91361041]
 [-0.24168205  0.96725323  0.07753053 -0.21542106]
 [ 0.43646188  0.03699965  0.89896165  0.80270207]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 68.18327356
Centerline is valid?  [False, False]
Translation: X:5.91, Y:-0.22, Z:0.80
[[ 0.8681033   0.24543895 -0.43145844  5.91456266]
 [-0.23581667  0.96877185  0.07662643 -0.21653454]
 [ 0.4367919   0.03522543  0.89887263  0.80396889]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 68.24327356
Centerline is valid?  [False, False]
Translation: X:5.92, Y:-0.22, Z:0.81
[[ 0.86909893  0.24023815 -0.43238025  5.91756241]
 [-0.23104176  0.97008027  0.07459208 -0.21748884]
 [ 0.43736341  0.03507     0.89860077  0.8056525 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 68.30327356000001
Centerline is valid?  [False, False]
Translation: X:5.92, Y:-0.22, Z:0.81
[[ 0.86908889  0.23962881 -0.43273841  5.92115665]
 [-0.22968495  0.97029222  0.07601203 -0.21761032]
 [ 0.43809738  0.03333229  0.89830932  0.80720413]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 68.36327356000001
Centerline is valid?  [False, False]
Translation: X:5.92, Y:-0.22, Z:0.81
[[ 0.86884222  0.24001925 -0.43301727  5.92447861]
 [-0.23017     0.97018329  0.07593521 -0.21730221]
 [ 0.43833203  0.03369187  0.89818143  0.80929257]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.866257 with order 1
Centerline goodness : 0.867820 with order 1
Centerline goodness : 0.870322 with order 1
Centerline goodness : 0.865114 with order 1
Centerline goodness : 0.867837 with order 1
Centerline goodness : 0.868425 with order 1
Centerline goodness : 0.864514 with order 1
Centerline goodness : 0.864466 with order 1
Centerline goodness : 0.863750 with order 1
Centerline goodness : 0.864327 with order 1
Centerline goodness : 0.864370 with order 1
Centerline goodness : 0.866357 with order 1
Centerline goodness : 0.864515 with order 1
Centerline goodness : 0.867355 with order 1
Centerline goodness : 0.864160 with order 1
Centerline goodness : 0.869110 with order 1
Centerline goodness : 0.867133 with order 1
Centerline goodness : 0.860051 with order 1
Centerline goodness : 0.864538 with order 1
Centerline goodness : 0.865711 with order 1
SLAMing on frame at distance 68.42327356
Centerline is valid?  [False, False]
Translation: X:5.93, Y:-0.22, Z:0.81
[[ 0.86861338  0.24066803 -0.43311626  5.9251637 ]
 [-0.23124905  0.96998261  0.07521717 -0.21605044]
 [ 0.4382176   0.03482308  0.89819412  0.81078373]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 68.48327356
Centerline is valid?  [False, False]
Translation: X:5.93, Y:-0.22, Z:0.81
[[ 0.86812523  0.24033972 -0.43427572  5.92995872]
 [-0.23111116  0.97004368  0.07485244 -0.21602296]
 [ 0.43925644  0.03538467  0.89766459  0.81235085]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 68.54327356
Centerline is valid?  [False, False]
Translation: X:5.93, Y:-0.22, Z:0.81
[[ 0.86765181  0.23956526 -0.43564759  5.93390145]
 [-0.23021912  0.97024213  0.07502918 -0.21625471]
 [ 0.44065803  0.0351952   0.89698484  0.81362985]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 68.60327356
Centerline is valid?  [False, False]
Translation: X:5.94, Y:-0.22, Z:0.82
[[ 0.86805048  0.23708249 -0.43621125  5.93692797]
 [-0.22723262  0.97090902  0.07550504 -0.21738128]
 [ 0.44142236  0.03357924  0.89667092  0.81569403]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 68.66327356000001
Centerline is valid?  [False, False]
Translation: X:5.94, Y:-0.22, Z:0.82
[[ 0.86980676  0.23298348 -0.43491942  5.93786651]
 [-0.22244533  0.97199281  0.07581591 -0.21812403]
 [ 0.44040241  0.03080061  0.897272    0.81691115]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 68.72327356000001
Centerline is valid?  [False, False]
Translation: X:5.94, Y:-0.22, Z:0.82
[[ 0.87140594  0.22904839 -0.43380702  5.93748803]
 [-0.21878034  0.97294594  0.07423857 -0.21752545]
 [ 0.439075    0.03021652  0.89794215  0.81808558]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 68.78327356
Centerline is valid?  [False, False]
Translation: X:5.94, Y:-0.22, Z:0.82
[[ 0.87117982  0.2291367  -0.43421434  5.9405593 ]
 [-0.21941642  0.97288352  0.0731716  -0.21639514]
 [ 0.43920628  0.03152814  0.89783285  0.82027114]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 68.84327356
Centerline is valid?  [False, False]
Translation: X:5.95, Y:-0.21, Z:0.82
[[ 0.86883871  0.23479675 -0.43587818  5.94704205]
 [-0.22476617  0.97149929  0.07529472 -0.21450134]
 [ 0.4411343   0.0325517   0.89685055  0.82303026]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 68.90327356
Centerline is valid?  [False, False]
Translation: X:5.95, Y:-0.21, Z:0.83
[[ 0.86679277  0.23949818 -0.43739104  5.95387392]
 [-0.22958116  0.97029221  0.07632513 -0.21375427]
 [ 0.44267685  0.03425867  0.89602653  0.82531475]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 68.96327356
Centerline is valid?  [False, False]
Translation: X:5.96, Y:-0.21, Z:0.83
[[ 0.86329833  0.25043484 -0.4381762   5.96140218]
 [-0.2411008   0.96737089  0.07787153 -0.21182901]
 [ 0.44338064  0.03841827  0.89550971  0.8291328 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 69.02327356
Centerline is valid?  [False, False]
Translation: X:5.97, Y:-0.21, Z:0.83
[[ 0.86190935  0.25557216 -0.43794422  5.96549198]
 [-0.24648897  0.96595352  0.07859375 -0.21099522]
 [ 0.44312013  0.04020774  0.8955601   0.83188366]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 69.08327356000001
Centerline is valid?  [False, False]
Translation: X:5.97, Y:-0.21, Z:0.83
[[ 0.86049727  0.26091084 -0.43757283  5.96979578]
 [-0.25294327  0.96436394  0.07760081 -0.20998845]
 [ 0.44222635  0.04390581  0.89582818  0.83460185]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 69.14327356000001
Centerline is valid?  [False, False]
Translation: X:5.97, Y:-0.21, Z:0.84
[[ 0.85952135  0.26368095 -0.43783033  5.97294122]
 [-0.25613006  0.96353344  0.07746416 -0.20994474]
 [ 0.44228999  0.04555941  0.89571419  0.83711086]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 69.20327356
Centerline is valid?  [False, False]
Translation: X:5.98, Y:-0.21, Z:0.84
[[ 0.85879559  0.26418908 -0.43894677  5.97754006]
 [-0.25640021  0.96340226  0.07819854 -0.21066976]
 [ 0.44354151  0.04538948  0.89510375  0.8390009 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 69.26327356
Centerline is valid?  [False, False]
Translation: X:5.98, Y:-0.21, Z:0.84
[[ 0.85842693  0.26331344 -0.44019228  5.98137367]
 [-0.25553279  0.96363994  0.07810932 -0.21185509]
 [ 0.4447541   0.04543242  0.89449969  0.84068954]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 69.32327356
Centerline is valid?  [False, False]
Translation: X:5.98, Y:-0.21, Z:0.84
[[ 0.85824514  0.26174191 -0.4414821   5.98461165]
 [-0.25410617  0.96405997  0.07757849 -0.21320061]
 [ 0.44592077  0.04560196  0.89391002  0.84222397]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 69.38327356
Centerline is valid?  [False, False]
Translation: X:5.99, Y:-0.21, Z:0.84
[[ 0.85876898  0.25994875 -0.44152292  5.98564319]
 [-0.25217348  0.96458007  0.07741982 -0.21393206]
 [ 0.44600939  0.04485463  0.89390362  0.84393711]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 69.44327356000001
Centerline is valid?  [False, False]
Translation: X:5.99, Y:-0.21, Z:0.85
[[ 0.8588693   0.25932405 -0.4416951   5.98772423]
 [-0.25166743  0.96474205  0.07704724 -0.21492698]
 [ 0.44610204  0.04498676  0.89385075  0.84529992]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 69.50327356000001
Centerline is valid?  [False, False]
Translation: X:5.99, Y:-0.22, Z:0.85
[[ 0.85988494  0.25661094 -0.44130343  5.9887842 ]
 [-0.24909399  0.96548849  0.07605367 -0.21650619]
 [ 0.44558959  0.04452863  0.89412925  0.84675655]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 69.56327356
Centerline is valid?  [False, False]
Translation: X:5.99, Y:-0.22, Z:0.85
[[ 0.86044036  0.25486573 -0.4412322   5.99063824]
 [-0.2463774   0.9660652   0.07756427 -0.2191301 ]
 [ 0.44602754  0.04197022  0.89403464  0.84787832]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.876758 with order 1
Centerline goodness : 0.863498 with order 1
Centerline goodness : 0.864874 with order 1
Centerline goodness : 0.870237 with order 1
Centerline goodness : 0.864739 with order 1
Centerline goodness : 0.871108 with order 1
Centerline goodness : 0.866396 with order 1
Centerline goodness : 0.864000 with order 1
Centerline goodness : 0.865505 with order 1
Centerline goodness : 0.866877 with order 1
Centerline goodness : 0.865939 with order 1
Centerline goodness : 0.861467 with order 1
Centerline goodness : 0.872423 with order 1
Centerline goodness : 0.864922 with order 1
Centerline goodness : 0.871726 with order 1
Centerline goodness : 0.863365 with order 1
Centerline goodness : 0.867562 with order 1
Centerline goodness : 0.876048 with order 1
Centerline goodness : 0.864694 with order 1
Centerline goodness : 0.870093 with order 1
SLAMing on frame at distance 69.62327356
Centerline is valid?  [False, False]
Translation: X:5.99, Y:-0.22, Z:0.85
[[ 0.86074345  0.25131264 -0.4426767   5.99292511]
 [-0.24281617  0.96702294  0.07685669 -0.22297201]
 [ 0.44739358  0.04133517  0.89338143  0.84922936]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 69.68327356
Centerline is valid?  [False, False]
Translation: X:5.99, Y:-0.23, Z:0.85
[[ 0.86137792  0.24674537 -0.4440099   5.99469894]
 [-0.23824213  0.96823701  0.07588002 -0.22771561]
 [ 0.44862987  0.04042049  0.89280313  0.85080091]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 69.74327356
Centerline is valid?  [False, False]
Translation: X:5.99, Y:-0.23, Z:0.85
[[ 0.86310417  0.24229827 -0.44310579  5.99458577]
 [-0.2330699   0.9694746   0.07614078 -0.23286759]
 [ 0.44802859  0.03755719  0.89323     0.8515012 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 69.80327356000001
Centerline is valid?  [False, False]
Translation: X:5.99, Y:-0.24, Z:0.85
[[ 0.86491013  0.23833107 -0.44173383  5.99281328]
 [-0.22850031  0.97055346  0.07624684 -0.23796892]
 [ 0.44689829  0.03498965  0.89390024  0.85244455]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 69.86327356000001
Centerline is valid?  [False, False]
Translation: X:5.99, Y:-0.24, Z:0.85
[[ 0.86540237  0.23519658 -0.44244922  5.99430285]
 [-0.22553488  0.97132803  0.07520549 -0.24272167]
 [ 0.4474514   0.03470472  0.89363462  0.85393995]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 69.92327356
Centerline is valid?  [False, False]
Translation: X:6.00, Y:-0.25, Z:0.86
[[ 0.86459823  0.23451665 -0.44437803  5.9976076 ]
 [-0.22505535  0.97146988  0.07480883 -0.24781608]
 [ 0.44924379  0.03533007  0.89271037  0.85637682]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 69.98327356
Centerline is valid?  [False, False]
Translation: X:6.00, Y:-0.25, Z:0.86
[[ 0.86407018  0.23516104 -0.44506405  6.00121787]
 [-0.22545976  0.97132232  0.07550398 -0.25133222]
 [ 0.45005624  0.03510329  0.89231     0.85851563]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 70.04327356
Centerline is valid?  [False, False]
Translation: X:6.00, Y:-0.26, Z:0.86
[[ 0.86334904  0.23613625 -0.4459463   6.00369686]
 [-0.22638875  0.97107429  0.07591347 -0.25544519]
 [ 0.45097291  0.0354174   0.89183465  0.86049148]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 70.10327356
Centerline is valid?  [False, False]
Translation: X:6.01, Y:-0.26, Z:0.86
[[ 0.86343756  0.23600329 -0.44584529  6.00509458]
 [-0.22577614  0.9711456   0.07682028 -0.25963263]
 [ 0.45111053  0.03433171  0.8918075   0.86187302]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 70.16327356000001
Centerline is valid?  [False, False]
Translation: X:6.01, Y:-0.26, Z:0.86
[[ 0.86419864  0.23421771 -0.44531199  6.00632913]
 [-0.2239807   0.97159797  0.07635464 -0.26303546]
 [ 0.45054784  0.03375571  0.89211389  0.86355084]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 70.22327356000001
Centerline is valid?  [False, False]
Translation: X:6.01, Y:-0.27, Z:0.87
[[ 0.86451349  0.23320837 -0.44523059  6.00922445]
 [-0.2228191   0.97186137  0.07640106 -0.26564131]
 [ 0.45051977  0.03315613  0.89215055  0.86552863]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 70.28327356
Centerline is valid?  [False, False]
Translation: X:6.01, Y:-0.27, Z:0.87
[[ 0.86441088  0.23213374 -0.44599077  6.01367761]
 [-0.22135856  0.97215084  0.07696182 -0.26838274]
 [ 0.45143573  0.03219724  0.89172256  0.86766428]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 70.34327356
Centerline is valid?  [False, False]
Translation: X:6.02, Y:-0.27, Z:0.87
[[ 0.86425461  0.23141391 -0.44666717  6.01710798]
 [-0.22021232  0.97235409  0.0776792  -0.26997256]
 [ 0.4522947   0.03122701  0.8913217   0.86978247]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 70.40327356
Centerline is valid?  [False, False]
Translation: X:6.02, Y:-0.27, Z:0.87
[[ 0.86435802  0.23036462 -0.44700934  6.0191959 ]
 [-0.21909278  0.97261445  0.07758532 -0.27128944]
 [ 0.45264066  0.03087502  0.89115833  0.87161269]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 70.46327356
Centerline is valid?  [False, False]
Translation: X:6.02, Y:-0.27, Z:0.87
[[ 0.86440859  0.23119823 -0.44648088  6.02142653]
 [-0.21980417  0.97242147  0.07799104 -0.27176008]
 [ 0.45219899  0.03072224  0.89138781  0.87326921]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 70.52327356
Centerline is valid?  [False, False]
Translation: X:6.03, Y:-0.27, Z:0.88
[[ 0.8633611   0.23464346 -0.44671025  6.02503775]
 [-0.22370253  0.97153411  0.07796567 -0.27204723]
 [ 0.45228838  0.03261768  0.8912751   0.8759466 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 70.58327356000001
Centerline is valid?  [False, False]
Translation: X:6.03, Y:-0.27, Z:0.88
[[ 0.86220438  0.23745074 -0.44746034  6.02913797]
 [-0.22717989  0.97077186  0.07740351 -0.27220816]
 [ 0.45276142  0.03491634  0.89094778  0.87837467]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 70.64327356
Centerline is valid?  [False, False]
Translation: X:6.03, Y:-0.27, Z:0.88
[[ 0.86074954  0.24341574 -0.44705594  6.03363685]
 [-0.23307975  0.96924546  0.07897514 -0.27163171]
 [ 0.45253073  0.03622187  0.89101286  0.88068408]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 70.70327356
Centerline is valid?  [False, False]
Translation: X:6.04, Y:-0.27, Z:0.88
[[ 0.85882952  0.24882052 -0.4477725   6.0396276 ]
 [-0.23866486  0.96779859  0.0800311  -0.27148158]
 [ 0.45326697  0.03813449  0.89055871  0.88302811]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 70.76327356
Centerline is valid?  [False, False]
Translation: X:6.04, Y:-0.27, Z:0.89
[[ 0.85740268  0.25257489 -0.44840447  6.04487263]
 [-0.24356631  0.96667958  0.0787784  -0.27150592]
 [ 0.45336089  0.04167141  0.8903524   0.88569899]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.870473 with order 1
Centerline goodness : 0.870256 with order 1
Centerline goodness : 0.867588 with order 1
Centerline goodness : 0.866495 with order 1
Centerline goodness : 0.867847 with order 1
Centerline goodness : 0.871530 with order 1
Centerline goodness : 0.867862 with order 1
Centerline goodness : 0.866165 with order 1
Centerline goodness : 0.874584 with order 1
Centerline goodness : 0.870590 with order 1
Centerline goodness : 0.876512 with order 1
Centerline goodness : 0.866177 with order 1
Centerline goodness : 0.865923 with order 1
Centerline goodness : 0.869374 with order 1
Centerline goodness : 0.866605 with order 1
Centerline goodness : 0.865116 with order 1
Centerline goodness : 0.869264 with order 1
Centerline goodness : 0.868243 with order 1
Centerline goodness : 0.873429 with order 1
Centerline goodness : 0.871187 with order 1
SLAMing on frame at distance 70.82327356
Centerline is valid?  [False, False]
Translation: X:6.05, Y:-0.27, Z:0.89
[[ 0.85586669  0.25663817 -0.44903124  6.04967338]
 [-0.2479402   0.96552806  0.07925416 -0.27151776]
 [ 0.4538919   0.0435019   0.88999423  0.88811867]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 70.88327356
Centerline is valid?  [False, False]
Translation: X:6.06, Y:-0.27, Z:0.89
[[ 0.85489544  0.25952503 -0.44922214  6.05503736]
 [-0.2508818   0.96471515  0.07989371 -0.2720065 ]
 [ 0.45410583  0.04440089  0.88984069  0.89038671]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 70.94327356000001
Centerline is valid?  [False, False]
Translation: X:6.06, Y:-0.27, Z:0.89
[[ 0.85383192  0.26342421 -0.44897521  6.05900957]
 [-0.25476799  0.9636144   0.08087378 -0.27244168]
 [ 0.45394309  0.0453319   0.88987678  0.89196178]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.00327356000001
Centerline is valid?  [False, False]
Translation: X:6.06, Y:-0.27, Z:0.89
[[ 0.85293606  0.26656612 -0.44882355  6.06295039]
 [-0.25817307  0.96268589  0.08113282 -0.27331254]
 [ 0.45370336  0.04667305  0.88992971  0.8938121 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.06327356
Centerline is valid?  [False, False]
Translation: X:6.07, Y:-0.28, Z:0.90
[[ 0.85163679  0.27024633 -0.44908987  6.06750068]
 [-0.26194296  0.96160037  0.08191837 -0.2750669 ]
 [ 0.45398312  0.04787123  0.88972337  0.89589319]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.12327356
Centerline is valid?  [False, False]
Translation: X:6.07, Y:-0.28, Z:0.90
[[ 0.8504659   0.27495149 -0.44845227  6.0709639 ]
 [-0.26646723  0.96023003  0.08338764 -0.27673324]
 [ 0.45354489  0.04857949  0.88990846  0.89795592]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.18327356
Centerline is valid?  [False, False]
Translation: X:6.07, Y:-0.28, Z:0.90
[[ 0.85008542  0.27751023 -0.44759676  6.07323838]
 [-0.26938583  0.95942958  0.08322347 -0.27857714]
 [ 0.45253293  0.04982917  0.89035442  0.89920619]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.24327356
Centerline is valid?  [False, False]
Translation: X:6.08, Y:-0.28, Z:0.90
[[ 0.84989622  0.27927836 -0.4468557   6.07591461]
 [-0.27118572  0.95889699  0.0835157  -0.28041457]
 [ 0.45181271  0.0502012   0.89069923  0.90012669]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.30327356000001
Centerline is valid?  [False, False]
Translation: X:6.08, Y:-0.28, Z:0.90
[[ 0.84929002  0.28030218 -0.44736692  6.08051487]
 [-0.27217768  0.95858218  0.08390179 -0.28166107]
 [ 0.45235581  0.05050634  0.89040627  0.90178499]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.36327356000001
Centerline is valid?  [False, False]
Translation: X:6.09, Y:-0.28, Z:0.90
[[ 0.84869064  0.28066997 -0.44827288  6.08554856]
 [-0.2726983   0.95844229  0.0838094  -0.28344981]
 [ 0.45316646  0.051115    0.88995922  0.90324254]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.42327356
Centerline is valid?  [False, False]
Translation: X:6.09, Y:-0.29, Z:0.90
[[ 0.84868173  0.27957646 -0.44897252  6.08951771]
 [-0.2720344   0.95872054  0.08277805 -0.28589611]
 [ 0.45358197  0.05188375  0.88970303  0.90417574]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.48327356
Centerline is valid?  [False, False]
Translation: X:6.09, Y:-0.29, Z:0.91
[[ 0.84906119  0.27942277 -0.44835032  6.09204546]
 [-0.27150976  0.95881646  0.08338736 -0.28832416]
 [ 0.45318599  0.05093052  0.88995985  0.9056441 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.54327356
Centerline is valid?  [False, False]
Translation: X:6.10, Y:-0.29, Z:0.91
[[ 0.84873763  0.27917737 -0.44911516  6.09607258]
 [-0.27083635  0.95893056  0.0842606  -0.29107083]
 [ 0.45419391  0.05012157  0.88949183  0.9075792 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.60327356
Centerline is valid?  [False, False]
Translation: X:6.10, Y:-0.29, Z:0.91
[[ 0.84869645  0.27822392 -0.44978416  6.09927701]
 [-0.2694504   0.95926043  0.08494652 -0.29494925]
 [ 0.4550943   0.04910071  0.88908847  0.90863862]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.66327356000001
Centerline is valid?  [False, False]
Translation: X:6.10, Y:-0.30, Z:0.91
[[ 0.84956561  0.27660718 -0.44914001  6.1012921 ]
 [-0.26813142  0.95972424  0.08387448 -0.29783927]
 [ 0.45425083  0.04917167  0.88951578  0.90977757]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.72327356000001
Centerline is valid?  [False, False]
Translation: X:6.10, Y:-0.30, Z:0.91
[[ 0.84987677  0.27624887 -0.4487717   6.10377659]
 [-0.26804748  0.95980634  0.08320063 -0.30106526]
 [ 0.453718    0.04958184  0.88976492  0.91158254]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.78327356
Centerline is valid?  [False, False]
Translation: X:6.11, Y:-0.30, Z:0.91
[[ 0.84899693  0.27764754 -0.44957319  6.10824699]
 [-0.26892198  0.95943222  0.08468045 -0.30425001]
 [ 0.45484632  0.04900667  0.88922054  0.91415217]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.84327356
Centerline is valid?  [False, False]
Translation: X:6.11, Y:-0.31, Z:0.92
[[ 0.84778542  0.27912424 -0.45094295  6.11345298]
 [-0.2708872   0.95891512  0.08427282 -0.30752825]
 [ 0.45593861  0.05070941  0.88856544  0.91688697]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.90327356
Centerline is valid?  [False, False]
Translation: X:6.12, Y:-0.31, Z:0.92
[[ 0.84641649  0.28115753 -0.45224944  6.11891418]
 [-0.27347572  0.95821454  0.08388042 -0.30977532]
 [ 0.45693561  0.05268147  0.88793835  0.91942657]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 71.96327356
Centerline is valid?  [False, False]
Translation: X:6.12, Y:-0.31, Z:0.92
[[ 0.84457854  0.28623378 -0.45250116  6.12402799]
 [-0.27812726  0.95668271  0.08604308 -0.3116257 ]
 [ 0.45752848  0.05318277  0.88760311  0.92169216]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.876504 with order 1
Centerline goodness : 0.874708 with order 1
Centerline goodness : 0.876356 with order 1
Centerline goodness : 0.871161 with order 1
Centerline goodness : 0.883427 with order 1
Centerline goodness : 0.872042 with order 1
Centerline goodness : 0.872757 with order 1
Centerline goodness : 0.879607 with order 1
Centerline goodness : 0.877360 with order 1
Centerline goodness : 0.877803 with order 1
Centerline goodness : 0.875490 with order 1
Centerline goodness : 0.874121 with order 1
Centerline goodness : 0.877218 with order 1
Centerline goodness : 0.874608 with order 1
Centerline goodness : 0.877431 with order 1
Centerline goodness : 0.877602 with order 1
Centerline goodness : 0.875964 with order 1
Centerline goodness : 0.877874 with order 1
Centerline goodness : 0.873476 with order 1
Centerline goodness : 0.875032 with order 1
SLAMing on frame at distance 72.02327356
Centerline is valid?  [False, False]
Translation: X:6.13, Y:-0.31, Z:0.92
[[ 0.84334732  0.29079836 -0.45188673  6.12684193]
 [-0.28321026  0.9551825   0.08612974 -0.31263299]
 [ 0.45668068  0.05534167  0.88790768  0.9238262 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 72.08327356000001
Centerline is valid?  [False, False]
Translation: X:6.13, Y:-0.31, Z:0.93
[[ 0.8424974   0.2924207  -0.45242488  6.13016454]
 [-0.28538289  0.9545874   0.08555404 -0.31378249]
 [ 0.45689686  0.05703527  0.88768927  0.92596507]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 72.14327356
Centerline is valid?  [False, False]
Translation: X:6.14, Y:-0.32, Z:0.93
[[ 0.84105712  0.29460509 -0.45368576  6.13517184]
 [-0.28719344  0.95391139  0.08702293 -0.31606111]
 [ 0.45841341  0.05710432  0.88690261  0.92834476]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 72.20327356
Centerline is valid?  [False, False]
Translation: X:6.14, Y:-0.32, Z:0.93
[[ 0.84012571  0.2949592  -0.45517893  6.14116533]
 [-0.28768338  0.95375993  0.08706478 -0.31812601]
 [ 0.45981198  0.05780205  0.8861331   0.93078969]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 72.26327356
Centerline is valid?  [False, False]
Translation: X:6.14, Y:-0.32, Z:0.93
[[ 0.83923805  0.29580213 -0.45626811  6.14497385]
 [-0.28865052  0.95345512  0.08720214 -0.32020551]
 [ 0.46082575  0.05851867  0.88555926  0.93303589]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 72.32327356
Centerline is valid?  [False, False]
Translation: X:6.15, Y:-0.32, Z:0.93
[[ 0.83886336  0.29595377 -0.45685844  6.14933742]
 [-0.28922146  0.95334402  0.08652236 -0.32152571]
 [ 0.46114988  0.05955283  0.88532155  0.93415665]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 72.38327356
Centerline is valid?  [False, False]
Translation: X:6.15, Y:-0.32, Z:0.94
[[ 0.83861681  0.29600401 -0.45727832  6.15225304]
 [-0.28918915  0.95333264  0.08675549 -0.32316475]
 [ 0.46161832  0.05948532  0.88508193  0.93597623]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 72.44327356000001
Centerline is valid?  [False, False]
Translation: X:6.16, Y:-0.32, Z:0.94
[[ 0.83844954  0.29590908 -0.45764635  6.15563222]
 [-0.2893049   0.95333154  0.0863809  -0.32431726]
 [ 0.46184959  0.05997331  0.88492833  0.93815799]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 72.50327356000001
Centerline is valid?  [False, False]
Translation: X:6.16, Y:-0.33, Z:0.94
[[ 0.83810383  0.2968101  -0.45769612  6.15906496]
 [-0.2900084   0.95306116  0.08700319 -0.32501291]
 [ 0.46203582  0.05981801  0.88484163  0.94064823]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 72.56327356
Centerline is valid?  [False, False]
Translation: X:6.16, Y:-0.33, Z:0.94
[[ 0.83686725  0.29799073 -0.45918921  6.16393907]
 [-0.29145896  0.95261703  0.08701989 -0.32561896]
 [ 0.46336258  0.06101071  0.88406607  0.94374473]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 72.62327356
Centerline is valid?  [False, False]
Translation: X:6.17, Y:-0.33, Z:0.95
[[ 0.83539394  0.2992284  -0.46106325  6.1697132 ]
 [-0.292952    0.95214753  0.08714478 -0.32644089]
 [ 0.46507643  0.06226918  0.88307784  0.94682646]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 72.68327356
Centerline is valid?  [False, False]
Translation: X:6.18, Y:-0.33, Z:0.95
[[ 0.83403335  0.30025256 -0.46285718  6.17534536]
 [-0.29430257  0.95173731  0.08707525 -0.32645392]
 [ 0.46666301  0.06359639  0.88214575  0.94843307]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 72.74327356
Centerline is valid?  [False, False]
Translation: X:6.18, Y:-0.33, Z:0.95
[[ 0.83359246  0.30116528 -0.4630584   6.17928692]
 [-0.2951243   0.95144182  0.08752209 -0.32635911]
 [ 0.46693174  0.06370203  0.88199592  0.95050818]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 72.80327356000001
Centerline is valid?  [False, False]
Translation: X:6.18, Y:-0.32, Z:0.95
[[ 0.83366066  0.30168576 -0.46259659  6.18133839]
 [-0.29617134  0.95120146  0.08659281 -0.32443342]
 [ 0.46614638  0.06481883  0.88232991  0.95160291]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 72.86327356000001
Centerline is valid?  [False, False]
Translation: X:6.18, Y:-0.32, Z:0.95
[[ 0.83301544  0.30231264 -0.46334905  6.18446493]
 [-0.29747887  0.95088383  0.08559359 -0.3226552 ]
 [ 0.46646714  0.06653577  0.88203254  0.95450303]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 72.92327356
Centerline is valid?  [False, False]
Translation: X:6.19, Y:-0.32, Z:0.96
[[ 0.83205597  0.30348235 -0.46430736  6.19034191]
 [-0.29854251  0.95048985  0.08626357 -0.32162036]
 [ 0.4674989   0.06683937  0.88146315  0.95762437]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 72.98327356
Centerline is valid?  [False, False]
Translation: X:6.20, Y:-0.32, Z:0.96
[[ 0.8305254   0.30445014 -0.46640935  6.1978518 ]
 [-0.29894639  0.95021061  0.0879253  -0.31951458]
 [ 0.46995598  0.0664072   0.88018831  0.96092193]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 73.04327356
Centerline is valid?  [False, False]
Translation: X:6.20, Y:-0.32, Z:0.96
[[ 0.83035576  0.30331595 -0.46744919  6.20292644]
 [-0.29814877  0.95053185  0.08715797 -0.31696025]
 [ 0.47076175  0.06699728  0.87971287  0.96235716]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 73.10327356
Centerline is valid?  [False, False]
Translation: X:6.21, Y:-0.31, Z:0.96
[[ 0.83084643  0.30145829 -0.46777891  6.20700261]
 [-0.29686096  0.95107232  0.08564466 -0.31382596]
 [ 0.47070986  0.06770774  0.87968624  0.96436287]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 73.16327356000001
Centerline is valid?  [False, False]
Translation: X:6.21, Y:-0.31, Z:0.97
[[ 0.83050499  0.30129059 -0.46849273  6.21214796]
 [-0.29683036  0.95109839  0.08546108 -0.31035745]
 [ 0.4713313   0.06808702  0.87932415  0.96655427]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.876410 with order 1
Centerline goodness : 0.878090 with order 1
Centerline goodness : 0.877028 with order 1
Centerline goodness : 0.877173 with order 1
Centerline goodness : 0.878833 with order 1
Centerline goodness : 0.876700 with order 1
Centerline goodness : 0.876607 with order 1
Centerline goodness : 0.878871 with order 1
Centerline goodness : 0.878329 with order 1
Centerline goodness : 0.875980 with order 1
Centerline goodness : 0.870378 with order 1
Centerline goodness : 0.874812 with order 1
Centerline goodness : 0.880004 with order 1
Centerline goodness : 0.880909 with order 1
Centerline goodness : 0.876126 with order 1
Centerline goodness : 0.881136 with order 1
Centerline goodness : 0.877206 with order 1
Centerline goodness : 0.871393 with order 1
Centerline goodness : 0.874980 with order 1
Centerline goodness : 0.880848 with order 1
SLAMing on frame at distance 73.22327356000001
Centerline is valid?  [False, False]
Translation: X:6.22, Y:-0.31, Z:0.97
[[ 0.83031525  0.30130379 -0.46882044  6.21542578]
 [-0.29652212  0.95113529  0.0861179  -0.30962662]
 [ 0.47185932  0.06751062  0.87908538  0.96858128]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 73.28327356
Centerline is valid?  [False, False]
Translation: X:6.22, Y:-0.31, Z:0.97
[[ 0.8302154   0.29922629 -0.47032544  6.22086166]
 [-0.29457863  0.95179012  0.08555121 -0.30684578]
 [ 0.47325028  0.06752189  0.87833648  0.97059669]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 73.34327356
Centerline is valid?  [False, False]
Translation: X:6.23, Y:-0.31, Z:0.97
[[ 0.82992975  0.29745796 -0.47194848  6.22647622]
 [-0.29282622  0.95235277  0.08530534 -0.30594542]
 [ 0.4748362   0.06740145  0.87748939  0.97319076]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 73.40327356
Centerline is valid?  [False, False]
Translation: X:6.23, Y:-0.30, Z:0.97
[[ 0.83027611  0.29525874 -0.47271963  6.23031331]
 [-0.29062869  0.95306833  0.08482765 -0.30369494]
 [ 0.47558022  0.06695552  0.87712053  0.97396177]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 73.46327356
Centerline is valid?  [False, False]
Translation: X:6.23, Y:-0.30, Z:0.98
[[ 0.8307504   0.29386912 -0.47275228  6.23285452]
 [-0.2893634   0.9535067   0.08422469 -0.30132766]
 [ 0.4755235   0.06682751  0.87716104  0.97520245]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 73.52327356
Centerline is valid?  [False, False]
Translation: X:6.23, Y:-0.30, Z:0.98
[[ 0.83102563  0.29364555 -0.47240735  6.23455853]
 [-0.28933314  0.95355759  0.08375121 -0.29871919]
 [ 0.47506078  0.0670837   0.87739218  0.97629756]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 73.58327356000001
Centerline is valid?  [False, False]
Translation: X:6.24, Y:-0.30, Z:0.98
[[ 0.83024272  0.29427209 -0.47339303  6.23815384]
 [-0.28986488  0.95335154  0.08425671 -0.29630108]
 [ 0.47610437  0.06726649  0.87681232  0.978876  ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 73.64327356
Centerline is valid?  [False, False]
Translation: X:6.24, Y:-0.30, Z:0.98
[[ 0.82977107  0.29439466 -0.47414319  6.24292803]
 [-0.28999585  0.95329934  0.08439659 -0.29564106]
 [ 0.47684629  0.06746971  0.87639344  0.98103526]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 73.70327356
Centerline is valid?  [False, False]
Translation: X:6.25, Y:-0.29, Z:0.98
[[ 0.82901843  0.29408878 -0.47564718  6.2474613 ]
 [-0.29014979  0.95331256  0.08371541 -0.29355028]
 [ 0.47806019  0.06860732  0.87564347  0.98272559]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 73.76327356
Centerline is valid?  [False, False]
Translation: X:6.25, Y:-0.29, Z:0.98
[[ 0.82825293  0.29420085 -0.47690979  6.25350511]
 [-0.2907286   0.95318982  0.0831026  -0.29238117]
 [ 0.47903441  0.06982134  0.87501487  0.9849409 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 73.82327356
Centerline is valid?  [False, False]
Translation: X:6.26, Y:-0.29, Z:0.99
[[ 0.82687219  0.29712254 -0.47749405  6.25705206]
 [-0.29379857  0.95219247  0.08373712 -0.28906203]
 [ 0.47954643  0.07104717  0.87463565  0.98676041]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 73.88327356
Centerline is valid?  [False, False]
Translation: X:6.26, Y:-0.29, Z:0.99
[[ 0.82618467  0.29887193 -0.47759236  6.26015584]
 [-0.29582383  0.95156542  0.08373476 -0.2878984 ]
 [ 0.47948634  0.07210282  0.8745822   0.98952554]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 73.94327356000001
Centerline is valid?  [False, False]
Translation: X:6.26, Y:-0.29, Z:0.99
[[ 0.82540478  0.30155137 -0.47725646  6.26315891]
 [-0.29879983  0.95062261  0.08387679 -0.28571091]
 [ 0.47898394  0.07337185  0.87475194  0.99191107]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 74.00327356000001
Centerline is valid?  [False, False]
Translation: X:6.27, Y:-0.28, Z:0.99
[[ 0.82419555  0.302719   -0.47860517  6.26713296]
 [-0.30048724  0.95012433  0.08349355 -0.28351506]
 [ 0.4800095   0.07499974  0.87405144  0.99394844]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 74.06327356
Centerline is valid?  [False, False]
Translation: X:6.27, Y:-0.28, Z:1.00
[[ 0.8235886   0.30252353 -0.47977216  6.27191599]
 [-0.30081191  0.95009057  0.08270486 -0.28265356]
 [ 0.48084718  0.0762064   0.87348645  0.99561245]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 74.12327356
Centerline is valid?  [False, False]
Translation: X:6.28, Y:-0.28, Z:1.00
[[ 0.82305331  0.30209274 -0.48096074  6.2762163 ]
 [-0.30049787  0.9501999   0.08259038 -0.28104101]
 [ 0.4819588   0.07655139  0.8728434   0.99774909]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 74.18327356
Centerline is valid?  [False, False]
Translation: X:6.28, Y:-0.28, Z:1.00
[[ 0.82369172  0.30033255 -0.48097017  6.27810816]
 [-0.29872919  0.95079859  0.08211528 -0.28017041]
 [ 0.48196765  0.07604215  0.87288302  0.99848728]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 74.24327356
Centerline is valid?  [False, False]
Translation: X:6.28, Y:-0.28, Z:1.00
[[ 0.82418172  0.29837506 -0.48134895  6.28071756]
 [-0.2969839   0.95141921  0.08125303 -0.27913241]
 [ 0.48220852  0.07598562  0.87275491  1.0001231 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 74.30327356000001
Centerline is valid?  [False, False]
Translation: X:6.28, Y:-0.28, Z:1.00
[[ 0.82398205  0.29802414 -0.48190787  6.28465661]
 [-0.29669421  0.95151873  0.0811459  -0.27823602]
 [ 0.4827278   0.07611651  0.87245639  1.00203179]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 74.36327356000001
Centerline is valid?  [False, False]
Translation: X:6.29, Y:-0.28, Z:1.00
[[ 0.82332202  0.29804708 -0.48302049  6.28832562]
 [-0.29691813  0.95146192  0.08099287 -0.2761611 ]
 [ 0.48371529  0.07673433  0.87185512  1.00412887]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.869088 with order 1
Centerline goodness : 0.884768 with order 1
Centerline goodness : 0.881443 with order 1
Centerline goodness : 0.873970 with order 1
Centerline goodness : 0.886616 with order 1
Centerline goodness : 0.873002 with order 1
Centerline goodness : 0.889060 with order 1
Centerline goodness : 0.880221 with order 1
Centerline goodness : 0.882670 with order 1
Centerline goodness : 0.886879 with order 1
Centerline goodness : 0.886009 with order 1
Centerline goodness : 0.881424 with order 1
Centerline goodness : 0.870325 with order 1
Centerline goodness : 0.885743 with order 1
Centerline goodness : 0.872101 with order 1
Centerline goodness : 0.888677 with order 1
Centerline goodness : 0.877821 with order 1
Centerline goodness : 0.886877 with order 1
Centerline goodness : 0.875019 with order 1
Centerline goodness : 0.875559 with order 1
SLAMing on frame at distance 74.42327356
Centerline is valid?  [False, False]
Translation: X:6.29, Y:-0.27, Z:1.01
[[ 0.82269849  0.29822909 -0.48396964  6.29198658]
 [-0.29716373  0.95137579  0.08110382 -0.27409489]
 [ 0.48462451  0.07709423  0.87131829  1.00611864]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 74.48327356
Centerline is valid?  [False, False]
Translation: X:6.29, Y:-0.27, Z:1.01
[[ 0.82285576  0.29752807 -0.4841337   6.29443358]
 [-0.29660839  0.95158552  0.080675   -0.27190864]
 [ 0.4846977   0.07721423  0.87126695  1.00786596]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 74.54327356
Centerline is valid?  [False, False]
Translation: X:6.30, Y:-0.27, Z:1.01
[[ 0.82295862  0.29662254 -0.48451438  6.29682642]
 [-0.2960173   0.95183279  0.07992554 -0.27038974]
 [ 0.48488439  0.07764923  0.8711244   1.00967885]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 74.60327356
Centerline is valid?  [False, False]
Translation: X:6.30, Y:-0.27, Z:1.01
[[ 0.82251926  0.29632514 -0.48544153  6.30108351]
 [-0.29592816  0.95188442  0.07964022 -0.26817632]
 [ 0.48568363  0.0781502   0.87063423  1.01193678]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 74.66327356000001
Centerline is valid?  [False, False]
Translation: X:6.31, Y:-0.27, Z:1.01
[[ 0.82198998  0.29598182 -0.48654623  6.30567363]
 [-0.29571042  0.95196176  0.07952456 -0.26521496]
 [ 0.48671123  0.0785084   0.87002794  1.01352177]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 74.72327356000001
Centerline is valid?  [False, False]
Translation: X:6.31, Y:-0.26, Z:1.02
[[ 0.82159396  0.2953085  -0.48762307  6.30917061]
 [-0.29532987  0.95212247  0.07901313 -0.26382619]
 [ 0.48761013  0.07909295  0.86947149  1.01555754]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 74.78327356
Centerline is valid?  [False, False]
Translation: X:6.31, Y:-0.26, Z:1.02
[[ 0.82218247  0.293026   -0.48800795  6.31081849]
 [-0.29307503  0.95287047  0.07838944 -0.26123654]
 [ 0.4879785   0.07857252  0.86931199  1.01672624]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 74.84327356
Centerline is valid?  [False, False]
Translation: X:6.31, Y:-0.26, Z:1.02
[[ 0.82266554  0.28985287 -0.48908764  6.31320287]
 [-0.28973697  0.953924    0.07798396 -0.2591471 ]
 [ 0.48915631  0.07755205  0.86874149  1.01815911]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 74.90327356
Centerline is valid?  [False, False]
Translation: X:6.31, Y:-0.26, Z:1.02
[[ 0.8231694   0.28716032 -0.48982761  6.31476983]
 [-0.28708333  0.95478261  0.07728732 -0.25703503]
 [ 0.48987273  0.07700078  0.86838677  1.01928918]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 74.96327356
Centerline is valid?  [False, False]
Translation: X:6.32, Y:-0.26, Z:1.02
[[ 0.82375853  0.28435809 -0.49047158  6.31667797]
 [-0.28417114  0.95569233  0.07680453 -0.25516793]
 [ 0.49057991  0.07610949  0.86806607  1.01970943]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 75.02327356
Centerline is valid?  [False, False]
Translation: X:6.32, Y:-0.26, Z:1.02
[[ 0.82398724  0.28206728 -0.49140928  6.32008228]
 [-0.28187564  0.95640976  0.07633142 -0.25568382]
 [ 0.49151923  0.07562019  0.86757734  1.02104251]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 75.08327356000001
Centerline is valid?  [False, False]
Translation: X:6.32, Y:-0.26, Z:1.02
[[ 0.82532334  0.27760244 -0.49170955  6.32057563]
 [-0.2772426   0.95783557  0.07541586 -0.2555924 ]
 [ 0.49191252  0.07408036  0.86748727  1.02112103]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 75.14327356
Centerline is valid?  [False, False]
Translation: X:6.32, Y:-0.26, Z:1.02
[[ 0.82539007  0.27680292 -0.49204814  6.32297577]
 [-0.2763724   0.95809039  0.07537308 -0.25643415]
 [ 0.49229008  0.07377634  0.86729898  1.02254552]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 75.20327356
Centerline is valid?  [False, False]
Translation: X:6.32, Y:-0.26, Z:1.02
[[ 0.82606612  0.27379246 -0.49259765  6.3236357 ]
 [-0.27307693  0.95905497  0.07511692 -0.25732073]
 [ 0.49299468  0.07246551  0.86700923  1.02306675]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 75.26327356
Centerline is valid?  [False, False]
Translation: X:6.32, Y:-0.26, Z:1.02
[[ 0.82677832  0.27014159 -0.49341781  6.32443693]
 [-0.26988379  0.9600898   0.07341876 -0.25848146]
 [ 0.49355887  0.07246443  0.86668827  1.02354932]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 75.32327356
Centerline is valid?  [False, False]
Translation: X:6.33, Y:-0.26, Z:1.03
[[ 0.82699499  0.26901789 -0.49366858  6.32602383]
 [-0.26856586  0.9604543   0.07348405 -0.25959216]
 [ 0.49391463  0.07181158  0.86653992  1.02513378]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 75.38327356
Centerline is valid?  [False, False]
Translation: X:6.33, Y:-0.26, Z:1.03
[[ 0.82761576  0.26758456 -0.4934072   6.32546941]
 [-0.26663377  0.96095981  0.07390995 -0.26151527]
 [ 0.49392165  0.07038998  0.86665256  1.02521492]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 75.44327356000001
Centerline is valid?  [False, False]
Translation: X:6.33, Y:-0.26, Z:1.03
[[ 0.82786273  0.26643013 -0.49361756  6.32743747]
 [-0.26547975  0.9613017   0.07361762 -0.26360731]
 [ 0.49412935  0.07010018  0.86655765  1.02616443]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 75.50327356000001
Centerline is valid?  [False, False]
Translation: X:6.33, Y:-0.27, Z:1.03
[[ 0.82784095  0.26584274 -0.49397065  6.32862939]
 [-0.26474948  0.96149216  0.07375995 -0.26687087]
 [ 0.49455745  0.06971696  0.86634431  1.02711832]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 75.56327356
Centerline is valid?  [False, False]
Translation: X:6.33, Y:-0.27, Z:1.03
[[ 0.82733777  0.26696659 -0.4942075   6.32922073]
 [-0.26579319  0.96116588  0.07425713 -0.27030874]
 [ 0.49483956  0.06992127  0.86616674  1.02825758]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.880748 with order 1
Centerline goodness : 0.881735 with order 1
Centerline goodness : 0.881595 with order 1
Centerline goodness : 0.884447 with order 1
Centerline goodness : 0.885508 with order 1
Centerline goodness : 0.885077 with order 1
Centerline goodness : 0.879618 with order 1
Centerline goodness : 0.880834 with order 1
Centerline goodness : 0.880507 with order 1
Centerline goodness : 0.874240 with order 1
Centerline goodness : 0.882419 with order 1
Centerline goodness : 0.881197 with order 1
Centerline goodness : 0.875865 with order 1
Centerline goodness : 0.879520 with order 1
Centerline goodness : 0.882310 with order 1
Centerline goodness : 0.874846 with order 1
Centerline goodness : 0.881227 with order 1
Centerline goodness : 0.880043 with order 1
Centerline goodness : 0.883064 with order 1
Centerline goodness : 0.884326 with order 1
SLAMing on frame at distance 75.62327356
Centerline is valid?  [False, False]
Translation: X:6.33, Y:-0.27, Z:1.03
[[ 0.8265457   0.26866899 -0.49461013  6.32999483]
 [-0.26769261  0.9606228   0.07446144 -0.27395476]
 [ 0.49513925  0.07085769  0.86591934  1.02942865]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 75.68327356
Centerline is valid?  [False, False]
Translation: X:6.33, Y:-0.28, Z:1.03
[[ 0.82568633  0.26954939 -0.49556555  6.33279069]
 [-0.26868817  0.96032863  0.07466992 -0.27698051]
 [ 0.49603302  0.07149867  0.86535495  1.03123966]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 75.74327356
Centerline is valid?  [False, False]
Translation: X:6.34, Y:-0.28, Z:1.03
[[ 0.82442191  0.27092582 -0.49691822  6.33520815]
 [-0.27011402  0.95988686  0.07520396 -0.28107407]
 [ 0.49735996  0.07222478  0.86453262  1.03234621]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 75.80327356000001
Centerline is valid?  [False, False]
Translation: X:6.34, Y:-0.28, Z:1.03
[[ 0.82421168  0.27192475 -0.49672128  6.33599435]
 [-0.27102228  0.95959862  0.07561359 -0.28436008]
 [ 0.49721426  0.07230093  0.86461006  1.03302804]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 75.86327356000001
Centerline is valid?  [False, False]
Translation: X:6.34, Y:-0.29, Z:1.03
[[ 0.82440942  0.27197677 -0.49636453  6.33653981]
 [-0.27115907  0.95957517  0.0754205  -0.28684896]
 [ 0.4968117   0.07241638  0.86483178  1.03405286]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 75.92327356
Centerline is valid?  [False, False]
Translation: X:6.34, Y:-0.29, Z:1.03
[[ 0.82476397  0.26936685 -0.49719805  6.33762603]
 [-0.26904752  0.96028371  0.0739502  -0.29076742]
 [ 0.49737092  0.07277844  0.86447988  1.03495758]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 75.98327356
Centerline is valid?  [False, False]
Translation: X:6.34, Y:-0.29, Z:1.04
[[ 0.82601832  0.26514334 -0.49738592  6.3380198 ]
 [-0.26441919  0.96160448  0.07348002 -0.29462354]
 [ 0.49777127  0.07082254  0.8644119   1.03518838]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 76.04327356
Centerline is valid?  [False, False]
Translation: X:6.34, Y:-0.30, Z:1.04
[[ 0.82702782  0.26102282 -0.49788761  6.33931682]
 [-0.26006324  0.96284357  0.07279676 -0.29759125]
 [ 0.4983895   0.06927732  0.86418086  1.03576003]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 76.10327356
Centerline is valid?  [False, False]
Translation: X:6.34, Y:-0.30, Z:1.04
[[ 0.82908092  0.25288183 -0.49867385  6.33863705]
 [-0.25182275  0.96518168  0.07077866 -0.30092068]
 [ 0.4992095   0.06689618  0.86389512  1.03553121]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 76.16327356000001
Centerline is valid?  [False, False]
Translation: X:6.34, Y:-0.30, Z:1.03
[[ 0.83198879  0.24324211 -0.49862604  6.33753529]
 [-0.24187316  0.96788155  0.06857604 -0.30357157]
 [ 0.49929153  0.06354976  0.86410034  1.0348595 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 76.22327356000001
Centerline is valid?  [False, False]
Translation: X:6.33, Y:-0.30, Z:1.03
[[ 0.83485234  0.23434199 -0.49810179  6.3349978 ]
 [-0.23175119  0.97038792  0.0681078  -0.30474081]
 [ 0.49931248  0.05857573  0.86443966  1.0337766 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 76.28327356
Centerline is valid?  [False, False]
Translation: X:6.34, Y:-0.31, Z:1.03
[[ 0.83642585  0.22917624 -0.4978655   6.33518628]
 [-0.22614666  0.97175963  0.06738628 -0.30575565]
 [ 0.49924892  0.05622699  0.86463231  1.03424196]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 76.34327356
Centerline is valid?  [False, False]
Translation: X:6.34, Y:-0.31, Z:1.03
[[ 0.83846044  0.22242005 -0.4975072   6.33553382]
 [-0.21963084  0.97341301  0.06503383 -0.30575782]
 [ 0.49874481  0.05473963  0.86501861  1.03382871]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 76.40327356
Centerline is valid?  [False, False]
Translation: X:6.34, Y:-0.30, Z:1.03
[[ 0.8386107   0.21962371 -0.49849525  6.33815972]
 [-0.21627904  0.97414283  0.06533852 -0.30491897]
 [ 0.49995546  0.05302049  0.86442661  1.03440422]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 76.46327356
Centerline is valid?  [False, False]
Translation: X:6.34, Y:-0.30, Z:1.04
[[ 0.83819897  0.21838863 -0.49972882  6.34242341]
 [-0.21521704  0.97441089  0.0648463  -0.30350848]
 [ 0.5011029   0.05319606  0.86375116  1.03585716]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 76.52327356
Centerline is valid?  [False, False]
Translation: X:6.35, Y:-0.30, Z:1.04
[[ 0.83797535  0.21869992 -0.49996765  6.34503507]
 [-0.21576352  0.97430919  0.06455783 -0.302292  ]
 [ 0.50124187  0.05377691  0.86363455  1.03711889]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 76.58327356000001
Centerline is valid?  [False, False]
Translation: X:6.35, Y:-0.30, Z:1.04
[[ 0.83728589  0.22177261 -0.49976919  6.34733411]
 [-0.21895105  0.97355526  0.06519663 -0.29863564]
 [ 0.50101175  0.05483678  0.86370143  1.03899185]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 76.64327356
Centerline is valid?  [False, False]
Translation: X:6.35, Y:-0.29, Z:1.04
[[ 0.83575647  0.22760657 -0.49970629  6.35040979]
 [-0.22538176  0.97204611  0.06579828 -0.29423159]
 [ 0.50071368  0.05763334  0.8636922   1.04169201]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 76.70327356
Centerline is valid?  [False, False]
Translation: X:6.35, Y:-0.29, Z:1.04
[[ 0.83381009  0.23326725 -0.500347    6.35454666]
 [-0.23144549  0.97055268  0.0667868  -0.29129843]
 [ 0.50119229  0.06011555  0.86324528  1.04404031]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 76.76327356
Centerline is valid?  [False, False]
Translation: X:6.36, Y:-0.29, Z:1.05
[[ 0.82976376  0.24361122 -0.50214109  6.36192136]
 [-0.24270204  0.96768548  0.06841439 -0.28680233]
 [ 0.50258115  0.06510289  0.86207529  1.04792375]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.875816 with order 1
Centerline goodness : 0.864767 with order 1
Centerline goodness : 0.877156 with order 1
Centerline goodness : 0.865613 with order 1
Centerline goodness : 0.875625 with order 1
Centerline goodness : 0.882898 with order 1
Centerline goodness : 0.875554 with order 1
Centerline goodness : 0.875800 with order 1
Centerline goodness : 0.877002 with order 1
Centerline goodness : 0.877747 with order 1
Centerline goodness : 0.876556 with order 1
Centerline goodness : 0.881529 with order 1
Centerline goodness : 0.868217 with order 1
Centerline goodness : 0.875860 with order 1
Centerline goodness : 0.862616 with order 1
Centerline goodness : 0.871235 with order 1
Centerline goodness : 0.879474 with order 1
Centerline goodness : 0.874899 with order 1
Centerline goodness : 0.877858 with order 1
Centerline goodness : 0.876202 with order 1
SLAMing on frame at distance 76.82327356
Centerline is valid?  [False, False]
Translation: X:6.37, Y:-0.28, Z:1.05
[[ 0.82657384  0.25252889 -0.50299586  6.3693655 ]
 [-0.25307477  0.96501112  0.06860535 -0.28402372]
 [ 0.50272144  0.07058817  0.86156164  1.0518982 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 76.88327356
Centerline is valid?  [False, False]
Translation: X:6.37, Y:-0.28, Z:1.05
[[ 0.82432755  0.25906536 -0.50335795  6.3729022 ]
 [-0.2598225   0.96310253  0.07018398 -0.28303832]
 [ 0.50296756  0.07292913  0.86122296  1.05465555]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 76.94327356000001
Centerline is valid?  [False, False]
Translation: X:6.38, Y:-0.28, Z:1.06
[[ 0.82365232  0.26184938 -0.50302262  6.37522887]
 [-0.26259259  0.96229451  0.07095353 -0.2834223 ]
 [ 0.50263505  0.07364897  0.86135581  1.05647773]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.00327356000001
Centerline is valid?  [False, False]
Translation: X:6.38, Y:-0.29, Z:1.06
[[ 0.8228776   0.26420202 -0.50306038  6.37749309]
 [-0.26519338  0.96156178  0.07121385 -0.28528747]
 [ 0.50253848  0.074808    0.86131228  1.05800173]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.06327356
Centerline is valid?  [False, False]
Translation: X:6.38, Y:-0.29, Z:1.06
[[ 0.82261896  0.26443677 -0.50335995  6.37901273]
 [-0.26560394  0.96146186  0.07103272 -0.28628141]
 [ 0.50274506  0.07526152  0.8611522   1.05906844]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.12327356
Centerline is valid?  [False, False]
Translation: X:6.38, Y:-0.29, Z:1.06
[[ 0.82209748  0.26462436 -0.50411276  6.38049532]
 [-0.26582689  0.96139095  0.07115839 -0.29055772]
 [ 0.50347969  0.07550759  0.86070134  1.06058917]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.18327356
Centerline is valid?  [False, False]
Translation: X:6.38, Y:-0.29, Z:1.06
[[ 0.82207975  0.26381984 -0.50456316  6.38161153]
 [-0.26516644  0.96160285  0.07075814 -0.29454584]
 [ 0.50385677  0.07562438  0.8604704   1.06143762]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.24327356
Centerline is valid?  [False, False]
Translation: X:6.38, Y:-0.30, Z:1.06
[[ 0.82250493  0.2627361  -0.5044357   6.38087637]
 [-0.26408044  0.96192606  0.07042568 -0.3003673 ]
 [ 0.50373322  0.07528613  0.86057239  1.06138206]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.30327356000001
Centerline is valid?  [False, False]
Translation: X:6.38, Y:-0.31, Z:1.06
[[ 0.8222064   0.26367135 -0.50443439  6.38117969]
 [-0.26437204  0.96174468  0.07179552 -0.3069276 ]
 [ 0.50406751  0.07432761  0.86045996  1.06227723]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.36327356000001
Centerline is valid?  [False, False]
Translation: X:6.38, Y:-0.31, Z:1.06
[[ 0.82170356  0.2640821  -0.50503851  6.38311788]
 [-0.26474483  0.96162057  0.07208363 -0.31202082]
 [ 0.50469142  0.07447496  0.86008142  1.06414906]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.42327356
Centerline is valid?  [False, False]
Translation: X:6.38, Y:-0.32, Z:1.07
[[ 0.82139854  0.26479432 -0.50516176  6.38323837]
 [-0.26538376  0.96141791  0.07243654 -0.31932323]
 [ 0.50485235  0.07456246  0.85997939  1.06510778]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.48327356
Centerline is valid?  [False, False]
Translation: X:6.38, Y:-0.33, Z:1.07
[[ 0.82100173  0.2655789  -0.5053949   6.38344325]
 [-0.26636289  0.96115185  0.07237362 -0.32684844]
 [ 0.50498214  0.07519958  0.85984769  1.06674002]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.54327356
Centerline is valid?  [False, False]
Translation: X:6.39, Y:-0.33, Z:1.07
[[ 0.82076796  0.26626354 -0.50541437  6.38521282]
 [-0.26697275  0.96095774  0.07270337 -0.33246051]
 [ 0.50504011  0.07525927  0.85980843  1.06836352]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.60327356
Centerline is valid?  [False, False]
Translation: X:6.39, Y:-0.34, Z:1.07
[[ 0.81987673  0.26742994 -0.50624438  6.38654309]
 [-0.2677096   0.96066006  0.07391765 -0.34052245]
 [ 0.50609655  0.07492312  0.85921639  1.06937278]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.66327356000001
Centerline is valid?  [False, False]
Translation: X:6.39, Y:-0.35, Z:1.07
[[ 0.81872485  0.26898378 -0.50728428  6.38866319]
 [-0.26883308  0.96024038  0.07528078 -0.34946544]
 [ 0.50736416  0.07474055  0.8584844   1.07033255]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.72327356000001
Centerline is valid?  [False, False]
Translation: X:6.39, Y:-0.36, Z:1.07
[[ 0.8181463   0.26980229 -0.50778279  6.39021917]
 [-0.26987936  0.95995147  0.07522174 -0.3554731 ]
 [ 0.50774183  0.0754977   0.85819481  1.07192433]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.78327356
Centerline is valid?  [False, False]
Translation: X:6.39, Y:-0.36, Z:1.07
[[ 0.81752313  0.27152574 -0.5078678   6.38865068]
 [-0.27223184  0.95932943  0.07467851 -0.36353299]
 [ 0.50748966  0.07720638  0.85819195  1.07278665]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.84327356
Centerline is valid?  [False, False]
Translation: X:6.39, Y:-0.37, Z:1.07
[[ 0.8172298   0.27402756 -0.50699541  6.38619596]
 [-0.27474059  0.95856975  0.07524394 -0.37128729]
 [ 0.50660937  0.07780063  0.85865826  1.07367716]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.90327356
Centerline is valid?  [False, False]
Translation: X:6.39, Y:-0.38, Z:1.08
[[ 0.81655616  0.2753917  -0.50734154  6.38667072]
 [-0.27623663  0.95812087  0.07548329 -0.37710716]
 [ 0.50688199  0.07850997  0.85843278  1.07602386]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 77.96327356
Centerline is valid?  [False, False]
Translation: X:6.39, Y:-0.39, Z:1.08
[[ 0.81591207  0.276445   -0.50780474  6.38684665]
 [-0.27748902  0.9577544   0.0755404  -0.38526573]
 [ 0.50723499  0.07927592  0.85815383  1.0761558 ]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.865405 with order 1
Centerline goodness : 0.862798 with order 1
Centerline goodness : 0.865719 with order 1
Centerline goodness : 0.861388 with order 1
Centerline goodness : 0.863002 with order 1
Centerline goodness : 0.860463 with order 1
Centerline goodness : 0.863857 with order 1
Centerline goodness : 0.859972 with order 1
Centerline goodness : 0.865955 with order 1
Centerline goodness : 0.865021 with order 1
Centerline goodness : 0.866169 with order 1
Centerline goodness : 0.866803 with order 1
Centerline goodness : 0.860528 with order 1
Centerline goodness : 0.859652 with order 1
Centerline goodness : 0.859632 with order 1
Centerline goodness : 0.864337 with order 1
Centerline goodness : 0.860229 with order 1
Centerline goodness : 0.861324 with order 1
Centerline goodness : 0.859514 with order 1
Centerline goodness : 0.863596 with order 1
SLAMing on frame at distance 78.02327356
Centerline is valid?  [False, False]
Translation: X:6.39, Y:-0.39, Z:1.08
[[ 0.81506519  0.27741314 -0.50863609  6.39053085]
 [-0.27821901  0.95747597  0.07638032 -0.39125938]
 [ 0.50819574  0.07925729  0.85758695  1.07757182]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 78.08327356000001
Centerline is valid?  [False, False]
Translation: X:6.39, Y:-0.40, Z:1.08
[[ 0.81382981  0.27833902 -0.51010629  6.39318231]
 [-0.27917905  0.95715756  0.07686646 -0.3994134 ]
 [ 0.50964703  0.07985477  0.85666979  1.07907217]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 78.14327356
Centerline is valid?  [False, False]
Translation: X:6.39, Y:-0.41, Z:1.08
[[ 0.81386516  0.27721702 -0.51066058  6.39300816]
 [-0.27884164  0.95737895  0.0753186  -0.40724386]
 [ 0.50977529  0.08109425  0.85647702  1.08022368]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 78.20327356
Centerline is valid?  [False, False]
Translation: X:6.39, Y:-0.41, Z:1.08
[[ 0.81382224  0.27789259 -0.5103617   6.39221362]
 [-0.27907178  0.95724122  0.07621148 -0.41486398]
 [ 0.50971786  0.08040495  0.85657618  1.08160737]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 78.26327356
Centerline is valid?  [False, False]
Translation: X:6.40, Y:-0.42, Z:1.08
[[ 0.81360561  0.27820924 -0.51053455  6.39527628]
 [-0.27870634  0.95724565  0.07748259 -0.42038275]
 [ 0.51026335  0.07924894  0.85635911  1.08385638]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 78.32327356
Centerline is valid?  [False, False]
Translation: X:6.40, Y:-0.43, Z:1.08
[[ 0.81342804  0.27775847 -0.51106267  6.39656971]
 [-0.27800024  0.95741925  0.07787326 -0.42781026]
 [ 0.5109312   0.07873126  0.85600859  1.08464802]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 78.38327356
Centerline is valid?  [False, False]
Translation: X:6.40, Y:-0.43, Z:1.09
[[ 0.81305896  0.27712239 -0.51199444  6.4002051 ]
 [-0.27749804  0.95758472  0.07762955 -0.43307603]
 [ 0.51179093  0.07896005  0.85547376  1.08722504]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 78.44327356000001
Centerline is valid?  [False, False]
Translation: X:6.40, Y:-0.44, Z:1.09
[[ 0.81247932  0.27744136 -0.51274131  6.4022293 ]
 [-0.27758389  0.95750941  0.07824909 -0.43931611]
 [ 0.51266416  0.07875296  0.85496984  1.08895903]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 78.50327356000001
Centerline is valid?  [False, False]
Translation: X:6.40, Y:-0.44, Z:1.09
[[ 0.81213986  0.27891425 -0.51247995  6.4027715 ]
 [-0.27847367  0.95713855  0.0796129  -0.44467131]
 [ 0.51271948  0.07805537  0.85500064  1.09107912]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 78.56327356
Centerline is valid?  [False, False]
Translation: X:6.41, Y:-0.45, Z:1.09
[[ 0.81277485  0.27703002 -0.51249528  6.4055288 ]
 [-0.27654518  0.95773765  0.07912875 -0.44863657]
 [ 0.51275707  0.07741424  0.85503639  1.09407368]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 78.62327356
Centerline is valid?  [False, False]
Translation: X:6.41, Y:-0.45, Z:1.10
[[ 0.81388914  0.27350538 -0.51262002  6.40591678]
 [-0.27300603  0.9588346   0.07812761 -0.45230484]
 [ 0.51288613  0.07636114  0.85505368  1.09628416]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 78.68327356
Centerline is valid?  [False, False]
Translation: X:6.41, Y:-0.45, Z:1.10
[[ 0.81402283  0.27177258 -0.51332885  6.41001538]
 [-0.27068519  0.95944435  0.07871511 -0.45470013]
 [ 0.51390307  0.07487462  0.85457441  1.09938352]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 78.74327356
Centerline is valid?  [False, False]
Translation: X:6.42, Y:-0.46, Z:1.10
[[ 0.81433311  0.26867954 -0.51446369  6.41537857]
 [-0.26770459  0.96035458  0.07780318 -0.45598554]
 [ 0.51497168  0.07436658  0.85397528  1.10269633]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 78.80327356000001
Centerline is valid?  [False, False]
Translation: X:6.42, Y:-0.46, Z:1.11
[[ 0.81341562  0.27061087 -0.5149027   6.42018021]
 [-0.26852179  0.95992104  0.08029722 -0.45572403]
 [ 0.51599524  0.07294758  0.85347968  1.10524701]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 78.86327356000001
Centerline is valid?  [False, False]
Translation: X:6.42, Y:-0.46, Z:1.11
[[ 0.81269776  0.27421231 -0.5141303   6.42393608]
 [-0.2716228   0.95889814  0.08206953 -0.45501884]
 [ 0.51550306  0.07295179  0.85377669  1.10816003]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 78.92327356
Centerline is valid?  [False, False]
Translation: X:6.43, Y:-0.46, Z:1.11
[[ 0.81234057  0.27541973 -0.51404938  6.42689229]
 [-0.2728915   0.95851687  0.08231432 -0.45518386]
 [ 0.51539599  0.07341245  0.85380184  1.11059069]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 78.98327356
Centerline is valid?  [False, False]
Translation: X:6.43, Y:-0.45, Z:1.11
[[ 0.81152563  0.27739898 -0.51427226  6.43082114]
 [-0.2755775   0.95779455  0.08177191 -0.45439568]
 [ 0.51525061  0.07536187  0.85371974  1.11416814]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 79.04327356
Centerline is valid?  [False, False]
Translation: X:6.44, Y:-0.45, Z:1.12
[[ 0.81018443  0.27980111 -0.51508497  6.43512616]
 [-0.27826752  0.95698363  0.08215551 -0.45201151]
 [ 0.51591508  0.0767703   0.8531928   1.11701615]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 79.10327356
Centerline is valid?  [False, False]
Translation: X:6.44, Y:-0.45, Z:1.12
[[ 0.80874704  0.28257083 -0.51583133  6.44099775]
 [-0.28043456  0.95618066  0.08411304 -0.44949552]
 [ 0.51699583  0.07663075  0.8525509   1.11951148]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 79.16327356000001
Centerline is valid?  [False, False]
Translation: X:6.45, Y:-0.45, Z:1.12
[[ 0.8080882   0.28321677 -0.51650917  6.44718506]
 [-0.28107887  0.9559636   0.0844291  -0.44832654]
 [ 0.5176757   0.07695366  0.85210915  1.12327014]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.859714 with order 1
Centerline goodness : 0.854272 with order 1
Centerline goodness : 0.857010 with order 1
Centerline goodness : 0.856742 with order 1
Centerline goodness : 0.859339 with order 1
Centerline goodness : 0.860017 with order 1
Centerline goodness : 0.857583 with order 1
Centerline goodness : 0.856137 with order 1
Centerline goodness : 0.859307 with order 1
Centerline goodness : 0.859903 with order 1
Centerline goodness : 0.860022 with order 1
Centerline goodness : 0.858361 with order 1
Centerline goodness : 0.857227 with order 1
Centerline goodness : 0.861290 with order 1
Centerline goodness : 0.858994 with order 1
Centerline goodness : 0.857096 with order 1
Centerline goodness : 0.863521 with order 1
Centerline goodness : 0.859907 with order 1
Centerline goodness : 0.855743 with order 1
Centerline goodness : 0.860241 with order 1
SLAMing on frame at distance 79.22327356000001
Centerline is valid?  [False, False]
Translation: X:6.45, Y:-0.44, Z:1.13
[[ 0.80861529  0.2827052  -0.51596423  6.44994772]
 [-0.28105169  0.9560636   0.0833807  -0.44476871]
 [ 0.51686678  0.07758972  0.85254242  1.12557839]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 79.28327356
Centerline is valid?  [False, False]
Translation: X:6.46, Y:-0.44, Z:1.13
[[ 0.80888399  0.28170315 -0.5160911   6.45522413]
 [-0.27982085  0.95641599  0.08347905 -0.44137729]
 [ 0.51711409  0.07688818  0.852456    1.12877131]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 79.34327356
Centerline is valid?  [False, False]
Translation: X:6.46, Y:-0.44, Z:1.13
[[ 0.80829572  0.28040423 -0.51771758  6.4621001 ]
 [-0.27834978  0.9568297   0.08365595 -0.4404676 ]
 [ 0.51882504  0.07648782  0.85145181  1.13310822]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 79.40327356
Centerline is valid?  [False, False]
Translation: X:6.47, Y:-0.44, Z:1.14
[[ 0.80818069  0.27782157 -0.51928715  6.46877704]
 [-0.27578264  0.95761913  0.08312364 -0.43771409]
 [ 0.52037285  0.07603146  0.85054766  1.13638069]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 79.46327356
Centerline is valid?  [False, False]
Translation: X:6.47, Y:-0.44, Z:1.14
[[ 0.80800878  0.27725838 -0.51985537  6.47355963]
 [-0.27496506  0.95782436  0.08346676 -0.43610355]
 [ 0.521072    0.07550019  0.85016686  1.14001577]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 79.52327356
Centerline is valid?  [False, False]
Translation: X:6.48, Y:-0.43, Z:1.14
[[ 0.8078604   0.27748488 -0.51996511  6.47827331]
 [-0.27417111  0.95789778  0.08521758 -0.43256781]
 [ 0.52172001  0.0737155   0.84992603  1.14310825]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 79.58327356000001
Centerline is valid?  [False, False]
Translation: X:6.48, Y:-0.43, Z:1.15
[[ 0.80739695  0.2769104  -0.52099021  6.48463854]
 [-0.27267814  0.95819026  0.08670671 -0.4289594 ]
 [ 0.52321774  0.07205591  0.8491473   1.1466751 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 79.64327356
Centerline is valid?  [False, False]
Translation: X:6.49, Y:-0.43, Z:1.15
[[ 0.80745055  0.27513214 -0.52184855  6.49059313]
 [-0.27090939  0.95872927  0.0862919  -0.42733635]
 [ 0.52405315  0.07169723  0.84866236  1.15050681]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 79.70327356
Centerline is valid?  [False, False]
Translation: X:6.49, Y:-0.42, Z:1.15
[[ 0.80877086  0.2719737  -0.52145948  6.49239626]
 [-0.26801785  0.95967115  0.08483935 -0.42369443]
 [ 0.52350369  0.07114486  0.84904787  1.15203167]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 79.76327356
Centerline is valid?  [False, False]
Translation: X:6.50, Y:-0.42, Z:1.15
[[ 0.80932096  0.27027197 -0.52149079  6.49613371]
 [-0.2661341   0.96021418  0.08462484 -0.42004133]
 [ 0.52361457  0.07029782  0.84905006  1.15392176]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 79.82327356
Centerline is valid?  [False, False]
Translation: X:6.50, Y:-0.42, Z:1.16
[[ 0.80846504  0.2705726  -0.52266121  6.50261384]
 [-0.26513898  0.96027761  0.08699558 -0.41810399]
 [ 0.52543848  0.06824497  0.84809022  1.15722728]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 79.88327356
Centerline is valid?  [False, False]
Translation: X:6.51, Y:-0.42, Z:1.16
[[ 0.80766103  0.26992579 -0.52423633  6.50852584]
 [-0.26424998  0.96048305  0.08743143 -0.41769296]
 [ 0.52712011  0.06791448  0.84707262  1.16082735]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 79.94327356000001
Centerline is valid?  [False, False]
Translation: X:6.51, Y:-0.42, Z:1.16
[[ 0.80765616  0.26893949 -0.52475049  6.51276977]
 [-0.26296913  0.96081162  0.08768272 -0.41690076]
 [ 0.52776772  0.06717569  0.84672821  1.16390348]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 80.00327356000001
Centerline is valid?  [False, False]
Translation: X:6.52, Y:-0.42, Z:1.17
[[ 0.80751976  0.2679716  -0.52545509  6.51587056]
 [-0.26181542  0.96111665  0.08779218 -0.41699807]
 [ 0.52854945  0.06667833  0.84627979  1.16711268]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 80.06327356
Centerline is valid?  [False, False]
Translation: X:6.52, Y:-0.42, Z:1.17
[[ 0.80772024  0.26624856 -0.52602254  6.51861164]
 [-0.26001982  0.96163351  0.08746824 -0.41738773]
 [ 0.52912919  0.06612642  0.84596075  1.16953888]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 80.12327356
Centerline is valid?  [False, False]
Translation: X:6.52, Y:-0.42, Z:1.17
[[ 0.80784052  0.26594242 -0.5259927   6.52112612]
 [-0.25925014  0.96178258  0.08811154 -0.41794775]
 [ 0.52932321  0.06518361  0.84591255  1.17159388]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 80.18327356
Centerline is valid?  [False, False]
Translation: X:6.52, Y:-0.42, Z:1.17
[[ 0.8076319   0.26620868 -0.52617834  6.52462285]
 [-0.25940453  0.96171461  0.08839855 -0.41894037]
 [ 0.52956586  0.06509956  0.84576714  1.17385156]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 80.24327356
Centerline is valid?  [False, False]
Translation: X:6.53, Y:-0.42, Z:1.18
[[ 0.80708346  0.26718562 -0.52652458  6.5263363 ]
 [-0.26046329  0.96140832  0.08861668 -0.41990603]
 [ 0.52988221  0.06561927  0.8455288   1.17591508]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 80.30327356000001
Centerline is valid?  [False, False]
Translation: X:6.53, Y:-0.42, Z:1.18
[[ 0.80631615  0.26909104 -0.52672979  6.52782481]
 [-0.26220271  0.96085412  0.08949361 -0.4201294 ]
 [ 0.53019241  0.06594983  0.8453086   1.17783539]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 80.36327356000001
Centerline is valid?  [False, False]
Translation: X:6.53, Y:-0.42, Z:1.18
[[ 0.80523708  0.27009686 -0.52786451  6.53299275]
 [-0.26367347  0.96047599  0.08923104 -0.42110878]
 [ 0.53110221  0.06733173  0.84462825  1.18120111]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.873160 with order 1
Centerline goodness : 0.855890 with order 1
Centerline goodness : 0.856757 with order 1
Centerline goodness : 0.869885 with order 1
Centerline goodness : 0.869298 with order 1
Centerline goodness : 0.862636 with order 1
Centerline goodness : 0.862003 with order 1
Centerline goodness : 0.875459 with order 1
Centerline goodness : 0.860910 with order 1
Centerline goodness : 0.871359 with order 1
Centerline goodness : 0.862628 with order 1
Centerline goodness : 0.868016 with order 1
Centerline goodness : 0.871144 with order 1
Centerline goodness : 0.871847 with order 1
Centerline goodness : 0.866746 with order 1
Centerline goodness : 0.876093 with order 1
Centerline goodness : 0.862834 with order 1
Centerline goodness : 0.869200 with order 1
Centerline goodness : 0.874863 with order 1
Centerline goodness : 0.867555 with order 1
SLAMing on frame at distance 80.42327356
Centerline is valid?  [False, False]
Translation: X:6.54, Y:-0.42, Z:1.18
[[ 0.8037542   0.27192265 -0.52918547  6.53651275]
 [-0.26595946  0.95984249  0.08926336 -0.42151299]
 [ 0.53220743  0.06899608  0.84379784  1.18442268]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 80.48327356
Centerline is valid?  [False, False]
Translation: X:6.54, Y:-0.42, Z:1.19
[[ 0.8027086   0.27452869 -0.52942696  6.54058225]
 [-0.26863306  0.95902909  0.08999717 -0.42214539]
 [ 0.53244265  0.06998008  0.84356838  1.187103  ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 80.54327356
Centerline is valid?  [False, False]
Translation: X:6.54, Y:-0.42, Z:1.19
[[ 0.80129141  0.27890184 -0.52928805  6.54488078]
 [-0.27288882  0.95768328  0.09151191 -0.42249652]
 [ 0.53241316  0.07110908  0.84349258  1.18993101]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 80.60327356
Centerline is valid?  [False, False]
Translation: X:6.55, Y:-0.42, Z:1.19
[[ 0.799983    0.2817612  -0.5297526   6.54855139]
 [-0.27611719  0.95672143  0.09188803 -0.42235812]
 [ 0.53271615  0.07276494  0.84315999  1.19275233]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 80.66327356000001
Centerline is valid?  [False, False]
Translation: X:6.55, Y:-0.42, Z:1.20
[[ 0.7981223   0.28527071 -0.53068014  6.5513493 ]
 [-0.27990299  0.95554273  0.09269526 -0.4224524 ]
 [ 0.5335308   0.0745568   0.84248809  1.19652934]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 80.72327356000001
Centerline is valid?  [False, False]
Translation: X:6.56, Y:-0.42, Z:1.20
[[ 0.79663184  0.28719912 -0.53187816  6.55588785]
 [-0.28182736  0.95489799  0.0935049  -0.4234727 ]
 [ 0.53474391  0.07540884  0.84164271  1.20010813]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 80.78327356
Centerline is valid?  [False, False]
Translation: X:6.56, Y:-0.42, Z:1.20
[[ 0.79542683  0.28887886 -0.53277121  6.56097364]
 [-0.28318458  0.95437965  0.09468885 -0.42457503]
 [ 0.53581961  0.07555454  0.84094521  1.20324741]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 80.84327356
Centerline is valid?  [False, False]
Translation: X:6.56, Y:-0.43, Z:1.21
[[ 0.79515826  0.28875274 -0.53324028  6.56466856]
 [-0.28284318  0.95444339  0.09506605 -0.42601709]
 [ 0.53639824  0.07523082  0.84060529  1.20587811]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 80.90327356
Centerline is valid?  [False, False]
Translation: X:6.57, Y:-0.43, Z:1.21
[[ 0.79548823  0.28814358 -0.53307763  6.56720023]
 [-0.28207108  0.95466817  0.09510301 -0.42746088]
 [ 0.53631556  0.07471246  0.84070427  1.20809772]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 80.96327356
Centerline is valid?  [False, False]
Translation: X:6.57, Y:-0.43, Z:1.21
[[ 0.79611572  0.28731661 -0.53258701  6.56786269]
 [-0.28133411  0.95493353  0.09462069 -0.42827354]
 [ 0.53577129  0.07450588  0.84106956  1.20995468]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 81.02327356
Centerline is valid?  [False, False]
Translation: X:6.57, Y:-0.43, Z:1.21
[[ 0.7957936   0.28674454 -0.53337615  6.57120979]
 [-0.28075607  0.95510744  0.09458233 -0.42993664]
 [ 0.53655249  0.07448058  0.84057365  1.21291203]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 81.08327356000001
Centerline is valid?  [False, False]
Translation: X:6.58, Y:-0.43, Z:1.22
[[ 0.79502421  0.28530462 -0.53529223  6.57627656]
 [-0.27906049  0.95557797  0.09484718 -0.43266064]
 [ 0.53857381  0.07397311  0.83932487  1.21578924]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 81.14327356
Centerline is valid?  [False, False]
Translation: X:6.58, Y:-0.44, Z:1.22
[[ 0.79428491  0.28419481 -0.53697745  6.58085209]
 [-0.2771385   0.95601859  0.09603494 -0.43617132]
 [ 0.54065306  0.07253802  0.83811247  1.2191428 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 81.20327356
Centerline is valid?  [False, False]
Translation: X:6.58, Y:-0.44, Z:1.22
[[ 0.79446744  0.28366176 -0.53698929  6.58301743]
 [-0.27577656  0.95629943  0.09715293 -0.43919768]
 [ 0.54108112  0.07090422  0.83797602  1.22158483]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 81.26327356
Centerline is valid?  [False, False]
Translation: X:6.58, Y:-0.44, Z:1.22
[[ 0.79464283  0.28365782 -0.5367318   6.58347255]
 [-0.27591018  0.95628676  0.09689789 -0.44188617]
 [ 0.54075536  0.07109055  0.83817049  1.22352324]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 81.32327356
Centerline is valid?  [False, False]
Translation: X:6.59, Y:-0.44, Z:1.23
[[ 0.79435569  0.28426527 -0.53683545  6.58585951]
 [-0.27693341  0.95603508  0.09646149 -0.44397735]
 [ 0.54065417  0.07204294  0.83815445  1.22558298]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 81.38327356
Centerline is valid?  [False, False]
Translation: X:6.59, Y:-0.45, Z:1.23
[[ 0.79318219  0.28580958 -0.53774984  6.59003338]
 [-0.27899749  0.95545178  0.0962928  -0.44618297]
 [ 0.54131544  0.07365312  0.83758749  1.22897585]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 81.44327356000001
Centerline is valid?  [False, False]
Translation: X:6.59, Y:-0.45, Z:1.23
[[ 0.79107671  0.29102362 -0.53805473  6.59145921]
 [-0.28369841  0.95381118  0.09878991 -0.44860524]
 [ 0.54195281  0.07449488  0.83710075  1.23159117]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 81.50327356000001
Centerline is valid?  [False, False]
Translation: X:6.60, Y:-0.45, Z:1.23
[[ 0.78894717  0.29488533 -0.53907791  6.59521441]
 [-0.28740623  0.95252919  0.10042807 -0.45134652]
 [ 0.54310222  0.07570191  0.8362471   1.23456833]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 81.56327356
Centerline is valid?  [False, False]
Translation: X:6.60, Y:-0.45, Z:1.24
[[ 0.7885172   0.29482954 -0.53973713  6.59814249]
 [-0.28726323  0.95254835  0.10065529 -0.45431732]
 [ 0.54380186  0.07567821  0.83579444  1.23685733]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.897396 with order 1
Centerline goodness : 0.903964 with order 1
Centerline goodness : 0.894749 with order 1
Centerline goodness : 0.893911 with order 1
Centerline goodness : 0.894645 with order 1
Centerline goodness : 0.899936 with order 1
Centerline goodness : 0.897033 with order 1
Centerline goodness : 0.897576 with order 1
Centerline goodness : 0.900361 with order 1
Centerline goodness : 0.894528 with order 1
Centerline goodness : 0.885395 with order 1
Centerline goodness : 0.898472 with order 1
Centerline goodness : 0.890613 with order 1
Centerline goodness : 0.896476 with order 1
Centerline goodness : 0.877324 with order 1
Centerline goodness : 0.898926 with order 1
Centerline goodness : 0.900693 with order 1
Centerline goodness : 0.896290 with order 1
Centerline goodness : 0.882356 with order 1
Centerline goodness : 0.889277 with order 1
SLAMing on frame at distance 81.62327356
Centerline is valid?  [False, False]
Translation: X:6.60, Y:-0.46, Z:1.24
[[ 0.78913722  0.29325585 -0.5396883   6.600613  ]
 [-0.28563211  0.95308328  0.10023252 -0.45706091]
 [ 0.54376167  0.0750551   0.83587677  1.23958642]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 81.68327356
Centerline is valid?  [False, False]
Translation: X:6.60, Y:-0.46, Z:1.24
[[ 0.79098835  0.28921042 -0.53916117  6.60133503]
 [-0.28180364  0.95440042  0.09852183 -0.46054423]
 [ 0.54306919  0.07400796  0.83642016  1.24129532]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 81.74327356
Centerline is valid?  [False, False]
Translation: X:6.60, Y:-0.47, Z:1.24
[[ 0.79148892  0.28609837 -0.54008611  6.60481248]
 [-0.27790922  0.95550423  0.09888447 -0.46516221]
 [ 0.54434525  0.07182895  0.83578039  1.24467341]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 81.80327356000001
Centerline is valid?  [False, False]
Translation: X:6.61, Y:-0.47, Z:1.25
[[ 0.79109805  0.28489949 -0.5412912   6.60965052]
 [-0.27567288  0.95600633  0.10028141 -0.4688885 ]
 [ 0.54604793  0.06988688  0.8348338   1.24803013]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 81.86327356000001
Centerline is valid?  [False, False]
Translation: X:6.61, Y:-0.47, Z:1.25
[[ 0.79142944  0.28199217 -0.54232819  6.61388389]
 [-0.27171205  0.95705139  0.10111974 -0.47379123]
 [ 0.54755092  0.06732797  0.83405931  1.25117154]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 81.92327356
Centerline is valid?  [False, False]
Translation: X:6.62, Y:-0.48, Z:1.25
[[ 0.79154047  0.27974677 -0.54332811  6.61729785]
 [-0.26969645  0.95771776  0.10020243 -0.47757678]
 [ 0.54838629  0.06721938  0.83351907  1.2549671 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 81.98327356
Centerline is valid?  [False, False]
Translation: X:6.62, Y:-0.48, Z:1.26
[[ 0.7929299   0.27742619 -0.54249137  6.61740269]
 [-0.26675878  0.95853207  0.10027972 -0.48009067]
 [ 0.5478156   0.06519955  0.83405461  1.25706431]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 82.04327356
Centerline is valid?  [False, False]
Translation: X:6.62, Y:-0.48, Z:1.26
[[ 0.79363934  0.27683196 -0.54175702  6.61874084]
 [-0.26628671  0.95871346  0.09979922 -0.48124771]
 [ 0.54701736  0.06505811  0.83458939  1.25968736]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 82.10327356
Centerline is valid?  [False, False]
Translation: X:6.62, Y:-0.48, Z:1.26
[[ 0.79238114  0.27742247 -0.54329449  6.62417044]
 [-0.26689742  0.95850412  0.1001779  -0.48201539]
 [ 0.54854161  0.06562482  0.83354393  1.26350721]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 82.16327356000001
Centerline is valid?  [False, False]
Translation: X:6.63, Y:-0.48, Z:1.27
[[ 0.79086548  0.27888836 -0.54475047  6.63132124]
 [-0.26822334  0.95804028  0.10106958 -0.48305916]
 [ 0.55008002  0.06618235  0.83248535  1.26724091]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 82.22327356000001
Centerline is valid?  [False, False]
Translation: X:6.64, Y:-0.48, Z:1.27
[[ 0.78937182  0.28068057 -0.54599501  6.6372046 ]
 [-0.26972144  0.95749213  0.10227005 -0.4833873 ]
 [ 0.55149114  0.06653746  0.83152287  1.27033025]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 82.28327356
Centerline is valid?  [False, False]
Translation: X:6.64, Y:-0.48, Z:1.27
[[ 0.789237    0.28049909 -0.5462831   6.6426457 ]
 [-0.26953196  0.95754592  0.10226596 -0.48425582]
 [ 0.55177666  0.06652868  0.83133414  1.27407175]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 82.34327356
Centerline is valid?  [False, False]
Translation: X:6.64, Y:-0.48, Z:1.28
[[ 0.79016101  0.27930625 -0.54555806  6.64437414]
 [-0.26858054  0.95790391  0.101413   -0.48422034]
 [ 0.55091748  0.06639368  0.83191455  1.2769499 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 82.40327356
Centerline is valid?  [False, False]
Translation: X:6.65, Y:-0.48, Z:1.28
[[ 0.79049129  0.27907177 -0.54519947  6.64802374]
 [-0.26775033  0.9580542   0.10218568 -0.48463601]
 [ 0.55084778  0.06520045  0.83205506  1.28064442]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 82.46327356
Centerline is valid?  [False, False]
Translation: X:6.65, Y:-0.48, Z:1.28
[[ 0.79025425  0.27836346 -0.54590476  6.65347129]
 [-0.26632657  0.95834893  0.10313818 -0.48490539]
 [ 0.55187714  0.06388356  0.8314749   1.28480249]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 82.52327356
Centerline is valid?  [False, False]
Translation: X:6.66, Y:-0.48, Z:1.29
[[ 0.78982597  0.27715866 -0.5471362   6.65873619]
 [-0.26504793  0.95871442  0.10303517 -0.48415115]
 [ 0.55310446  0.06363746  0.83067788  1.28792705]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 82.58327356000001
Centerline is valid?  [False, False]
Translation: X:6.67, Y:-0.48, Z:1.29
[[ 0.78941065  0.27599957 -0.54832021  6.6654787 ]
 [-0.26407658  0.95903481  0.10254651 -0.48242673]
 [ 0.55416097  0.06384722  0.82995732  1.29178631]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 82.64327356
Centerline is valid?  [False, False]
Translation: X:6.67, Y:-0.48, Z:1.30
[[ 0.78880395  0.27660186 -0.54888954  6.67150762]
 [-0.26461299  0.95884705  0.10291891 -0.48133279]
 [ 0.55476868  0.06406046  0.82953479  1.29575229]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 82.70327356
Centerline is valid?  [False, False]
Translation: X:6.68, Y:-0.48, Z:1.30
[[ 0.78819126  0.27823919 -0.54894216  6.6768367 ]
 [-0.26641102  0.95831728  0.10321412 -0.47772139]
 [ 0.55477898  0.06489177  0.82946329  1.2996666 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 82.76327356
Centerline is valid?  [False, False]
Translation: X:6.68, Y:-0.48, Z:1.30
[[ 0.78769935  0.27873971 -0.54939413  6.6800744 ]
 [-0.26715902  0.95812448  0.10307055 -0.47694325]
 [ 0.55511782  0.06558699  0.82918186  1.30227752]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.985269 with order 1
Centerline goodness : 0.910832 with order 1
Centerline goodness : 0.964262 with order 1
Centerline goodness : 0.954646 with order 1
Centerline goodness : 0.972330 with order 1
Centerline goodness : 0.905798 with order 1
Centerline goodness : 0.916201 with order 1
Centerline goodness : 0.925875 with order 1
Centerline goodness : 0.973563 with order 1
Centerline goodness : 0.913868 with order 1
Centerline goodness : 0.982320 with order 1
Centerline goodness : 0.904221 with order 1
Centerline goodness : 0.975473 with order 1
Centerline goodness : 0.950148 with order 1
Centerline goodness : 0.946092 with order 1
Centerline goodness : 0.905941 with order 1
Centerline goodness : 0.985096 with order 1
Centerline goodness : 0.934856 with order 1
Centerline goodness : 0.934471 with order 1
Centerline goodness : 0.968589 with order 1
SLAMing on frame at distance 82.82327356
Centerline is valid?  [False, False]
Translation: X:6.69, Y:-0.47, Z:1.31
[[ 0.78717631  0.2805706  -0.54921179  6.68603442]
 [-0.26954093  0.95748487  0.10281255 -0.47290254]
 [ 0.55470816  0.06710345  0.82933467  1.30585022]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 82.88327356
Centerline is valid?  [False, False]
Translation: X:6.69, Y:-0.47, Z:1.31
[[ 0.78593932  0.28367843 -0.54938687  6.69293402]
 [-0.27254357  0.95650592  0.10400211 -0.46879847]
 [ 0.55499494  0.06799251  0.82907034  1.30973789]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 82.94327356000001
Centerline is valid?  [False, False]
Translation: X:6.70, Y:-0.46, Z:1.31
[[ 0.78395789  0.28661975 -0.55068971  6.70041497]
 [-0.27613004  0.95545588  0.10419334 -0.46387491]
 [ 0.55602359  0.07037878  0.8281815   1.31431658]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.00327356000001
Centerline is valid?  [False, False]
Translation: X:6.71, Y:-0.46, Z:1.32
[[ 0.78250293  0.28919824 -0.55141051  6.70707823]
 [-0.27899434  0.95456559  0.10472198 -0.46051178]
 [ 0.55664291  0.07189515  0.82763504  1.3187823 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.06327356
Centerline is valid?  [False, False]
Translation: X:6.71, Y:-0.45, Z:1.32
[[ 0.78078993  0.29263263 -0.55202648  6.71444514]
 [-0.2826354   0.95339281  0.10563799 -0.45437339]
 [ 0.5572112   0.07354114  0.82710784  1.32296641]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.12327356
Centerline is valid?  [False, False]
Translation: X:6.72, Y:-0.45, Z:1.33
[[ 0.78021698  0.29385549 -0.55218693  6.72021939]
 [-0.28386766  0.95298071  0.10605149 -0.45095282]
 [ 0.55738731  0.07400484  0.82694781  1.32667888]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.18327356
Centerline is valid?  [False, False]
Translation: X:6.73, Y:-0.44, Z:1.33
[[ 0.78078403  0.29248083 -0.55211526  6.72518901]
 [-0.28310712  0.95335886  0.10467683 -0.44476349]
 [ 0.55697994  0.07457776  0.82717078  1.32905289]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.24327356
Centerline is valid?  [False, False]
Translation: X:6.73, Y:-0.44, Z:1.33
[[ 0.78137134  0.28972768 -0.55273565  6.73061058]
 [-0.28071984  0.95421119  0.1033314  -0.43911208]
 [ 0.55736451  0.07442367  0.82692558  1.33181759]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.30327356000001
Centerline is valid?  [False, False]
Translation: X:6.74, Y:-0.44, Z:1.33
[[ 0.78162024  0.28734069 -0.55362905  6.73551403]
 [-0.27844379  0.95496437  0.10252862 -0.43610109]
 [ 0.55815666  0.07401612  0.82642771  1.33377333]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.36327356000001
Centerline is valid?  [False, False]
Translation: X:6.74, Y:-0.43, Z:1.34
[[ 0.78238751  0.28366529 -0.55444006  6.74071999]
 [-0.27430565  0.95620323  0.10213612 -0.43222061]
 [ 0.55912985  0.07217601  0.82593246  1.33537302]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.42327356
Centerline is valid?  [False, True]
Translation: X:6.75, Y:-0.43, Z:1.34
[[ 0.78337577  0.2806325  -0.55458795  6.74563077]
 [-0.27084398  0.95722552  0.10179807 -0.42862812]
 [ 0.55943359  0.07046066  0.8258749   1.33671231]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.48327356
Centerline is valid?  [True, True]
Translation: X:6.78, Y:-0.44, Z:1.39
[[ 0.7827572   0.30282841 -0.54367833  6.78130186]
 [-0.26785925  0.95250054  0.14489353 -0.43538377]
 [ 0.56173178  0.03221282  0.82669205  1.38765103]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.54327356
Centerline is valid?  [True, True]
Translation: X:6.83, Y:-0.44, Z:1.42
[[ 0.78328334  0.30144852 -0.54368742  6.83235256]
 [-0.26620388  0.9529697   0.14485942 -0.44487785]
 [ 0.56178529  0.03126573  0.82669205  1.42286822]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.60327356
Centerline is valid?  [True, True]
Translation: X:6.88, Y:-0.45, Z:1.46
[[ 0.78332407  0.30137083 -0.54367179  6.87965894]
 [-0.26606881  0.9529985   0.14491803 -0.45430277]
 [ 0.56179247  0.03113633  0.82669205  1.45566667]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.66327356000001
Centerline is valid?  [True, True]
Translation: X:6.93, Y:-0.46, Z:1.49
[[ 0.78318573  0.30171357 -0.543681    6.92902182]
 [-0.2665097   0.95288056  0.14488348 -0.46052577]
 [ 0.56177637  0.03142559  0.82669205  1.48920049]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.72327356000001
Centerline is valid?  [True, True]
Translation: X:6.98, Y:-0.47, Z:1.52
[[ 0.78222039  0.30419647 -0.54368719  6.97772434]
 [-0.26954718  0.95202932  0.14486025 -0.46691558]
 [ 0.56167212  0.03323671  0.82669205  1.52233643]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.78327356
Centerline is valid?  [True, True]
Translation: X:7.03, Y:-0.48, Z:1.56
[[ 0.78148925  0.30605367 -0.54369634  7.02661571]
 [-0.27183162  0.95138479  0.14482591 -0.47613558]
 [ 0.56158893  0.03461396  0.82669205  1.55608636]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.84327356
Centerline is valid?  [True, True]
Translation: X:7.08, Y:-0.49, Z:1.59
[[ 0.780753    0.30791611 -0.54370252  7.07556326]
 [-0.27411533  0.95073286  0.14480271 -0.4861726 ]
 [ 0.56150293  0.03598204  0.82669205  1.59002306]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.90327356
Centerline is valid?  [True, True]
Translation: X:7.12, Y:-0.50, Z:1.62
[[ 0.78073877  0.30794667 -0.54370563  7.12394328]
 [-0.27416065  0.95072157  0.14479102 -0.49776196]
 [ 0.56150058  0.03601873  0.82669205  1.62386513]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 83.96327356
Centerline is valid?  [True, True]
Translation: X:7.17, Y:-0.51, Z:1.66
[[ 0.78039421  0.30881883 -0.54370563  7.17192567]
 [-0.27522276  0.95041464  0.14479102 -0.51017031]
 [ 0.56145999  0.03664609  0.82669205  1.65759584]
 [ 0.          0.          0.          1.        ]]

Centerline goodness : 0.993385 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.993328 with order 1
Centerline goodness : 0.992666 with order 1
Centerline goodness : 0.989596 with order 1
Centerline goodness : 0.998722 with order 1
Centerline goodness : 0.989533 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.998555 with order 1
Centerline goodness : 0.987632 with order 1
Centerline goodness : 0.994490 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.988149 with order 1
Centerline goodness : 0.995686 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.991143 with order 1
Centerline goodness : 0.993250 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 84.02327356
Centerline is valid?  [True, True]
Translation: X:7.22, Y:-0.52, Z:1.69
[[ 0.78044451  0.30868924 -0.54370701  7.21828528]
 [-0.27506853  0.95046008  0.14478583 -0.52109188]
 [ 0.56146564  0.03655939  0.82669205  1.6899959 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 84.08327356000001
Centerline is valid?  [True, True]
Translation: X:7.27, Y:-0.53, Z:1.72
[[ 0.7804803   0.30857182 -0.54372229  7.26602949]
 [-0.27496534  0.95049868  0.14472844 -0.53368464]
 [ 0.56146644  0.03654708  0.82669205  1.72356949]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 84.14327356
Centerline is valid?  [True, True]
Translation: X:7.31, Y:-0.55, Z:1.76
[[ 0.78144747  0.30610323 -0.54372848  7.31210681]
 [-0.27197561  0.95136201  0.14470519 -0.54570468]
 [ 0.56157734  0.03480138  0.82669205  1.755966  ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 84.20327356
Centerline is valid?  [True, True]
Translation: X:7.36, Y:-0.56, Z:1.79
[[ 0.78198871  0.30469073 -0.54374371  7.35962204]
 [-0.2702958   0.95184934  0.14464792 -0.55851698]
 [ 0.56163497  0.0338586   0.82669205  1.78942749]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 84.26327356
Centerline is valid?  [True, True]
Translation: X:7.41, Y:-0.57, Z:1.82
[[ 0.78278299  0.30263338 -0.54374978  7.40634091]
 [-0.2678077   0.95255583  0.14462512 -0.57205611]
 [ 0.56172041  0.03241029  0.82669205  1.82251201]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 84.32327356
Centerline is valid?  [True, True]
Translation: X:7.45, Y:-0.59, Z:1.86
[[ 0.78341783  0.30097544 -0.54375573  7.45387037]
 [-0.26580589  0.95311976  0.14460274 -0.58532022]
 [ 0.5617862   0.03124911  0.82669205  1.85608176]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 84.38327356
Centerline is valid?  [True, True]
Translation: X:7.50, Y:-0.60, Z:1.89
[[ 0.78386445  0.29979968 -0.54376159  7.5019196 ]
 [-0.2643908   0.95351661  0.1445807  -0.59799661]
 [ 0.56183096  0.03043389  0.82669205  1.88989077]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 84.44327356000001
Centerline is valid?  [True, True]
Translation: X:7.55, Y:-0.61, Z:1.92
[[ 0.78493319  0.29697896 -0.54376777  7.5501451 ]
 [-0.26097629  0.95446033  0.14455744 -0.6103524 ]
 [ 0.56193529  0.02844256  0.82669206  1.92375897]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 84.50327356
Centerline is valid?  [True, True]
Translation: X:7.60, Y:-0.62, Z:1.96
[[ 0.78549726  0.29547259 -0.54377386  7.59645541]
 [-0.25916058  0.95495841  0.14453454 -0.62189173]
 [ 0.56198742  0.02739326  0.82669206  1.9562249 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 84.56327356
Centerline is valid?  [True, True]
Translation: X:7.64, Y:-0.63, Z:1.99
[[ 0.7856826   0.29495169 -0.54378889  7.64423001]
 [-0.25856638  0.95512802  0.14447797 -0.63201747]
 [ 0.56200203  0.0270917   0.82669206  1.9893878 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 84.62327356
Centerline is valid?  [True, True]
Translation: X:7.69, Y:-0.64, Z:2.02
[[ 0.78567727  0.29494372 -0.54380091  7.69221401]
 [-0.25858794  0.95512903  0.14443272 -0.64372107]
 [ 0.56199956  0.02714285  0.82669206  2.02297086]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 84.68327356
Centerline is valid?  [True, True]
Translation: X:7.74, Y:-0.65, Z:2.06
[[ 0.78484587  0.29713764 -0.54380713  7.74014367]
 [-0.26127159  0.95440196  0.14440932 -0.65322655]
 [ 0.56192003  0.0287423   0.82669206  2.05614668]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 84.74327356
Centerline is valid?  [True, True]
Translation: X:7.79, Y:-0.66, Z:2.09
[[ 0.78429857  0.29857726 -0.54380822  7.7883296 ]
 [-0.26302523  0.95392078  0.14440521 -0.66282545]
 [ 0.56186607  0.02977848  0.82669206  2.08951838]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 84.80327356000001
Centerline is valid?  [True, True]
Translation: X:7.84, Y:-0.67, Z:2.12
[[ 0.78334638  0.30104973 -0.54381753  7.8366424 ]
 [-0.2660572   0.9530849   0.14437014 -0.67136151]
 [ 0.56176687  0.03159474  0.82669206  2.12277075]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 84.86327356000001
Centerline is valid?  [True, True]
Translation: X:7.88, Y:-0.68, Z:2.16
[[ 0.78250944  0.30321263 -0.54382081  7.88462225]
 [-0.2686977   0.95234572  0.14435777 -0.68030873]
 [ 0.56167652  0.03316209  0.82669206  2.15588872]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 84.92327356
Centerline is valid?  [True, True]
Translation: X:7.93, Y:-0.69, Z:2.19
[[ 0.78217307  0.30405728 -0.54383312  7.9331111 ]
 [-0.26975786  0.952053    0.14431138 -0.69083206]
 [ 0.56163688  0.03382678  0.82669206  2.18959823]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 84.98327356
Centerline is valid?  [True, True]
Translation: X:7.98, Y:-0.70, Z:2.22
[[ 0.78193868  0.30464854 -0.54383928  7.98145178]
 [-0.27049367  0.95184773  0.14428816 -0.70061833]
 [ 0.56160937  0.03428059  0.82669206  2.22309449]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 85.04327356
Centerline is valid?  [True, True]
Translation: X:8.03, Y:-0.71, Z:2.26
[[ 0.78146205  0.30585797 -0.54384554  8.0288925 ]
 [-0.27198234  0.951427    0.14426459 -0.71046365]
 [ 0.5615538   0.03517908  0.82669206  2.256009  ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 85.10327356
Centerline is valid?  [True, True]
Translation: X:8.08, Y:-0.72, Z:2.29
[[ 0.78111145  0.30673589 -0.54385476  8.07716698]
 [-0.27307539  0.95111913  0.14422979 -0.72184389]
 [ 0.56151112  0.03585381  0.82669206  2.28973393]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 85.16327356000001
Centerline is valid?  [True, True]
Translation: X:8.13, Y:-0.73, Z:2.32
[[ 0.78013724  0.30920446 -0.54385521  8.12582854]
 [-0.27608292  0.95025074  0.14422809 -0.7314106 ]
 [ 0.56139479  0.03763143  0.82669206  2.323415  ]
 [ 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 85.22327356000001
Centerline is valid?  [True, True]
Translation: X:8.17, Y:-0.74, Z:2.36
[[ 0.77917119  0.31162536 -0.54385833  8.17303048]
 [-0.27904037  0.94938829  0.14421633 -0.74102862]
 [ 0.5612742   0.03938922  0.82669206  2.35613944]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 85.28327356
Centerline is valid?  [True, True]
Translation: X:8.22, Y:-0.75, Z:2.39
[[ 0.77912179  0.31172742 -0.54387062  8.21888643]
 [-0.27919692  0.9493493   0.14416997 -0.75302718]
 [ 0.56126493  0.03952103  0.82669206  2.38837536]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 85.34327356
Centerline is valid?  [True, True]
Translation: X:8.27, Y:-0.77, Z:2.42
[[ 0.78021336  0.30892703 -0.54390367  8.26714559]
 [-0.27587188  0.95033977  0.14404521 -0.76658578]
 [ 0.56139275  0.03766173  0.82669207  2.42242263]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 85.40327356
Centerline is valid?  [True, True]
Translation: X:8.31, Y:-0.78, Z:2.46
[[ 0.78174345  0.30503253 -0.54390471  8.31406355]
 [-0.27113216  0.95170345  0.14404127 -0.78005749]
 [ 0.56157327  0.03486674  0.82669207  2.45563651]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 85.46327356
Centerline is valid?  [True, True]
Translation: X:8.36, Y:-0.80, Z:2.49
[[ 0.78485391  0.29692707 -0.54391052  8.36225386]
 [-0.261285    0.95445722  0.14401933 -0.79533658]
 [ 0.56190256  0.02908153  0.82669207  2.48999274]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 85.52327356
Centerline is valid?  [True, True]
Translation: X:8.41, Y:-0.81, Z:2.52
[[ 0.78720707  0.29063217 -0.54390988  8.41005365]
 [-0.25363135  0.95651915  0.14402174 -0.80964942]
 [ 0.56211757  0.02457766  0.82669207  2.52393671]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 85.58327356000001
Centerline is valid?  [True, True]
Translation: X:8.46, Y:-0.82, Z:2.56
[[ 0.78992132  0.28315877 -0.54391674  8.45738724]
 [-0.24457284  0.9588792   0.14399585 -0.82260947]
 [ 0.56232413  0.01928186  0.82669207  2.55732302]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 85.64327356
Centerline is valid?  [True, True]
Translation: X:8.51, Y:-0.84, Z:2.59
[[ 0.79096002  0.28023716 -0.54392038  8.50575099]
 [-0.24103644  0.95977632  0.14398211 -0.83510914]
 [ 0.56239103  0.01722054  0.82669207  2.59131347]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 85.70327356
Centerline is valid?  [True, True]
Translation: X:8.55, Y:-0.84, Z:2.62
[[ 0.79141122  0.27895921 -0.54392098  8.55375284]
 [-0.23948744  0.96016435  0.14397982 -0.84489963]
 [ 0.56241803  0.016315    0.82669207  2.62460015]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 85.76327356
Centerline is valid?  [True, True]
Translation: X:8.60, Y:-0.85, Z:2.66
[[ 0.79010721  0.28260728 -0.54393356  8.6014439 ]
 [-0.24394712  0.95904812  0.14393229 -0.85341382]
 [ 0.56233477  0.01896908  0.82669207  2.65743608]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 85.82327356
Centerline is valid?  [True, True]
Translation: X:8.65, Y:-0.86, Z:2.69
[[ 0.78910752  0.28535724 -0.54394905  8.64999505]
 [-0.24732598  0.95819111  0.14387373 -0.86279644]
 [ 0.56226256  0.02100089  0.82669207  2.69098375]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 85.88327356
Centerline is valid?  [True, True]
Translation: X:8.70, Y:-0.87, Z:2.72
[[ 0.78721344  0.29053015 -0.54395517  8.6989483 ]
 [-0.2536254   0.95654648  0.14385057 -0.87170262]
 [ 0.56211133  0.02471974  0.82669207  2.72473206]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 85.94327356000001
Centerline is valid?  [True, True]
Translation: X:8.75, Y:-0.88, Z:2.76
[[ 0.78584529  0.29420767 -0.54395683  8.74801323]
 [-0.25809939  0.95534995  0.14384431 -0.88053433]
 [ 0.56198923  0.02735555  0.82669207  2.75854986]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 86.00327356
Centerline is valid?  [True, True]
Translation: X:8.80, Y:-0.89, Z:2.79
[[ 0.78526565  0.29574564 -0.5439599   8.79681282]
 [-0.2599773   0.95484237  0.14383271 -0.89171021]
 [ 0.56193386  0.02847033  0.82669207  2.79259823]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 86.06327356
Centerline is valid?  [True, True]
Translation: X:8.84, Y:-0.90, Z:2.83
[[ 0.78431622  0.29825441 -0.5439599   8.84396979]
 [-0.26302834  0.95400642  0.14383271 -0.90309764]
 [ 0.56183997  0.03026654  0.82669207  2.82560857]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 86.12327356
Centerline is valid?  [True, True]
Translation: X:8.89, Y:-0.91, Z:2.86
[[ 0.78330504  0.30089368 -0.54396342  8.89128929]
 [-0.26624841  0.95311477  0.14381939 -0.91404067]
 [ 0.56173391  0.03217494  0.82669207  2.85864173]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 86.18327356
Centerline is valid?  [True, True]
Translation: X:8.94, Y:-0.93, Z:2.89
[[ 0.78270162  0.30243636 -0.5439765   8.93884393]
 [-0.26815998  0.95258619  0.14376991 -0.92628456]
 [ 0.56166574  0.03334378  0.82669207  2.89203748]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 86.24327356
Centerline is valid?  [True, True]
Translation: X:8.99, Y:-0.94, Z:2.93
[[ 0.77916213  0.31142547 -0.5439858   8.9859281 ]
 [-0.27913122  0.94943462  0.14373471 -0.94286054]
 [ 0.5612416   0.03985078  0.82669207  2.92588419]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 86.30327356000001
Centerline is valid?  [True, True]
Translation: X:9.03, Y:-0.96, Z:2.96
[[ 0.78216891  0.30379314 -0.5439867   9.03410159]
 [-0.26983814  0.952118    0.14373129 -0.95540167]
 [ 0.56160411  0.03436621  0.82669207  2.95976238]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 86.36327356000001
Centerline is valid?  [True, True]
Translation: X:9.08, Y:-0.98, Z:2.99
[[ 0.77931872  0.31103068 -0.54398736  9.08024229]
 [-0.27865427  0.9495756   0.14372881 -0.97749765]
 [ 0.56126119  0.03957385  0.82669207  2.99396463]
 [ 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 86.42327356
Centerline is valid?  [True, True]
Translation: X:9.13, Y:-0.99, Z:3.03
[[ 0.78030067  0.30855973 -0.5439869   9.12717625]
 [-0.27564281  0.95045388  0.14373053 -0.99235394]
 [ 0.56138392  0.03779305  0.82669207  3.02743237]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 86.48327356
Centerline is valid?  [True, True]
Translation: X:9.17, Y:-1.01, Z:3.06
[[ 0.78272866  0.30234107 -0.54399056  9.17391219]
 [-0.26808085  0.95261649  0.1437167  -1.00849985]
 [ 0.56166583  0.03334227  0.82669207  3.06098572]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 86.54327356
Centerline is valid?  [True, True]
Translation: X:9.22, Y:-1.03, Z:3.10
[[ 0.77957569  0.31037358 -0.54399447  9.22038217]
 [-0.27787233  0.94980879  0.1437019  -1.02946367]
 [ 0.561292    0.0391345   0.82669207  3.09520088]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 86.60327356
Centerline is valid?  [True, True]
Translation: X:9.27, Y:-1.05, Z:3.13
[[ 0.77824702  0.31369101 -0.54399404  9.26715013]
 [-0.28191398  0.94861679  0.1437035  -1.04891329]
 [ 0.56112038  0.04152271  0.82669207  3.12935772]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 86.66327356000001
Centerline is valid?  [True, True]
Translation: X:9.31, Y:-1.07, Z:3.16
[[ 0.77786728  0.3146333  -0.54399299  9.31345695]
 [-0.28305985  0.9482749   0.14370749 -1.06592029]
 [ 0.56107006  0.04219722  0.82669207  3.16278788]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 86.72327356000001
Centerline is valid?  [True, True]
Translation: X:9.36, Y:-1.08, Z:3.20
[[ 0.77716532  0.31635831 -0.54399584  9.36008847]
 [-0.28517052  0.94764394  0.14369668 -1.08437441]
 [ 0.56097401  0.0434555   0.82669207  3.19667492]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 86.78327356
Centerline is valid?  [True, True]
Translation: X:9.40, Y:-1.11, Z:3.23
[[ 0.77689494  0.31702406 -0.54399448  9.40394031]
 [-0.28597876  0.94739956  0.14370183 -1.1086337 ]
 [ 0.56093707  0.04392965  0.82669207  3.22975093]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 86.84327356
Centerline is valid?  [True, True]
Translation: X:9.45, Y:-1.13, Z:3.26
[[ 0.78118414  0.30628627 -0.54400373  9.45101694]
 [-0.27291818  0.95124945  0.14366682 -1.12795714]
 [ 0.56148642  0.03623826  0.82669207  3.26406738]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 86.90327356
Centerline is valid?  [True, True]
Translation: X:9.50, Y:-1.15, Z:3.30
[[ 0.78491257  0.29660155 -0.54400347  9.49665694]
 [-0.26113206  0.95455205  0.14366779 -1.14732662]
 [ 0.56189172  0.02929009  0.82669207  3.29746744]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 86.96327356
Centerline is valid?  [True, True]
Translation: X:9.54, Y:-1.17, Z:3.33
[[ 0.78601304  0.29366615 -0.54400708  9.54272525]
 [-0.25757237  0.95552078  0.14365414 -1.16633695]
 [ 0.56199643  0.02720717  0.82669207  3.33107805]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 87.02327356
Centerline is valid?  [True, True]
Translation: X:9.59, Y:-1.18, Z:3.36
[[ 0.78809497  0.28802106 -0.54401304  9.59075849]
 [-0.250728    0.95734291  0.14363157 -1.17945858]
 [ 0.56217594  0.02320398  0.82669207  3.36495287]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 87.08327356000001
Centerline is valid?  [True, True]
Translation: X:9.64, Y:-1.20, Z:3.40
[[ 0.78770857  0.28907603 -0.54401311  9.63787507]
 [-0.25200981  0.95700633  0.14363129 -1.19588632]
 [ 0.56214435  0.02395704  0.82669207  3.39881244]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 87.14327356
Centerline is valid?  [True, True]
Translation: X:9.69, Y:-1.21, Z:3.43
[[ 0.78683538  0.29146694 -0.54400102  9.68788579]
 [-0.25488345  0.95623811  0.14367708 -1.20657434]
 [ 0.56207162  0.02560665  0.82669208  3.43360741]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 87.20327356
Centerline is valid?  [True, True]
Translation: X:9.74, Y:-1.22, Z:3.47
[[ 0.78594644  0.29393103 -0.54396023  9.73833051]
 [-0.25777202  0.95544028  0.14383136 -1.21652524]
 [ 0.56199802  0.02717399  0.82669209  3.46862532]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 87.26327356
Centerline is valid?  [True, True]
Translation: X:9.79, Y:-1.23, Z:3.50
[[ 0.78508219  0.29631092 -0.54391708  9.78666375]
 [-0.26055296  0.95466107  0.1439944  -1.22773983]
 [ 0.56192358  0.02867177  0.8266921   3.50247811]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 87.32327356
Centerline is valid?  [True, True]
Translation: X:9.84, Y:-1.24, Z:3.54
[[ 0.78459006  0.29761485 -0.54391528  9.83650187]
 [-0.26213399  0.95422714  0.14400119 -1.23674278]
 [ 0.56187561  0.02959678  0.8266921   3.53684101]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 87.38327356
Centerline is valid?  [True, True]
Translation: X:9.88, Y:-1.25, Z:3.57
[[ 0.78399472  0.29919108 -0.54390898  9.88486419]
 [-0.26403474  0.95369935  0.144025   -1.24759197]
 [ 0.56181663  0.03069603  0.8266921   3.57056463]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 87.44327356000001
Centerline is valid?  [True, True]
Translation: X:9.93, Y:-1.26, Z:3.60
[[ 0.78388398  0.29947438 -0.54391268  9.93137184]
 [-0.26438905  0.9536033   0.144011   -1.25772217]
 [ 0.56180454  0.03091664  0.8266921   3.60292016]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 87.50327356
Centerline is valid?  [True, True]
Translation: X:9.98, Y:-1.27, Z:3.64
[[ 0.78385533  0.29952188 -0.54392781  9.97949462]
 [-0.26448638  0.95358494  0.14395385 -1.27093673]
 [ 0.5617987   0.03102251  0.8266921   3.63684998]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 87.56327356
Centerline is valid?  [True, True]
Translation: X:10.03, Y:-1.28, Z:3.67
[[ 0.78461579  0.29751854 -0.54393085 10.02823705]
 [-0.26205752  0.95425702  0.14394234 -1.28124834]
 [ 0.56187535  0.02960173  0.8266921   3.67070918]
 [ 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 87.62327356
Centerline is valid?  [True, True]
Translation: X:10.07, Y:-1.31, Z:3.70
[[ 0.78380114  0.29965953 -0.54393009 10.07307373]
 [-0.2646598   0.95353813  0.14394522 -1.30659716]
 [ 0.56179264  0.031132    0.8266921   3.7046254 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 87.68327356
Centerline is valid?  [True, True]
Translation: X:10.12, Y:-1.32, Z:3.74
[[ 0.7848023   0.29703191 -0.54392775 10.12191926]
 [-0.2614576   0.9544198   0.14395407 -1.31940469]
 [ 0.56189437  0.02923857  0.8266921   3.73899924]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 87.74327356
Centerline is valid?  [True, True]
Translation: X:10.17, Y:-1.33, Z:3.77
[[ 0.78672228  0.29191444 -0.54392464 10.17049444]
 [-0.25522811  0.95610274  0.14396582 -1.33109531]
 [ 0.56207354  0.02556374  0.8266921   3.77300246]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 87.80327356000001
Centerline is valid?  [True, True]
Translation: X:10.22, Y:-1.34, Z:3.81
[[ 0.78826184  0.28773062 -0.54392496 10.22030143]
 [-0.25014576  0.95744519  0.1439646  -1.34187127]
 [ 0.56220136  0.02257872  0.8266921   3.80764899]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 87.86327356000001
Centerline is valid?  [True, True]
Translation: X:10.27, Y:-1.34, Z:3.84
[[ 0.79176964  0.27801718 -0.54388168 10.27374754]
 [-0.23824291  0.96045169  0.14412798 -1.33708147]
 [ 0.56244213  0.0154598   0.82669211  3.84207479]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 87.92327356
Centerline is valid?  [True, True]
Translation: X:10.32, Y:-1.36, Z:3.88
[[ 0.7909075   0.28046611 -0.54387874 10.31767474]
 [-0.24120643  0.95971006  0.14413905 -1.3642225 ]
 [ 0.56239202  0.01718639  0.82669211  3.87571303]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 87.98327356
Centerline is valid?  [True, True]
Translation: X:10.37, Y:-1.37, Z:3.91
[[ 0.79181021  0.27789518 -0.54388496 10.36778897]
 [-0.23810344  0.96048813  0.14411557 -1.37351567]
 [ 0.56244408  0.0153887   0.82669211  3.91028942]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 88.04327356
Centerline is valid?  [True, True]
Translation: X:10.42, Y:-1.39, Z:3.94
[[ 0.79198406  0.27741179 -0.54387861 10.41673285]
 [-0.23750064  0.96063377  0.14413954 -1.38531148]
 [ 0.56245417  0.0150153   0.82669211  3.94456041]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 88.10327356
Centerline is valid?  [True, True]
Translation: X:10.47, Y:-1.38, Z:3.98
[[ 0.79389469  0.27190829 -0.54387232 10.47006101]
 [-0.23081132  0.96225936  0.14416328 -1.37925437]
 [ 0.56254542  0.01108143  0.82669211  3.97860227]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 88.16327356000001
Centerline is valid?  [True, True]
Translation: X:10.51, Y:-1.40, Z:4.01
[[ 0.79310264  0.27420885 -0.54387288 10.51466674]
 [-0.23360164  0.9615861   0.14416116 -1.40326664]
 [ 0.56251087  0.012715    0.82669211  4.01213409]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 88.22327356000001
Centerline is valid?  [True, True]
Translation: X:10.56, Y:-1.41, Z:4.04
[[ 7.94707151e-01  2.69511090e-01 -5.43878954e-01  1.05624252e+01]
 [-2.27923310e-01  9.62951261e-01  1.44138248e-01 -1.41128765e+00]
 [ 5.62575780e-01  9.41499540e-03  8.26692113e-01  4.04493942e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.28327356
Centerline is valid?  [True, True]
Translation: X:10.61, Y:-1.42, Z:4.08
[[ 7.94887938e-01  2.68953294e-01 -5.43890883e-01  1.06111812e+01]
 [-2.27278247e-01  9.63110451e-01  1.44093224e-01 -1.41719462e+00]
 [ 5.62581340e-01  9.07660088e-03  8.26692114e-01  4.07802015e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.34327356
Centerline is valid?  [True, True]
Translation: X:10.66, Y:-1.43, Z:4.11
[[ 0.79368038  0.27247156 -0.54390321 10.65870114]
 [-0.23157393  0.96209359  0.14404668 -1.42569017]
 [ 0.56253441  0.01162678  0.82669211  4.1107386 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 88.40327356
Centerline is valid?  [True, True]
Translation: X:10.71, Y:-1.43, Z:4.14
[[ 7.95480972e-01  2.67140591e-01 -5.43917207e-01  1.07088079e+01]
 [-2.25150136e-01  9.63625030e-01  1.43993811e-01 -1.42991552e+00]
 [ 5.62598827e-01  7.91869674e-03  8.26692116e-01  4.14441220e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.46327356
Centerline is valid?  [True, True]
Translation: X:10.76, Y:-1.44, Z:4.18
[[ 7.95498037e-01  2.67083474e-01 -5.43920298e-01  1.07569795e+01]
 [-2.25088928e-01  9.63641074e-01  1.43982135e-01 -1.44167155e+00]
 [ 5.62599189e-01  7.89293078e-03  8.26692116e-01  4.17814762e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.52327356
Centerline is valid?  [True, True]
Translation: X:10.81, Y:-1.45, Z:4.21
[[ 7.96036877e-01  2.65466847e-01 -5.43923380e-01  1.08050281e+01]
 [-2.23138755e-01  9.64096258e-01  1.43970491e-01 -1.45154847e+00]
 [ 5.62613887e-01  6.76456561e-03  8.26692116e-01  4.21147491e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.58327356000001
Centerline is valid?  [True, True]
Translation: X:10.85, Y:-1.46, Z:4.24
[[ 7.97981779e-01  2.59535878e-01 -5.43935849e-01  1.08530930e+01]
 [-2.15990482e-01  9.65729867e-01  1.43923369e-01 -1.45944344e+00]
 [ 5.62648373e-01  2.63673976e-03  8.26692117e-01  4.24444862e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.64327356
Centerline is valid?  [True, True]
Translation: X:10.91, Y:-1.45, Z:4.28
[[ 7.99236144e-01  2.55627435e-01 -5.43945035e-01  1.09053209e+01]
 [-2.11285232e-01  9.66775366e-01  1.43888643e-01 -1.45140048e+00]
 [ 5.62654545e-01 -7.34517482e-05  8.26692117e-01  4.27739467e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.70327356
Centerline is valid?  [True, True]
Translation: X:10.96, Y:-1.46, Z:4.31
[[ 7.99869182e-01  2.53613580e-01 -5.43957208e-01  1.09555329e+01]
 [-2.08880837e-01  9.67304553e-01  1.43842614e-01 -1.45548057e+00]
 [ 5.62652724e-01 -1.43303744e-03  8.26692118e-01  4.31111991e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.76327356
Centerline is valid?  [True, True]
Translation: X:11.00, Y:-1.46, Z:4.34
[[ 7.99706831e-01  2.54118369e-01 -5.43960328e-01  1.10038682e+01]
 [-2.09499340e-01  9.67172541e-01  1.43830812e-01 -1.46282530e+00]
 [ 5.62653544e-01 -1.06315312e-03  8.26692118e-01  4.34419622e+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 88.82327356
Centerline is valid?  [True, True]
Translation: X:11.05, Y:-1.47, Z:4.38
[[ 7.99207627e-01  2.55657792e-01 -5.43972667e-01  1.10542037e+01]
 [-2.11393083e-01  9.66767339e-01  1.43784134e-01 -1.46748287e+00]
 [ 5.62654542e-01  7.86829135e-05  8.26692119e-01  4.37810436e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.88327356
Centerline is valid?  [True, True]
Translation: X:11.10, Y:-1.48, Z:4.41
[[ 7.97519511e-01  2.60869620e-01 -5.43975800e-01  1.11009923e+01]
 [-2.17707779e-01  9.65366694e-01  1.43772280e-01 -1.48231480e+00]
 [ 5.62641940e-01  3.76656448e-03  8.26692119e-01  4.41146559e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.94327356000001
Centerline is valid?  [True, True]
Translation: X:11.15, Y:-1.49, Z:4.44
[[ 7.97176412e-01  2.61903375e-01 -5.43981976e-01  1.11495637e+01]
 [-2.18975128e-01  9.65083491e-01  1.43748911e-01 -1.48833170e+00]
 [ 5.62636349e-01  4.52528179e-03  8.26692120e-01  4.44446139e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.00327356
Centerline is valid?  [True, True]
Translation: X:11.20, Y:-1.49, Z:4.48
[[ 7.95575195e-01  2.66702716e-01 -5.43994274e-01  1.11979965e+01]
 [-2.24818947e-01  9.63745855e-01  1.43702357e-01 -1.49439980e+00]
 [ 5.62598036e-01  7.97418935e-03  8.26692121e-01  4.47736428e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.06327356
Centerline is valid?  [True, True]
Translation: X:11.25, Y:-1.50, Z:4.51
[[ 7.94124484e-01  2.70973528e-01 -5.44003356e-01  1.12460946e+01]
 [-2.30017500e-01  9.62523488e-01  1.43667969e-01 -1.50248391e+00]
 [ 5.62546224e-01  1.10400405e-02  8.26692121e-01  4.51040372e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.12327356
Centerline is valid?  [True, True]
Translation: X:11.30, Y:-1.50, Z:4.54
[[ 7.94497577e-01  2.69853251e-01 -5.44015463e-01  1.12959391e+01]
 [-2.28691145e-01  9.62846327e-01  1.43622114e-01 -1.50325409e+00]
 [ 5.62560184e-01  1.03040974e-02  8.26692122e-01  4.54331679e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.18327356
Centerline is valid?  [True, True]
Translation: X:11.34, Y:-1.52, Z:4.58
[[ 0.79140666  0.27876321 -0.5440281  11.34345866]
 [-0.23952814  0.96021493  0.14357424 -1.51792355]
 [ 0.56240712  0.01668443  0.82669212  4.57711428]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 89.24327356
Centerline is valid?  [True, True]
Translation: X:11.39, Y:-1.52, Z:4.61
[[ 0.78986585  0.283094   -0.54403099 11.39312822]
 [-0.24479173  0.95888821  0.14356328 -1.52470733]
 [ 0.5623068   0.01977855  0.82669212  4.61097397]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 89.30327356000001
Centerline is valid?  [True, True]
Translation: X:11.44, Y:-1.54, Z:4.64
[[ 0.78952289  0.28404315 -0.5440341  11.43900276]
 [-0.24595216  0.95859298  0.14355149 -1.53792275]
 [ 0.56228209  0.02046918  0.82669212  4.64345283]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 89.36327356000001
Centerline is valid?  [True, True]
Translation: X:11.49, Y:-1.55, Z:4.68
[[ 0.78844035  0.28700532 -0.54404941 11.48715601]
 [-0.24958934  0.9576611   0.14349344 -1.54946416]
 [ 0.56219834  0.02265292  0.82669212  4.67711977]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 89.42327356
Centerline is valid?  [True, True]
Translation: X:11.54, Y:-1.56, Z:4.71
[[ 0.78833457  0.28728426 -0.54405547 11.53533423]
 [-0.24994399  0.95757205  0.14347046 -1.55746477]
 [ 0.56218912  0.02288068  0.82669213  4.71020455]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 89.48327356
Centerline is valid?  [True, True]
Translation: X:11.58, Y:-1.57, Z:4.74
[[ 0.78787095  0.28847227 -0.54409844 11.58166731]
 [-0.25149956  0.9571891   0.14330737 -1.57211173]
 [ 0.56214529  0.0239328   0.82669214  4.74316584]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 89.54327356
Centerline is valid?  [True, True]
Translation: X:11.63, Y:-1.58, Z:4.78
[[ 0.78724872  0.29014266 -0.54411092 11.62901738]
 [-0.25356184  0.95665196  0.14325996 -1.58204115]
 [ 0.5620906   0.02518454  0.82669214  4.77603012]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 89.60327356
Centerline is valid?  [True, True]
Translation: X:11.68, Y:-1.60, Z:4.81
[[ 0.7864598   0.29225072 -0.5441236  11.67529445]
 [-0.25615714  0.95596752  0.14321177 -1.59859928]
 [ 0.56201824  0.02675084  0.82669214  4.80933642]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 89.66327356000001
Centerline is valid?  [True, True]
Translation: X:11.72, Y:-1.61, Z:4.84
[[ 0.78624734  0.29280421 -0.54413308 11.72260239]
 [-0.25685481  0.9557857   0.14317575 -1.61118545]
 [ 0.56199708  0.02719165  0.82669214  4.84263836]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 89.72327356000001
Centerline is valid?  [True, True]
Translation: X:11.77, Y:-1.62, Z:4.88
[[ 0.78500119  0.29610569 -0.54414571 11.76948179]
 [-0.26090226  0.95469601  0.14312773 -1.62444991]
 [ 0.56187468  0.0296134   0.82669214  4.87577025]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 89.78327356
Centerline is valid?  [True, True]
Translation: X:11.82, Y:-1.64, Z:4.91
[[ 0.78408991  0.29849955 -0.54415166 11.81520866]
 [-0.26382969  0.95389455  0.14310514 -1.64238737]
 [ 0.56178012  0.03135607  0.82669214  4.90896382]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 89.84327356
Centerline is valid?  [True, True]
Translation: X:11.86, Y:-1.65, Z:4.94
[[ 0.78460942  0.2971083  -0.54416424 11.86485053]
 [-0.2621704   0.95435911  0.14305726 -1.64674927]
 [ 0.5618316   0.03041969  0.82669214  4.9423731 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 89.90327356
Centerline is valid?  [True, True]
Translation: X:11.91, Y:-1.67, Z:4.98
[[ 0.78552272  0.2946737  -0.54417044 11.90826791]
 [-0.25922583  0.95516665  0.1430337  -1.67235142]
 [ 0.56192172  0.02870681  0.82669214  4.97537172]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 89.96327356
Centerline is valid?  [True, True]
Translation: X:11.95, Y:-1.69, Z:5.01
[[ 0.78669743  0.29149981 -0.54418289 11.95377478]
 [-0.2554      0.95620382  0.14298631 -1.68988254]
 [ 0.56203024  0.02649734  0.82669214  5.00833749]
 [ 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 90.02327356
Centerline is valid?  [True, True]
Translation: X:12.00, Y:-1.71, Z:5.04
[[ 0.7876834   0.28880184 -0.54419515 11.99975285]
 [-0.25215348  0.95707204  0.14293964 -1.71029908]
 [ 0.56211519  0.02462952  0.82669214  5.04211205]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 90.08327356000001
Centerline is valid?  [True, True]
Translation: X:12.05, Y:-1.73, Z:5.08
[[ 0.788983    0.28521766 -0.54420282 12.0472726 ]
 [-0.24781966  0.95820772  0.14291043 -1.72517334]
 [ 0.56221992  0.02211025  0.82669214  5.07595104]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 90.14327356
Centerline is valid?  [True, True]
Translation: X:12.09, Y:-1.74, Z:5.11
[[ 0.78977104  0.2830271  -0.54420342 12.09390008]
 [-0.24516123  0.95889167  0.14290812 -1.7448079 ]
 [ 0.562279    0.02055288  0.82669214  5.11003852]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 90.20327356
Centerline is valid?  [True, True]
Translation: X:12.14, Y:-1.76, Z:5.14
[[ 0.79065945  0.28053446 -0.54420405 12.13965517]
 [-0.24213696  0.95966017  0.14290573 -1.76119006]
 [ 0.56234094  0.01878215  0.82669214  5.14298939]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 90.26327356
Centerline is valid?  [True, True]
Translation: X:12.19, Y:-1.78, Z:5.18
[[ 0.7909346   0.27973351 -0.54421652 12.18650947]
 [-0.24119748  0.95990379  0.14285826 -1.77677822]
 [ 0.56235774  0.01827212  0.82669215  5.17650391]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 90.32327356
Centerline is valid?  [True, True]
Translation: X:12.23, Y:-1.79, Z:5.21
[[ 0.79035114  0.28136583 -0.5442227  12.23303821]
 [-0.24319493  0.95940319  0.1428347  -1.79208346]
 [ 0.56231779  0.01946264  0.82669215  5.20976697]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 90.38327356
Centerline is valid?  [True, True]
Translation: X:12.28, Y:-1.81, Z:5.24
[[ 0.79025483  0.28161262 -0.54423491 12.27865765]
 [-0.24352653  0.959326    0.14278815 -1.80851615]
 [ 0.56230965  0.01969662  0.82669215  5.24261423]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 90.44327356000001
Centerline is valid?  [True, True]
Translation: X:12.32, Y:-1.82, Z:5.28
[[ 0.78991665  0.28252431 -0.54425334 12.32498003]
 [-0.24468168  0.95904248  0.14271787 -1.82274244]
 [ 0.56228334  0.0204336   0.82669215  5.27553057]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 90.50327356
Centerline is valid?  [True, True]
Translation: X:12.37, Y:-1.84, Z:5.31
[[ 0.78971063  0.28307603 -0.54426563 12.37198642]
 [-0.24538381  0.95887005  0.142671   -1.83830018]
 [ 0.56226675  0.02088517  0.82669215  5.30913878]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 90.56327356
Centerline is valid?  [True, True]
Translation: X:12.42, Y:-1.85, Z:5.34
[[ 0.78970746  0.28307896 -0.5442687  12.41935929]
 [-0.24539544  0.95886882  0.14265927 -1.85414582]
 [ 0.56226613  0.02090197  0.82669215  5.34305596]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 90.62327356
Centerline is valid?  [True, True]
Translation: X:12.47, Y:-1.87, Z:5.38
[[ 0.78891007  0.28528139 -0.54427514 12.46697022]
 [-0.24808696  0.95817963  0.1426347  -1.87011888]
 [ 0.56220438  0.02250161  0.82669215  5.37714498]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 90.68327356
Centerline is valid?  [True, True]
Translation: X:12.51, Y:-1.88, Z:5.41
[[ 0.78812953  0.28742892 -0.54427609 12.51365861]
 [-0.25069811  0.9575003   0.14263109 -1.88423189]
 [ 0.56214082  0.02403721  0.82669215  5.41031664]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 90.74327356
Centerline is valid?  [True, True]
Translation: X:12.56, Y:-1.90, Z:5.44
[[ 0.78884877  0.28543727 -0.54428227 12.56002987]
 [-0.24829501  0.95812979  0.1426075  -1.89844145]
 [ 0.56219855  0.02264682  0.82669215  5.44328552]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 90.80327356000001
Centerline is valid?  [True, True]
Translation: X:12.61, Y:-1.91, Z:5.48
[[ 0.7896569   0.28316875 -0.54429536 12.60757954]
 [-0.2455745   0.95883811  0.14255751 -1.91273546]
 [ 0.56225897  0.02109354  0.82669215  5.47703059]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 90.86327356000001
Centerline is valid?  [True, True]
Translation: X:12.65, Y:-1.93, Z:5.51
[[ 0.78951492  0.28355395 -0.5443008  12.65302837]
 [-0.24605652  0.95871761  0.14253676 -1.93145646]
 [ 0.56224762  0.02139386  0.82669215  5.51017122]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 90.92327356
Centerline is valid?  [True, True]
Translation: X:12.70, Y:-1.95, Z:5.54
[[ 0.79083497  0.27982733 -0.54431308 12.69965484]
 [-0.24156457  0.95986624  0.14248986 -1.94645235]
 [ 0.5623403   0.01880079  0.82669215  5.54343041]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 90.98327356
Centerline is valid?  [True, True]
Translation: X:12.75, Y:-1.96, Z:5.58
[[ 0.79068519  0.28022635 -0.54432539 12.74566141]
 [-0.24208124  0.95974305  0.14244282 -1.9624093 ]
 [ 0.56232874  0.01914354  0.82669215  5.57644664]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 91.04327356
Centerline is valid?  [True, True]
Translation: X:12.79, Y:-1.98, Z:5.61
[[ 0.79070007  0.28016049 -0.54433767 12.78978125]
 [-0.24203357  0.95976204  0.14239587 -1.98236613]
 [ 0.56232833  0.01915556  0.82669215  5.60890911]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 91.10327356
Centerline is valid?  [True, True]
Translation: X:12.84, Y:-1.99, Z:5.64
[[ 0.79272963  0.27433519 -0.54435277 12.83961498]
 [-0.23500504  0.96151573  0.14233811 -1.98790453]
 [ 0.56245211  0.01509001  0.82669216  5.64264434]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 91.16327356000001
Centerline is valid?  [True, True]
Translation: X:12.88, Y:-2.01, Z:5.68
[[ 0.79340709  0.27236341 -0.54435592 12.88417124]
 [-0.23262197  0.96209683  0.14232609 -2.01182303]
 [ 0.56248752  0.01370662  0.82669216  5.67609476]
 [ 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 91.22327356000001
Centerline is valid?  [True, True]
Translation: X:12.93, Y:-2.02, Z:5.71
[[ 7.94924584e-01  2.67883388e-01 -5.44365131e-01  1.29341499e+01]
 [-2.27215119e-01  9.63393277e-01  1.42290838e-01 -2.01828199e+00]
 [ 5.62555059e-01  1.05775030e-02  8.26692156e-01  5.71009674e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.28327356
Centerline is valid?  [True, True]
Translation: X:12.98, Y:-2.04, Z:5.74
[[ 7.95338391e-01  2.66646307e-01 -5.44368065e-01  1.29777490e+01]
 [-2.25723662e-01  9.63745475e-01  1.42279614e-01 -2.04421292e+00]
 [ 5.62570593e-01  9.71631332e-03  8.26692156e-01  5.74326293e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.34327356
Centerline is valid?  [True, True]
Translation: X:13.03, Y:-2.05, Z:5.78
[[ 7.97367944e-01  2.60495613e-01 -5.44377073e-01  1.30290145e+01]
 [-2.18297039e-01  9.65459850e-01  1.42245142e-01 -2.04539908e+00]
 [ 5.62628442e-01  5.41418628e-03  8.26692157e-01  5.77720546e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.40327356
Centerline is valid?  [True, True]
Translation: X:13.08, Y:-2.06, Z:5.81
[[ 7.97026999e-01  2.61530567e-01 -5.44380130e-01  1.30758240e+01]
 [-2.19558243e-01  9.65175542e-01  1.42233441e-01 -2.05752725e+00]
 [ 5.62620779e-01  6.15925240e-03  8.26692157e-01  5.81010979e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.46327356
Centerline is valid?  [True, True]
Translation: X:13.12, Y:-2.07, Z:5.84
[[ 7.95890510e-01  2.64943872e-01 -5.44392359e-01  1.31232648e+01]
 [-2.23724561e-01  9.64225226e-01  1.42186620e-01 -2.06751628e+00]
 [ 5.62588319e-01  8.62896060e-03  8.26692158e-01  5.84304222e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.52327356
Centerline is valid?  [True, True]
Translation: X:13.17, Y:-2.09, Z:5.88
[[ 0.79353214  0.27190097 -0.54440481 13.16875296]
 [-0.23218954  0.96222894  0.14213894 -2.08584585]
 [ 0.56248978  0.01361329  0.82669216  5.87612256]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 91.58327356000001
Centerline is valid?  [True, True]
Translation: X:13.22, Y:-2.10, Z:5.91
[[ 0.79198415  0.27635949 -0.54441394 13.2175072 ]
 [-0.23762146  0.96090713  0.14210396 -2.09598323]
 [ 0.56240301  0.01682036  0.82669216  5.90995215]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 91.64327356
Centerline is valid?  [True, True]
Translation: X:13.27, Y:-2.11, Z:5.94
[[ 0.78903826  0.28466134 -0.54441395 13.26556224]
 [-0.24769942  0.95835874  0.14210393 -2.10821894]
 [ 0.56219536  0.02272558  0.82669216  5.94370179]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 91.70327356
Centerline is valid?  [True, True]
Translation: X:13.31, Y:-2.12, Z:5.98
[[ 0.78824437  0.28684652 -0.54441702 13.3145925 ]
 [-0.25036201  0.95766836  0.14209215 -2.11775967]
 [ 0.56212959  0.024298    0.82669216  5.97762383]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 91.76327356
Centerline is valid?  [True, True]
Translation: X:13.36, Y:-2.13, Z:6.01
[[ 0.78682677  0.29071147 -0.54441755 13.36224343]
 [-0.25506028  0.95642807  0.14209012 -2.12994463]
 [ 0.56200346  0.02705899  0.82669216  6.0110975 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 91.82327356
Centerline is valid?  [True, True]
Translation: X:13.41, Y:-2.14, Z:6.04
[[ 0.78661576  0.29126253 -0.54442794 13.40928752]
 [-0.25575762  0.95624774  0.14205031 -2.14389933]
 [ 0.56198192  0.02750258  0.82669216  6.04445451]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 91.88327356
Centerline is valid?  [True, True]
Translation: X:13.46, Y:-2.16, Z:6.08
[[ 0.78727103  0.28947511 -0.54443411 13.45664732]
 [-0.25360131  0.95682538  0.14202667 -2.16089798]
 [ 0.56204155  0.02625572  0.82669216  6.07855134]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 91.94327356000001
Centerline is valid?  [True, True]
Translation: X:13.50, Y:-2.17, Z:6.11
[[ 0.78812294  0.2871476  -0.54443411 13.5045155 ]
 [-0.25077295  0.95757055  0.14202667 -2.1746084 ]
 [ 0.56211668  0.02459487  0.82669216  6.11243132]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 92.00327356
Centerline is valid?  [True, True]
Translation: X:13.55, Y:-2.19, Z:6.15
[[ 0.78938182  0.28366512 -0.5444359  13.55100533]
 [-0.24654743  0.95866821  0.14201979 -2.19016006]
 [ 0.56221945  0.02212143  0.82669216  6.14571596]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 92.06327356
Centerline is valid?  [True, True]
Translation: X:13.60, Y:-2.21, Z:6.18
[[ 0.78960226  0.28302753 -0.54444807 13.59858593]
 [-0.24580525  0.95886569  0.14197314 -2.20820901]
 [ 0.56223488  0.02172588  0.82669216  6.18012483]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 92.12327356
Centerline is valid?  [True, True]
Translation: X:13.64, Y:-2.22, Z:6.21
[[ 0.79000124  0.28191793 -0.54444497 13.64476391]
 [-0.24444973  0.9592104   0.141985   -2.22122886]
 [ 0.5622654   0.0209211   0.82669216  6.21277987]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 92.18327356
Centerline is valid?  [True, True]
Translation: X:13.69, Y:-2.23, Z:6.25
[[ 0.79136594  0.27803421 -0.54446022 13.69350477]
 [-0.23977554  0.96039812  0.14192652 -2.23435887]
 [ 0.562359    0.01823243  0.82669216  6.24710085]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 92.24327356
Centerline is valid?  [True, True]
Translation: X:13.74, Y:-2.25, Z:6.28
[[ 0.79153787  0.27755453 -0.54445504 13.7390059 ]
 [-0.23917976  0.96054373  0.14194639 -2.24954059]
 [ 0.56237074  0.01786668  0.82669216  6.27968597]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 92.30327356000001
Centerline is valid?  [True, True]
Translation: X:13.79, Y:-2.26, Z:6.31
[[ 0.79108506  0.27881285 -0.54447023 13.78796697]
 [-0.24074693  0.96016076  0.14188812 -2.26248616]
 [ 0.56233917  0.01883397  0.82669216  6.31412014]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 92.36327356000001
Centerline is valid?  [True, True]
Translation: X:13.84, Y:-2.28, Z:6.35
[[ 0.79129972  0.27821521 -0.544464   13.83575801]
 [-0.24000517  0.96034291  0.14191201 -2.27539   ]
 [ 0.56235422  0.01837925  0.82669217  6.34782468]
 [ 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 92.42327356
Centerline is valid?  [True, True]
Translation: X:13.88, Y:-2.29, Z:6.38
[[ 0.7912549   0.27833069 -0.54447012 13.88250441]
 [-0.24016145  0.96030731  0.14188853 -2.28795798]
 [ 0.56235056  0.01849074  0.82669217  6.38075579]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 92.48327356
Centerline is valid?  [True, True]
Translation: X:13.93, Y:-2.30, Z:6.41
[[ 0.79044342  0.28060344 -0.54448223 13.92993104]
 [-0.24295218  0.95961194  0.14184202 -2.30266919]
 [ 0.56229301  0.02016505  0.82669217  6.41448911]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 92.54327356
Centerline is valid?  [True, True]
Translation: X:13.98, Y:-2.32, Z:6.45
[[ 0.79136242  0.27798917 -0.54448833 13.97805857]
 [-0.23979502  0.9604092   0.14181863 -2.31597609]
 [ 0.56235564  0.01833565  0.82669217  6.44845658]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 92.60327356
Centerline is valid?  [True, True]
Translation: X:14.03, Y:-2.33, Z:6.48
[[ 0.79103291  0.27892543 -0.54448833 14.0254932 ]
 [-0.24093134  0.96012477  0.14181863 -2.33035571]
 [ 0.56233355  0.0190011   0.82669217  6.48216551]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 92.66327356000001
Centerline is valid?  [True, True]
Translation: X:14.07, Y:-2.34, Z:6.52
[[ 0.7915605   0.2774127  -0.54449441 14.07469928]
 [-0.23911149  0.96058305  0.14179526 -2.34410005]
 [ 0.56236791  0.01795534  0.82669217  6.5169183 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 92.72327356000001
Centerline is valid?  [True, True]
Translation: X:14.12, Y:-2.36, Z:6.55
[[ 0.79217807  0.27572373 -0.54445416 14.12124609]
 [-0.23695606  0.96109423  0.14194968 -2.35795272]
 [ 0.56241065  0.01656228  0.82669218  6.55004408]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 92.78327356
Centerline is valid?  [True, True]
Translation: X:14.17, Y:-2.37, Z:6.58
[[ 0.79116024  0.27861911 -0.54446017 14.16823982]
 [-0.24048531  0.96022062  0.14192663 -2.37151698]
 [ 0.56234535  0.01864797  0.82669218  6.58330916]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 92.84327356
Centerline is valid?  [True, True]
Translation: X:14.22, Y:-2.38, Z:6.62
[[ 0.79069058  0.27993123 -0.54446939 14.21783038]
 [-0.24210228  0.95981944  0.14189125 -2.38496767]
 [ 0.5623121   0.0196252   0.82669218  6.61825759]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 92.90327356
Centerline is valid?  [True, True]
Translation: X:14.27, Y:-2.40, Z:6.65
[[ 0.79022578  0.28132446 -0.54442609 14.26505893]
 [-0.24367949  0.95939567  0.14205723 -2.39771094]
 [ 0.56228421  0.02040819  0.82669219  6.65164951]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 92.96327356
Centerline is valid?  [True, True]
Translation: X:14.31, Y:-2.41, Z:6.68
[[ 0.79059316  0.28027853 -0.54443218 14.31257617]
 [-0.24242579  0.95971668  0.14203387 -2.40874527]
 [ 0.56230969  0.0196934   0.82669219  6.68482461]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 93.02327356
Centerline is valid?  [True, True]
Translation: X:14.36, Y:-2.42, Z:6.72
[[ 0.79025687  0.28120199 -0.54444424 14.35862006]
 [-0.24357866  0.95943157  0.14198765 -2.42407179]
 [ 0.5622842   0.02040828  0.82669219  6.71775305]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 93.08327356000001
Centerline is valid?  [True, True]
Translation: X:14.41, Y:-2.44, Z:6.75
[[ 0.78999533  0.28191289 -0.54445615 14.40688651]
 [-0.24447323  0.95921078  0.14194195 -2.43832459]
 [ 0.56226348  0.02097148  0.82669219  6.75196083]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 93.14327356
Centerline is valid?  [True, True]
Translation: X:14.45, Y:-2.45, Z:6.79
[[ 0.78986341  0.28228824 -0.54445308 14.45461474]
 [-0.24492087  0.95909483  0.14195375 -2.45008064]
 [ 0.56225401  0.02122385  0.82669219  6.78542007]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 93.20327356
Centerline is valid?  [True, True]
Translation: X:14.50, Y:-2.46, Z:6.82
[[ 0.79010271  0.281606   -0.54445916 14.50315283]
 [-0.24410855  0.95930536  0.14193043 -2.45996587]
 [ 0.56227105  0.02076752  0.82669219  6.81907032]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 93.26327356
Centerline is valid?  [True, True]
Translation: X:14.55, Y:-2.47, Z:6.85
[[ 0.78936237  0.283663   -0.5444652  14.55052969]
 [-0.24662236  0.95866561  0.14190723 -2.47228101]
 [ 0.56221389  0.02226107  0.82669219  6.85237312]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 93.32327356
Centerline is valid?  [True, True]
Translation: X:14.60, Y:-2.48, Z:6.89
[[ 0.78829173  0.28660736 -0.5444744  14.59901835]
 [-0.25022325  0.95773727  0.14187193 -2.48378678]
 [ 0.56212497  0.02440368  0.82669219  6.88626202]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 93.38327356
Centerline is valid?  [True, True]
Translation: X:14.65, Y:-2.50, Z:6.92
[[ 0.7887636   0.28530041 -0.54447743 14.64701552]
 [-0.2486435   0.95815033  0.14186031 -2.49509713]
 [ 0.56216403  0.02348652  0.82669219  6.91980791]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 93.44327356000001
Centerline is valid?  [True, True]
Translation: X:14.70, Y:-2.51, Z:6.95
[[ 0.78942762  0.28344619 -0.5444835  14.69547407]
 [-0.24640742  0.95873127  0.141837   -2.5090051 ]
 [ 0.56221652  0.02219473  0.82669219  6.95409642]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 93.50327356
Centerline is valid?  [True, True]
Translation: X:14.74, Y:-2.52, Z:6.99
[[ 0.79150208  0.27760671 -0.54448045 14.74444567]
 [-0.23931021  0.96052567  0.1418487  -2.52113455]
 [ 0.5623656   0.01802619  0.82669219  6.98843861]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 93.56327356
Centerline is valid?  [True, True]
Translation: X:14.79, Y:-2.53, Z:7.02
[[ 0.79296952  0.27339299 -0.54447737 14.79322068]
 [-0.23418993  0.96178515  0.14186053 -2.53187562]
 [ 0.56245392  0.01502004  0.82669219  7.02241312]
 [ 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 93.62327356
Centerline is valid?  [True, True]
Translation: X:14.84, Y:-2.55, Z:7.06
[[ 7.93538831e-01  2.71736115e-01 -5.44477371e-01  1.48422448e+01]
 [-2.32180527e-01  9.62272204e-01  1.41860526e-01 -2.54916663e+00]
 [ 5.62484068e-01  1.38452074e-02  8.26692194e-01  7.05766857e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.68327356
Centerline is valid?  [True, True]
Translation: X:14.89, Y:-2.56, Z:7.09
[[ 7.97133058e-01  2.61036906e-01 -5.44461772e-01  1.48927970e+01]
 [-2.19174235e-01  9.65308894e-01  1.41920375e-01 -2.55570148e+00]
 [ 5.62620247e-01  6.20256970e-03  8.26692195e-01  7.09212023e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.74327356
Centerline is valid?  [True, True]
Translation: X:14.94, Y:-2.57, Z:7.12
[[ 7.98343658e-01  2.57323728e-01 -5.44455603e-01  1.49396630e+01]
 [-2.14662578e-01  9.66318719e-01  1.41944039e-01 -2.56678000e+00]
 [ 5.62643210e-01  3.55411987e-03  8.26692196e-01  7.12490216e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.80327356000001
Centerline is valid?  [True, True]
Translation: X:14.99, Y:-2.57, Z:7.16
[[ 7.99943020e-01  2.52281794e-01 -5.44467686e-01  1.49886763e+01]
 [-2.08593281e-01  9.67653808e-01  1.41897676e-01 -2.57197758e+00]
 [ 5.62654431e-01  6.22456125e-05  8.26692197e-01  7.15804752e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.86327356000001
Centerline is valid?  [True, True]
Translation: X:15.04, Y:-2.58, Z:7.19
[[ 8.00759490e-01  2.49652079e-01 -5.44479641e-01  1.50378167e+01]
 [-2.05443956e-01  9.68334059e-01  1.41851792e-01 -2.58124278e+00]
 [ 5.62651776e-01 -1.72911728e-03  8.26692198e-01  7.19197570e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.92327356
Centerline is valid?  [True, True]
Translation: X:15.09, Y:-2.59, Z:7.23
[[ 8.00550383e-01  2.50315236e-01 -5.44482659e-01  1.50867334e+01]
 [-2.06253806e-01  9.68163583e-01  1.41840207e-01 -2.58903421e+00]
 [ 5.62653047e-01 -1.24861143e-03  8.26692198e-01  7.22552376e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.98327356
Centerline is valid?  [True, True]
Translation: X:15.14, Y:-2.60, Z:7.26
[[ 7.99384898e-01  2.53999558e-01 -5.44488760e-01  1.51352430e+01]
 [-2.10726499e-01  9.67203361e-01  1.41816786e-01 -2.59562877e+00]
 [ 5.62652759e-01  1.37201321e-03  8.26692198e-01  7.25859176e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.04327356
Centerline is valid?  [True, True]
Translation: X:15.18, Y:-2.61, Z:7.29
[[ 7.97604914e-01  2.59508829e-01 -5.44501211e-01  1.51823076e+01]
 [-2.17427296e-01  9.65726116e-01  1.41768966e-01 -2.61301844e+00]
 [ 5.62629338e-01  5.31380236e-03  8.26692199e-01  7.29254608e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.10327356
Centerline is valid?  [True, True]
Translation: X:15.23, Y:-2.62, Z:7.33
[[ 7.96142017e-01  2.63963956e-01 -5.44500614e-01  1.52304235e+01]
 [-2.22821431e-01  9.64495474e-01  1.41771258e-01 -2.61997295e+00]
 [ 5.62590880e-01  8.45635062e-03  8.26692199e-01  7.32543156e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.16327356000001
Centerline is valid?  [True, True]
Translation: X:15.28, Y:-2.62, Z:7.36
[[ 7.95078180e-01  2.67149993e-01 -5.44501211e-01  1.52803641e+01]
 [-2.26683540e-01  9.63595420e-01  1.41768964e-01 -2.62414395e+00]
 [ 5.62552451e-01  1.07120520e-02  8.26692199e-01  7.35903891e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.22327356000001
Centerline is valid?  [True, True]
Translation: X:15.33, Y:-2.63, Z:7.39
[[ 7.94555413e-01  2.68688388e-01 -5.44507342e-01  1.53288250e+01]
 [-2.28564312e-01  9.63154501e-01  1.41745414e-01 -2.63376756e+00]
 [ 5.62530044e-01  1.18303596e-02  8.26692199e-01  7.39259515e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.28327356
Centerline is valid?  [True, True]
Translation: X:15.38, Y:-2.64, Z:7.43
[[ 7.94894948e-01  2.67669878e-01 -5.44513414e-01  1.53785977e+01]
 [-2.27345734e-01  9.63446297e-01  1.41722087e-01 -2.63669203e+00]
 [ 5.62544166e-01  1.11386306e-02  8.26692199e-01  7.42586717e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.34327356
Centerline is valid?  [True, True]
Translation: X:15.43, Y:-2.64, Z:7.46
[[ 7.94335201e-01  2.69302199e-01 -5.44525403e-01  1.54271330e+01]
 [-2.29355950e-01  9.62976509e-01  1.41676010e-01 -2.64208961e+00]
 [ 5.62518832e-01  1.23518993e-02  8.26692200e-01  7.45873666e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.40327356
Centerline is valid?  [True, True]
Translation: X:15.48, Y:-2.65, Z:7.49
[[ 7.93972849e-01  2.70344858e-01 -5.44537210e-01  1.54754861e+01]
 [-2.30651168e-01  9.62673780e-01  1.41630618e-01 -2.65043452e+00]
 [ 5.62500803e-01  1.31472782e-02  8.26692201e-01  7.49199224e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.46327356
Centerline is valid?  [True, True]
Translation: X:15.53, Y:-2.65, Z:7.53
[[ 7.93809365e-01  2.70742852e-01 -5.44577818e-01  1.55255756e+01]
 [-2.31240884e-01  9.62555280e-01  1.41474332e-01 -2.65479558e+00]
 [ 5.62489418e-01  1.36250063e-02  8.26692212e-01  7.52565283e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.52327356
Centerline is valid?  [True, True]
Translation: X:15.58, Y:-2.65, Z:7.56
[[ 7.94648023e-01  2.68258934e-01 -5.44583936e-01  1.55757661e+01]
 [-2.28245548e-01  9.63273402e-01  1.41450779e-01 -2.65426323e+00]
 [ 5.62528656e-01  1.18952775e-02  8.26692212e-01  7.55861262e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.58327356000001
Centerline is valid?  [True, True]
Translation: X:15.63, Y:-2.66, Z:7.59
[[ 7.94982410e-01  2.67241572e-01 -5.44596098e-01  1.56251156e+01]
 [-2.27044453e-01  9.63564083e-01  1.41403940e-01 -2.66084101e+00]
 [ 5.62542251e-01  1.12338785e-02  8.26692213e-01  7.59222423e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.64327356
Centerline is valid?  [True, True]
Translation: X:15.67, Y:-2.67, Z:7.63
[[ 7.95121425e-01  2.66815183e-01 -5.44602220e-01  1.56740911e+01]
 [-2.26543802e-01  9.63685374e-01  1.41380361e-01 -2.66911452e+00]
 [ 5.62547620e-01  1.09617032e-02  8.26692213e-01  7.62589134e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.70327356
Centerline is valid?  [True, True]
Translation: X:15.72, Y:-2.67, Z:7.66
[[ 0.79196259  0.27603811 -0.54460831 15.724242  ]
 [-0.23774463  0.96098685  0.14135688 -2.6706459 ]
 [ 0.56238131  0.01752834  0.82669221  7.65918022]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 94.76327356
Centerline is valid?  [True, True]
Translation: X:15.77, Y:-2.69, Z:7.69
[[ 7.93355033e-01  2.71984043e-01 -5.44621403e-01  1.57695547e+01]
 [-2.32861208e-01  9.62189248e-01  1.41306437e-01 -2.68963856e+00]
 [ 5.62461954e-01  1.47150252e-02  8.26692215e-01  7.69225470e+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 94.82327356
Centerline is valid?  [True, True]
Translation: X:15.82, Y:-2.69, Z:7.73
[[ 7.92858753e-01  2.73403100e-01 -5.44633586e-01  1.58192273e+01]
 [-2.34614647e-01  9.61770102e-01  1.41259467e-01 -2.69102315e+00]
 [ 5.62433076e-01  1.57802116e-02  8.26692216e-01  7.72519367e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.88327356
Centerline is valid?  [True, True]
Translation: X:15.87, Y:-2.69, Z:7.76
[[ 0.78955816  0.28276976 -0.54464592 15.8699546 ]
 [-0.24601635  0.95892396  0.14121189 -2.69266062]
 [ 0.56220448  0.0224968   0.82669222  7.75887165]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 94.94327356000001
Centerline is valid?  [True, True]
Translation: X:15.92, Y:-2.70, Z:7.79
[[ 0.78949551  0.28293699 -0.54464989 15.91769694]
 [-0.24622998  0.95887138  0.1411966  -2.70170919]
 [ 0.56219893  0.02263505  0.82669222  7.79186432]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.00327356
Centerline is valid?  [True, True]
Translation: X:15.97, Y:-2.71, Z:7.82
[[ 0.78950314  0.28289185 -0.54466228 15.96534732]
 [-0.2462081   0.95888404  0.14114878 -2.7115183 ]
 [ 0.5621978   0.02266286  0.82669222  7.82491195]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.06327356
Centerline is valid?  [True, True]
Translation: X:16.01, Y:-2.72, Z:7.86
[[ 0.78970682  0.28233155 -0.54465772 16.01282262]
 [-0.2455155   0.95905902  0.14116637 -2.72215434]
 [ 0.56221462  0.02224186  0.82669222  7.8580146 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.12327356
Centerline is valid?  [True, True]
Translation: X:16.06, Y:-2.73, Z:7.89
[[ 0.78982762  0.28196941 -0.54467016 16.06068174]
 [-0.24510876  0.95917011  0.14111836 -2.7335967 ]
 [ 0.5622224   0.02204426  0.82669222  7.89147881]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.18327356
Centerline is valid?  [True, True]
Translation: X:16.11, Y:-2.74, Z:7.93
[[ 0.78954051  0.28276054 -0.5446763  16.1095337 ]
 [-0.24608587  0.95892337  0.14109468 -2.74418432]
 [ 0.56219884  0.02263718  0.82669222  7.9254621 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.24327356
Centerline is valid?  [True, True]
Translation: X:16.16, Y:-2.75, Z:7.96
[[ 0.78880081  0.2848117  -0.54467933 16.15860855]
 [-0.24858548  0.95828016  0.14108297 -2.75454878]
 [ 0.56213747  0.02411301  0.82669222  7.9595595 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.30327356000001
Centerline is valid?  [True, True]
Translation: X:16.21, Y:-2.77, Z:7.99
[[ 0.78788449  0.28733683 -0.54467933 16.20670117]
 [-0.25165364  0.957479    0.14108297 -2.76549866]
 [ 0.56205735  0.02591345  0.82669222  7.99311479]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.36327356000001
Centerline is valid?  [True, True]
Translation: X:16.25, Y:-2.78, Z:8.03
[[ 0.78282403  0.300839   -0.54468563 16.25398952]
 [-0.26809348  0.95301015  0.14105862 -2.77954223]
 [ 0.56152687  0.03560259  0.82669222  8.02665752]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.42327356
Centerline is valid?  [True, True]
Translation: X:16.30, Y:-2.79, Z:8.06
[[ 0.78131151  0.30474127 -0.54468806 16.30267333]
 [-0.27285183  0.95166012  0.14104926 -2.7919731 ]
 [ 0.56134143  0.03841572  0.82669222  8.06085099]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.48327356
Centerline is valid?  [True, True]
Translation: X:16.35, Y:-2.80, Z:8.09
[[ 0.77924132  0.30999648 -0.54468811 16.35095917]
 [-0.2792552   0.94980087  0.14104904 -2.80413386]
 [ 0.56106995  0.04219574  0.82669222  8.09474016]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.54327356
Centerline is valid?  [True, True]
Translation: X:16.40, Y:-2.82, Z:8.13
[[ 0.77759028  0.31411194 -0.54468986 16.39862937]
 [-0.28427751  0.9483108   0.1410423  -2.81817493]
 [ 0.56083834  0.04516996  0.82669222  8.12854164]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.60327356
Centerline is valid?  [True, True]
Translation: X:16.45, Y:-2.83, Z:8.16
[[ 0.7817953   0.30349113 -0.54469188 16.4477844 ]
 [-0.27133948  0.95209462  0.14103449 -2.82911926]
 [ 0.56140093  0.03753631  0.82669222  8.16279266]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.66327356000001
Centerline is valid?  [True, True]
Translation: X:16.49, Y:-2.85, Z:8.20
[[ 0.77634695  0.31716895 -0.5446919  16.49416343]
 [-0.28801194  0.94718446  0.14103443 -2.84756953]
 [ 0.56065545  0.04738612  0.82669222  8.19649854]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.72327356000001
Centerline is valid?  [True, True]
Translation: X:16.54, Y:-2.86, Z:8.23
[[ 0.77641693  0.31699712 -0.54469219 16.53963673]
 [-0.28780309  0.94724811  0.14103331 -2.86243529]
 [ 0.5606658   0.04726345  0.82669222  8.22899564]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.78327356
Centerline is valid?  [True, True]
Translation: X:16.59, Y:-2.88, Z:8.26
[[ 0.7762779   0.31731093 -0.54470762 16.58590256]
 [-0.28822747  0.94712795  0.14097367 -2.878997  ]
 [ 0.5606403   0.04756496  0.82669222  8.26227776]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.84327356
Centerline is valid?  [True, True]
Translation: X:16.63, Y:-2.89, Z:8.30
[[ 0.78141936  0.30440729 -0.5447201  16.63372379]
 [-0.27253091  0.95177042  0.14092544 -2.8932007 ]
 [ 0.56134721  0.03833119  0.82669222  8.29618735]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.90327356
Centerline is valid?  [True, True]
Translation: X:16.68, Y:-2.91, Z:8.33
[[ 0.78069586  0.30625641 -0.54472102 16.679525  ]
 [-0.27478589  0.95112236  0.14092189 -2.90868641]
 [ 0.56125457  0.03966451  0.82669222  8.32900466]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 95.96327356
Centerline is valid?  [True, True]
Translation: X:16.72, Y:-2.94, Z:8.36
[[ 0.78141502  0.30439125 -0.54473529 16.72413991]
 [-0.27255211  0.95177304  0.14086671 -2.9356298 ]
 [ 0.56134296  0.03839339  0.82669222  8.36296867]
 [ 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 96.02327356
Centerline is valid?  [True, True]
Translation: X:16.77, Y:-2.95, Z:8.40
[[ 0.7797918   0.30852056 -0.5447383  16.77116465]
 [-0.27759112  0.95031732  0.14085508 -2.9536669 ]
 [ 0.56113093  0.04137688  0.82669222  8.39702269]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 96.08327356000001
Centerline is valid?  [True, True]
Translation: X:16.82, Y:-2.97, Z:8.43
[[ 0.77950213  0.30925214 -0.54473805 16.81835683]
 [-0.27848205  0.95005648  0.14085606 -2.96819337]
 [ 0.56109195  0.04190217  0.82669222  8.43059493]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 96.14327356
Centerline is valid?  [True, True]
Translation: X:16.86, Y:-2.98, Z:8.46
[[ 0.77915376  0.31011804 -0.54474417 16.86493014]
 [-0.27955393  0.94974515  0.14083237 -2.98483173]
 [ 0.56104279  0.04255531  0.82669222  8.46410703]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 96.20327356
Centerline is valid?  [True, True]
Translation: X:16.92, Y:-2.99, Z:8.50
[[ 0.77889686  0.31075189 -0.54475034 16.91567773]
 [-0.28034319  0.94951602  0.14080849 -2.98618401]
 [ 0.56100568  0.04304176  0.82669222  8.49776579]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 96.26327356
Centerline is valid?  [True, True]
Translation: X:16.96, Y:-3.01, Z:8.53
[[ 0.78267708  0.30109832 -0.54475352 16.96085482]
 [-0.26859101  0.95290886  0.14079621 -3.00888717]
 [ 0.56149395  0.03611793  0.82669222  8.53139624]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 96.32327356
Centerline is valid?  [True, True]
Translation: X:17.01, Y:-3.03, Z:8.56
[[ 0.78393121  0.29781159 -0.54475693 17.00644351]
 [-0.26459942  0.95402688  0.14078301 -3.02588494]
 [ 0.56163957  0.03377817  0.82669222  8.56432551]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 96.38327356
Centerline is valid?  [True, True]
Translation: X:17.05, Y:-3.04, Z:8.60
[[ 0.78428122  0.29686587 -0.54476934 17.05166168]
 [-0.2634818   0.95434323  0.14073498 -3.04091618]
 [ 0.56167634  0.033161    0.82669223  8.59665806]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 96.44327356000001
Centerline is valid?  [True, True]
Translation: X:17.10, Y:-3.05, Z:8.63
[[ 0.78394184  0.29772234 -0.54479042 17.09864713]
 [-0.26458058  0.95405123  0.14065333 -3.05466217]
 [ 0.56163361  0.03387694  0.82669223  8.62991913]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 96.50327356
Centerline is valid?  [True, True]
Translation: X:17.14, Y:-3.07, Z:8.66
[[ 0.78372622  0.29826716 -0.54480263 17.14496944]
 [-0.2652764   0.95386497  0.14060602 -3.06943058]
 [ 0.5616063   0.03432665  0.82669223  8.66293417]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 96.56327356
Centerline is valid?  [True, True]
Translation: X:17.19, Y:-3.10, Z:8.70
[[ 0.78146478  0.30412671 -0.54481166 17.18880099]
 [-0.27243499  0.95185028  0.14057104 -3.10073063]
 [ 0.56133053  0.03857445  0.82669223  8.69712477]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 96.62327356
Centerline is valid?  [True, True]
Translation: X:17.24, Y:-3.11, Z:8.73
[[ 0.783635    0.29849074 -0.5448114  17.23620472]
 [-0.26557206  0.95378771  0.14057203 -3.11473912]
 [ 0.56159386  0.03452952  0.82669223  8.7307476 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 96.68327356
Centerline is valid?  [True, True]
Translation: X:17.28, Y:-3.13, Z:8.76
[[ 0.78257322  0.30125699 -0.544815   17.28229538]
 [-0.26894923  0.95284298  0.14055806 -3.13264761]
 [ 0.56146725  0.03653061  0.82669223  8.76416014]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 96.74327356
Centerline is valid?  [True, True]
Translation: X:17.33, Y:-3.15, Z:8.80
[[ 0.78492347  0.29507433 -0.54481766 17.33026195]
 [-0.26143154  0.95493449  0.14054776 -3.14526406]
 [ 0.56173721  0.03211329  0.82669223  8.79791107]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 96.80327356000001
Centerline is valid?  [True, True]
Translation: X:17.38, Y:-3.16, Z:8.83
[[ 0.78411751  0.29720847 -0.54481819 17.37675351]
 [-0.26402971  0.95421969  0.1405457  -3.16122828]
 [ 0.56164762  0.03364384  0.82669223  8.83126354]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 96.86327356000001
Centerline is valid?  [True, True]
Translation: X:17.42, Y:-3.18, Z:8.86
[[ 0.78362352  0.29848634 -0.54483032 17.42400074]
 [-0.26561749  0.95378586  0.14049868 -3.1764811 ]
 [ 0.56158839  0.03461839  0.82669223  8.86496826]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 96.92327356
Centerline is valid?  [True, True]
Translation: X:17.47, Y:-3.19, Z:8.90
[[ 0.78340423  0.29905033 -0.54483641 17.47055477]
 [-0.26632033  0.95359333  0.14047506 -3.19120476]
 [ 0.56156148  0.03505226  0.82669223  8.89813886]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 96.98327356
Centerline is valid?  [True, True]
Translation: X:17.52, Y:-3.21, Z:8.93
[[ 0.78436642  0.29649814 -0.54484692 17.51739148]
 [-0.26324243  0.95445358  0.14043429 -3.2060169 ]
 [ 0.5616696   0.03327489  0.82669223  8.93150106]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 97.04327356
Centerline is valid?  [True, True]
Translation: X:17.56, Y:-3.22, Z:8.97
[[ 0.78532     0.29395212 -0.54485287 17.56382367]
 [-0.26016079  0.95530155  0.1404112  -3.22434099]
 [ 0.56177296  0.03148163  0.82669223  8.9652028 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 97.10327356
Centerline is valid?  [True, True]
Translation: X:17.61, Y:-3.24, Z:9.00
[[ 0.78676984  0.29004814 -0.54485346 17.61047421]
 [-0.2554146   0.95658179  0.14040889 -3.24167809]
 [ 0.56192224  0.02869405  0.82669223  8.99889238]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 97.16327356000001
Centerline is valid?  [True, True]
Translation: X:17.66, Y:-3.26, Z:9.03
[[ 0.78857842  0.28508093 -0.54486047 17.658581  ]
 [-0.24939597  0.95817255  0.1403817  -3.25694912]
 [ 0.56209049  0.02518403  0.82669223  9.03317648]
 [ 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 97.22327356000001
Centerline is valid?  [True, True]
Translation: X:17.71, Y:-3.27, Z:9.07
[[ 0.79069514  0.27915686 -0.5448602  17.70659999]
 [-0.24219988  0.96001662  0.14038273 -3.27337297]
 [ 0.56226365  0.02096513  0.82669223  9.06761462]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 97.28327356
Centerline is valid?  [True, True]
Translation: X:17.75, Y:-3.29, Z:9.10
[[ 7.92354481e-01  2.74417022e-01 -5.44857480e-01  1.77533744e+01]
 [-2.36439507e-01  9.61449989e-01  1.40393300e-01 -3.28733489e+00]
 [ 5.62379530e-01  1.75845733e-02  8.26692233e-01  9.10081999e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.34327356
Centerline is valid?  [True, True]
Translation: X:17.80, Y:-3.30, Z:9.13
[[ 7.92842646e-01  2.72991434e-01 -5.44863483e-01  1.78004290e+01]
 [-2.34725840e-01  9.61873195e-01  1.40369999e-01 -3.30118467e+00]
 [ 5.62409387e-01  1.66022170e-02  8.26692233e-01  9.13417119e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.40327356
Centerline is valid?  [True, True]
Translation: X:17.85, Y:-3.31, Z:9.17
[[ 7.93446612e-01  2.71218708e-01 -5.44869604e-01  1.78483849e+01]
 [-2.32591723e-01  9.62394942e-01  1.40346237e-01 -3.31479902e+00]
 [ 5.62444276e-01  1.53749139e-02  8.26692233e-01  9.16807616e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.46327356
Centerline is valid?  [True, True]
Translation: X:17.89, Y:-3.33, Z:9.20
[[ 7.94608401e-01  2.67794736e-01 -5.44870139e-01  1.78935159e+01]
 [-2.28441003e-01  9.63388927e-01  1.40344162e-01 -3.33036429e+00]
 [ 5.62505286e-01  1.29520311e-02  8.26692233e-01  9.20046305e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.52327356
Centerline is valid?  [True, True]
Translation: X:17.94, Y:-3.34, Z:9.23
[[ 7.95260240e-01  2.65822108e-01 -5.44885087e-01  1.79402788e+01]
 [-2.26089431e-01  9.63951958e-01  1.40286106e-01 -3.34249872e+00]
 [ 5.62534195e-01  1.16287972e-02  8.26692234e-01  9.23331005e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.58327356000001
Centerline is valid?  [True, True]
Translation: X:17.99, Y:-3.35, Z:9.27
[[ 7.96099552e-01  2.63273428e-01 -5.44896876e-01  1.79866059e+01]
 [-2.23031953e-01  9.64670620e-01  1.40240303e-01 -3.35476081e+00]
 [ 5.62567552e-01  9.88417194e-03  8.26692235e-01  9.26589862e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.64327356
Centerline is valid?  [True, True]
Translation: X:18.03, Y:-3.37, Z:9.30
[[ 7.95297742e-01  2.65655877e-01 -5.44911422e-01  1.80342773e+01]
 [-2.25958026e-01  9.63997657e-01  1.40183766e-01 -3.36695863e+00]
 [ 5.62533975e-01  1.16392768e-02  8.26692237e-01  9.29935602e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.70327356
Centerline is valid?  [True, True]
Translation: X:18.08, Y:-3.38, Z:9.33
[[ 7.95186961e-01  2.65974974e-01 -5.44917434e-01  1.80823507e+01]
 [-2.26360830e-01  9.63906551e-01  1.40160390e-01 -3.37951961e+00]
 [ 5.62528641e-01  1.18942485e-02  8.26692237e-01  9.33315958e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.76327356
Centerline is valid?  [True, True]
Translation: X:18.13, Y:-3.39, Z:9.37
[[ 7.94877084e-01  2.66887222e-01 -5.44923510e-01  1.81305520e+01]
 [-2.27482884e-01  9.63645798e-01  1.40136767e-01 -3.38921694e+00]
 [ 5.62513963e-01  1.25692666e-02  8.26692237e-01  9.36656186e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.82327356
Centerline is valid?  [True, True]
Translation: X:18.18, Y:-3.40, Z:9.40
[[ 7.93171489e-01  2.71901996e-01 -5.44929623e-01  1.81796170e+01]
 [-2.33580633e-01  9.62189398e-01  1.40112992e-01 -3.39954859e+00]
 [ 5.62422508e-01  1.61513760e-02  8.26692238e-01  9.40064104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.88327356
Centerline is valid?  [True, True]
Translation: X:18.23, Y:-3.41, Z:9.43
[[ 7.92824970e-01  2.72908108e-01 -5.44930941e-01  1.82275361e+01]
 [-2.34804737e-01  9.61892157e-01  1.40107863e-01 -3.40926719e+00]
 [ 5.62401371e-01  1.68713538e-02  8.26692238e-01  9.43387198e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.94327356000001
Centerline is valid?  [True, True]
Translation: X:18.28, Y:-3.42, Z:9.47
[[ 7.93120889e-01  2.72022753e-01 -5.44943003e-01  1.82754900e+01]
 [-2.33762857e-01  9.62152722e-01  1.40060936e-01 -3.41848971e+00]
 [ 5.62418156e-01  1.63021794e-02  8.26692239e-01  9.46701761e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.00327356
Centerline is valid?  [True, True]
Translation: X:18.33, Y:-3.42, Z:9.50
[[ 7.94927200e-01  2.66673736e-01 -5.44954921e-01  1.83263239e+01]
 [-2.27307807e-01  9.63704874e-01  1.40014555e-01 -3.41963436e+00]
 [ 5.62513918e-01  1.25711296e-02  8.26692239e-01  9.50069429e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.06327356
Centerline is valid?  [True, True]
Translation: X:18.37, Y:-3.44, Z:9.53
[[ 7.93525701e-01  2.70809506e-01 -5.44957956e-01  1.83708901e+01]
 [-2.32331086e-01  9.62507922e-01  1.40002740e-01 -3.44017397e+00]
 [ 5.62440423e-01  1.55149008e-02  8.26692240e-01  9.53354418e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.12327356
Centerline is valid?  [True, True]
Translation: X:18.42, Y:-3.45, Z:9.57
[[ 7.94748500e-01  2.67175364e-01 -5.44969859e-01  1.84187440e+01]
 [-2.27955818e-01  9.63560249e-01  1.39956393e-01 -3.44844957e+00]
 [ 5.62504193e-01  1.29989164e-02  8.26692240e-01  9.56646467e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.18327356
Centerline is valid?  [True, True]
Translation: X:18.47, Y:-3.46, Z:9.60
[[ 7.94975018e-01  2.66476099e-01 -5.44981843e-01  1.84663286e+01]
 [-2.27140041e-01  9.63759655e-01  1.39909716e-01 -3.45988600e+00]
 [ 5.62514109e-01  1.25624690e-02  8.26692241e-01  9.59974277e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.24327356
Centerline is valid?  [True, True]
Translation: X:18.51, Y:-3.47, Z:9.63
[[ 7.96119818e-01  2.63023944e-01 -5.44987743e-01  1.85147252e+01]
 [-2.22971577e-01  9.64735911e-01  1.39886730e-01 -3.46851328e+00]
 [ 5.62562807e-01  1.01501783e-02  8.26692242e-01  9.63309441e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.30327356000001
Centerline is valid?  [True, True]
Translation: X:18.56, Y:-3.48, Z:9.67
[[ 7.97443966e-01  2.58968738e-01 -5.44993866e-01  1.85621269e+01]
 [-2.18075031e-01  9.65857990e-01  1.39862873e-01 -3.47714338e+00]
 [ 5.62606792e-01  7.31674956e-03  8.26692242e-01  9.66579044e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.36327356000001
Centerline is valid?  [True, True]
Translation: X:18.61, Y:-3.48, Z:9.70
[[ 8.00406724e-01  2.49628407e-01 -5.45008931e-01  1.86114476e+01]
 [-2.06808612e-01  9.68341365e-01  1.39804147e-01 -3.47976529e+00]
 [ 5.62653779e-01  8.12361048e-04  8.26692243e-01  9.69871625e+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 98.42327356
Centerline is valid?  [True, True]
Translation: X:18.66, Y:-3.50, Z:9.73
[[ 7.99370590e-01  2.52900932e-01 -5.45020897e-01  1.86589750e+01]
 [-2.10800359e-01  9.67486978e-01  1.39757486e-01 -3.49529958e+00]
 [ 5.62645419e-01  3.17257668e-03  8.26692244e-01  9.73265056e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.48327356
Centerline is valid?  [True, True]
Translation: X:18.71, Y:-3.49, Z:9.77
[[ 8.00648204e-01  2.48807861e-01 -5.45029450e-01  1.87098120e+01]
 [-2.05870430e-01  9.68552805e-01  1.39724123e-01 -3.48984831e+00]
 [ 5.62654263e-01  3.35578584e-04  8.26692245e-01  9.76522706e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.54327356
Centerline is valid?  [True, True]
Translation: X:18.76, Y:-3.50, Z:9.80
[[ 8.00320145e-01  2.49829014e-01 -5.45044154e-01  1.87589068e+01]
 [-2.07144882e-01  9.68289315e-01  1.39666745e-01 -3.49636273e+00]
 [ 5.62653236e-01  1.12499716e-03  8.26692246e-01  9.79866570e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.60327356
Centerline is valid?  [True, True]
Translation: X:18.80, Y:-3.51, Z:9.83
[[ 7.97230419e-01  2.59507102e-01 -5.45050203e-01  1.88041057e+01]
 [-2.18877301e-01  9.65708300e-01  1.39643137e-01 -3.51390381e+00]
 [ 5.62597891e-01  7.97136080e-03  8.26692247e-01  9.83141664e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.66327356000001
Centerline is valid?  [True, True]
Translation: X:18.86, Y:-3.51, Z:9.86
[[ 7.97630013e-01  2.58251137e-01 -5.45062117e-01  1.88569419e+01]
 [-2.17387815e-01  9.66051407e-01  1.39596619e-01 -3.50518000e+00]
 [ 5.62609011e-01  7.14340994e-03  8.26692248e-01  9.86475526e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.72327356000001
Centerline is valid?  [True, True]
Translation: X:18.91, Y:-3.51, Z:9.90
[[ 7.96085797e-01  2.62954089e-01 -5.45071144e-01  1.89059051e+01]
 [-2.23109594e-01  9.64751125e-01  1.39561368e-01 -3.51336733e+00]
 [ 5.62556231e-01  1.05077790e-02  8.26692248e-01  9.89840303e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.78327356
Centerline is valid?  [True, True]
Translation: X:18.95, Y:-3.53, Z:9.93
[[ 7.92816291e-01  2.72641340e-01 -5.45077084e-01  1.89527791e+01]
 [-2.34872309e-01  9.61958471e-01  1.39538161e-01 -3.52956803e+00]
 [ 5.62385390e-01  1.73953855e-02  8.26692248e-01  9.93203219e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.84327356
Centerline is valid?  [True, True]
Translation: X:19.01, Y:-3.52, Z:9.97
[[ 0.78695313  0.28912421 -0.54507977 19.0056172 ]
 [-0.25489982  0.95684801  0.13952768 -3.52007384]
 [ 0.56189932  0.02913899  0.82669225  9.96526331]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 98.90327356
Centerline is valid?  [True, True]
Translation: X:19.06, Y:-3.53, Z:10.00
[[ 0.78998621  0.28072879 -0.54508085 19.05571328]
 [-0.24470032  0.95950767  0.13952343 -3.52543209]
 [ 0.5621775   0.02315987  0.82669225  9.99919655]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 98.96327356
Centerline is valid?  [True, True]
Translation: X:19.10, Y:-3.54, Z:10.03
[[ 0.78998857  0.28071994 -0.54508199 19.10414875]
 [-0.24469262  0.95951028  0.13951901 -3.53582419]
 [ 0.56217754  0.02315912  0.82669225 10.0328844 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 99.02327356
Centerline is valid?  [True, True]
Translation: X:19.15, Y:-3.55, Z:10.07
[[ 0.79087748  0.27819409 -0.54508794 19.15278449]
 [-0.24164124  0.96028665  0.13949575 -3.54590687]
 [ 0.56224756  0.02139168  0.82669225 10.0666434 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 99.08327356000001
Centerline is valid?  [True, True]
Translation: X:19.20, Y:-3.58, Z:10.10
[[ 7.93915204e-01  2.69396554e-01 -5.45090952e-01  1.91966897e+01]
 [-2.30973243e-01  9.62909955e-01  1.39483978e-01 -3.57514759e+00]
 [ 5.62450007e-01  1.51629743e-02  8.26692249e-01  1.01005211e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.14327356
Centerline is valid?  [True, True]
Translation: X:19.24, Y:-3.59, Z:10.13
[[ 7.94620927e-01  2.67306122e-01 -5.45091753e-01  1.92436746e+01]
 [-2.28440315e-01  9.63514461e-01  1.39480848e-01 -3.58731886e+00]
 [ 5.62487871e-01  1.36865310e-02  8.26692249e-01  1.01335534e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.20327356
Centerline is valid?  [True, True]
Translation: X:19.29, Y:-3.60, Z:10.17
[[ 7.96429139e-01  2.61782611e-01 -5.45133462e-01  1.92917645e+01]
 [-2.21856751e-01  9.65075213e-01  1.39317677e-01 -3.59902564e+00]
 [ 5.62565737e-01  9.98488100e-03  8.26692260e-01  1.01671584e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.26327356
Centerline is valid?  [True, True]
Translation: X:19.34, Y:-3.61, Z:10.20
[[ 7.96772080e-01  2.60724114e-01 -5.45139604e-01  1.93387882e+01]
 [-2.20590640e-01  9.65368868e-01  1.39293640e-01 -3.61056094e+00]
 [ 5.62578013e-01  9.26741077e-03  8.26692261e-01  1.02000989e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.32327356
Centerline is valid?  [True, True]
Translation: X:19.39, Y:-3.62, Z:10.23
[[ 7.97153600e-01  2.59541570e-01 -5.45146137e-01  1.93867890e+01]
 [-2.19175459e-01  9.65694840e-01  1.39268068e-01 -3.62065898e+00]
 [ 5.62590665e-01  8.46461282e-03  8.26692261e-01  1.02334409e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.38327356
Centerline is valid?  [True, True]
Translation: X:19.44, Y:-3.63, Z:10.27
[[ 7.96721822e-01  2.60782458e-01 -5.45185149e-01  1.94361989e+01]
 [-2.20783383e-01  9.65350535e-01  1.39115210e-01 -3.62829025e+00]
 [ 5.62573582e-01  9.53169817e-03  8.26692271e-01  1.02672364e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.44327356000001
Centerline is valid?  [True, True]
Translation: X:19.48, Y:-3.64, Z:10.30
[[ 7.96717360e-01  2.60789736e-01 -5.45188190e-01  1.94841741e+01]
 [-2.20800353e-01  9.65348371e-01  1.39103294e-01 -3.63661204e+00]
 [ 5.62573242e-01  9.55173566e-03  8.26692271e-01  1.03002698e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.50327356
Centerline is valid?  [True, True]
Translation: X:19.53, Y:-3.65, Z:10.33
[[ 7.96805591e-01  2.60494414e-01 -5.45200431e-01  1.95319653e+01]
 [-2.20475359e-01  9.65429562e-01  1.39055300e-01 -3.64698989e+00]
 [ 5.62575743e-01  9.40322005e-03  8.26692272e-01  1.03335110e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.56327356
Centerline is valid?  [True, True]
Translation: X:19.58, Y:-3.64, Z:10.37
[[ 7.96395022e-01  2.61721690e-01 -5.45212551e-01  1.95841790e+01]
 [-2.21994999e-01  9.65088110e-01  1.39007768e-01 -3.64023041e+00]
 [ 5.62559499e-01  1.03293655e-02  8.26692273e-01  1.03667877e+01]
 [ 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 99.62327356
Centerline is valid?  [True, True]
Translation: X:19.63, Y:-3.65, Z:10.40
[[ 7.95384864e-01  2.64689547e-01 -5.45254401e-01  1.96330031e+01]
 [-2.25704747e-01  9.64250934e-01  1.38843452e-01 -3.65125131e+00]
 [ 5.62512475e-01  1.26325267e-02  8.26692285e-01  1.04007683e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.68327356
Centerline is valid?  [True, True]
Translation: X:19.68, Y:-3.66, Z:10.43
[[ 7.96541034e-01  2.61183459e-01 -5.45257353e-01  1.96804780e+01]
 [-2.21463149e-01  9.65235613e-01  1.38831856e-01 -3.66141279e+00]
 [ 5.62562400e-01  1.01691400e-02  8.26692285e-01  1.04337824e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.74327356
Centerline is valid?  [True, True]
Translation: X:19.72, Y:-3.68, Z:10.47
[[ 7.96882409e-01  2.60127331e-01 -5.45263421e-01  1.97237682e+01]
 [-2.20199737e-01  9.65528047e-01  1.38808023e-01 -3.68418960e+00]
 [ 5.62574886e-01  9.45319051e-03  8.26692286e-01  1.04661494e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.80327356000001
Centerline is valid?  [True, True]
Translation: X:19.77, Y:-3.69, Z:10.50
[[ 7.96681174e-01  2.60712310e-01 -5.45278093e-01  1.97721797e+01]
 [-2.20947989e-01  9.65365383e-01  1.38750366e-01 -3.69060516e+00]
 [ 5.62566523e-01  9.93829381e-03  8.26692287e-01  1.04991318e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.86327356000001
Centerline is valid?  [True, True]
Translation: X:19.82, Y:-3.70, Z:10.53
[[ 7.96259559e-01  2.61973184e-01 -5.45289616e-01  1.98203539e+01]
 [-2.22506961e-01  9.65013760e-01  1.38705067e-01 -3.70098843e+00]
 [ 5.62548991e-01  1.08854997e-02  8.26692288e-01  1.05326296e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.92327356
Centerline is valid?  [True, True]
Translation: X:19.87, Y:-3.71, Z:10.57
[[ 7.95743759e-01  2.63523898e-01 -5.45295356e-01  1.98680316e+01]
 [-2.24401960e-01  9.64578107e-01  1.38682500e-01 -3.71196550e+00]
 [ 5.62526115e-01  1.20096127e-02  8.26692288e-01  1.05659098e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.98327356
Centerline is valid?  [True, True]
Translation: X:19.92, Y:-3.72, Z:10.60
[[ 7.95901553e-01  2.63028022e-01 -5.45304481e-01  1.99161866e+01]
 [-2.23825469e-01  9.64717200e-01  1.38646612e-01 -3.72127963e+00]
 [ 5.62532556e-01  1.17039778e-02  8.26692289e-01  1.05992201e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.04327356
Centerline is valid?  [True, True]
Translation: X:19.96, Y:-3.73, Z:10.63
[[ 7.96758386e-01  2.60411698e-01 -5.45308923e-01  1.99642247e+01]
 [-2.20666674e-01  9.65447141e-01  1.38629137e-01 -3.73073485e+00]
 [ 5.62567590e-01  9.87757873e-03  8.26692289e-01  1.06324852e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.10327356
Centerline is valid?  [True, True]
Translation: X:20.01, Y:-3.74, Z:10.67
[[ 7.97301786e-01  2.58654533e-01 -5.45350983e-01  2.00120876e+01]
 [-2.18650964e-01  9.65929403e-01  1.38463516e-01 -3.74142747e+00]
 [ 5.62584765e-01  8.84430974e-03  8.26692301e-01  1.06657781e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.16327356000001
Centerline is valid?  [True, True]
Translation: X:20.06, Y:-3.75, Z:10.70
[[ 7.98638241e-01  2.54415032e-01 -5.45389725e-01  2.00611501e+01]
 [-2.13620442e-01  9.67076231e-01  1.38310776e-01 -3.74700028e+00]
 [ 5.62621780e-01  6.04611904e-03  8.26692311e-01  1.06990118e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.22327356000001
Centerline is valid?  [True, True]
Translation: X:20.11, Y:-3.76, Z:10.73
[[ 7.96954398e-01  2.59615861e-01 -5.45401954e-01  2.01071265e+01]
 [-2.19953168e-01  9.65662506e-01  1.38262538e-01 -3.75913821e+00]
 [ 5.62569365e-01  9.77394977e-03  8.26692312e-01  1.07313538e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.28327356
Centerline is valid?  [True, True]
Translation: X:20.15, Y:-3.77, Z:10.76
[[ 7.95290742e-01  2.64631263e-01 -5.45419958e-01  2.01531249e+01]
 [-2.26080860e-01  9.64256479e-01  1.38191486e-01 -3.77406829e+00]
 [ 5.62494516e-01  1.34066033e-02  8.26692314e-01  1.07641672e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.34327356
Centerline is valid?  [True, True]
Translation: X:20.21, Y:-3.77, Z:10.80
[[ 0.78821452  0.28497503 -0.54544212 20.20557647]
 [-0.25083851  0.958127    0.13810396 -3.77166533]
 [ 0.561959    0.02796234  0.82669232 10.79833501]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 100.40327356
Centerline is valid?  [True, True]
Translation: X:20.25, Y:-3.79, Z:10.83
[[ 0.79075724  0.27783815 -0.54544381 20.25038178]
 [-0.24217164  0.96035516  0.1380973  -3.79487929]
 [ 0.56218847  0.02288959  0.82669232 10.83177224]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 100.46327356
Centerline is valid?  [True, True]
Translation: X:20.30, Y:-3.81, Z:10.86
[[ 0.79146658  0.275803   -0.54544785 20.29581334]
 [-0.2397113   0.96097452  0.13808135 -3.80946849]
 [ 0.56224473  0.02146324  0.82669232 10.86417779]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 100.52327356
Centerline is valid?  [True, True]
Translation: X:20.34, Y:-3.82, Z:10.90
[[ 7.92495017e-01  2.72805154e-01 -5.45462185e-01  2.03437989e+01]
 [-2.36111037e-01  9.61873570e-01  1.38024687e-01 -3.82453191e+00]
 [ 5.62319505e-01  1.94057657e-02  8.26692319e-01  1.08983299e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.58327356000001
Centerline is valid?  [True, True]
Translation: X:20.39, Y:-3.84, Z:10.93
[[ 7.94191735e-01  2.67822541e-01 -5.45463632e-01  2.03907863e+01]
 [-2.30069297e-01  9.63337367e-01  1.38018967e-01 -3.83943281e+00]
 [ 5.62430090e-01  1.58809114e-02  8.26692319e-01  1.09318182e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.64327356
Centerline is valid?  [True, True]
Translation: X:20.44, Y:-3.85, Z:10.96
[[ 7.94989524e-01  2.65432845e-01 -5.45469579e-01  2.04372206e+01]
 [-2.27187194e-01  9.64024498e-01  1.37995460e-01 -3.85344790e+00]
 [ 5.62474564e-01  1.42187585e-02  8.26692320e-01  1.09647857e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.70327356
Centerline is valid?  [True, True]
Translation: X:20.48, Y:-3.87, Z:11.00
[[ 7.96523078e-01  2.60769588e-01 -5.45481629e-01  2.04844629e+01]
 [-2.21566652e-01  9.65338604e-01  1.37947813e-01 -3.86773091e+00]
 [ 5.62547069e-01  1.09819218e-02  8.26692321e-01  1.09983203e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.76327356
Centerline is valid?  [True, True]
Translation: X:20.53, Y:-3.88, Z:11.03
[[ 7.97498939e-01  2.57756807e-01 -5.45487737e-01  2.05321560e+01]
 [-2.17932534e-01  9.66168968e-01  1.37923657e-01 -3.88133358e+00]
 [ 5.62584086e-01  8.88555461e-03  8.26692321e-01  1.10320490e+01]
 [ 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 100.82327356
Centerline is valid?  [True, True]
Translation: X:20.58, Y:-3.89, Z:11.06
[[ 7.98908861e-01  2.53346530e-01 -5.45490759e-01  2.05786847e+01]
 [-2.12599089e-01  9.67358253e-01  1.37911706e-01 -3.89386053e+00]
 [ 5.62624439e-01  5.79195424e-03  8.26692321e-01  1.10648353e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.88327356
Centerline is valid?  [True, True]
Translation: X:20.63, Y:-3.91, Z:11.10
[[ 8.00447770e-01  2.48402151e-01 -5.45508698e-01  2.06260439e+01]
 [-2.06662366e-01  9.68654016e-01  1.37840719e-01 -3.90834371e+00]
 [ 5.62649122e-01  2.40182198e-03  8.26692323e-01  1.10984694e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.94327356000001
Centerline is valid?  [True, True]
Translation: X:20.68, Y:-3.90, Z:11.13
[[ 8.01511236e-01  2.44935769e-01 -5.45514626e-01  2.06780045e+01]
 [-2.02484410e-01  9.69539308e-01  1.37817251e-01 -3.90380062e+00]
 [ 5.62654248e-01 -3.86829725e-06  8.26692323e-01  1.11319891e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.00327356
Centerline is valid?  [True, True]
Translation: X:20.73, Y:-3.92, Z:11.17
[[ 7.99308977e-01  2.52016700e-01 -5.45520616e-01  2.07262533e+01]
 [-2.11069633e-01  9.67709952e-01  1.37793540e-01 -3.91565661e+00]
 [ 5.62632002e-01  5.00322293e-03  8.26692324e-01  1.11657937e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.06327356
Centerline is valid?  [True, True]
Translation: X:20.77, Y:-3.93, Z:11.20
[[ 8.02841015e-01  2.40510035e-01 -5.45528393e-01  2.07731308e+01]
 [-1.97169333e-01  9.70641891e-01  1.37762743e-01 -3.92854525e+00]
 [ 5.62646034e-01 -3.04011076e-03  8.26692324e-01  1.11988625e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.12327356
Centerline is valid?  [True, True]
Translation: X:20.82, Y:-3.94, Z:11.23
[[ 8.00599020e-01  2.47844468e-01 -5.45540402e-01  2.08218589e+01]
 [-2.06073055e-01  9.68797412e-01  1.37715177e-01 -3.93567215e+00]
 [ 5.62650074e-01  2.16654151e-03  8.26692325e-01  1.12321854e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.18327356
Centerline is valid?  [True, True]
Translation: X:20.87, Y:-3.94, Z:11.26
[[ 7.98760131e-01  2.53688623e-01 -5.45549573e-01  2.08692967e+01]
 [-2.13172335e-01  9.67265265e-01  1.37678838e-01 -3.94427289e+00]
 [ 5.62618707e-01  6.32370919e-03  8.26692326e-01  1.12649076e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.24327356
Centerline is valid?  [True, True]
Translation: X:20.92, Y:-3.96, Z:11.30
[[ 7.95564672e-01  2.63507258e-01 -5.45564641e-01  2.09168810e+01]
 [-2.25110360e-01  9.64565346e-01  1.37619108e-01 -3.95635462e+00]
 [ 5.62496380e-01  1.33273525e-02  8.26692327e-01  1.12982964e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.30327356000001
Centerline is valid?  [True, True]
Translation: X:20.97, Y:-3.96, Z:11.33
[[ 7.95086505e-01  2.64927880e-01 -5.45573705e-01  2.09661368e+01]
 [-2.26857559e-01  9.64161045e-01  1.37583167e-01 -3.95837180e+00]
 [ 5.62470530e-01  1.43769996e-02  8.26692328e-01  1.13311234e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.36327356
Centerline is valid?  [True, True]
Translation: X:21.01, Y:-3.97, Z:11.36
[[ 7.92695842e-01  2.71969595e-01 -5.45587611e-01  2.10129889e+01]
 [-2.35438319e-01  9.62109581e-01  1.37528005e-01 -3.97485048e+00]
 [ 5.62318503e-01  1.94343524e-02  8.26692329e-01  1.13647631e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.42327356
Centerline is valid?  [True, True]
Translation: X:21.06, Y:-3.98, Z:11.40
[[ 7.92523013e-01  2.72464431e-01 -5.45591796e-01  2.10619252e+01]
 [-2.36050345e-01  9.61961979e-01  1.37511401e-01 -3.98094667e+00]
 [ 5.62305529e-01  1.98061816e-02  8.26692329e-01  1.13980667e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.48327356
Centerline is valid?  [True, True]
Translation: X:21.11, Y:-3.98, Z:11.43
[[ 0.78848027  0.28393479 -0.54560049 21.11297871]
 [-0.25000681  0.9584345   0.1374769  -3.98318992]
 [ 0.56195681  0.02800602  0.82669233 11.43212019]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 101.54327356
Centerline is valid?  [True, True]
Translation: X:21.16, Y:-4.01, Z:11.47
[[ 0.7914621   0.27551443 -0.54560016 21.1579391 ]
 [-0.23977598  0.96104486  0.13747819 -4.00850365]
 [ 0.56222346  0.02201304  0.82669233 11.46600329]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 101.60327356
Centerline is valid?  [True, True]
Translation: X:21.21, Y:-4.02, Z:11.50
[[ 0.79148945  0.27543258 -0.54560182 21.20546405]
 [-0.23968112  0.96106946  0.13747162 -4.01875266]
 [ 0.56222541  0.02196312  0.82669233 11.49907053]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 101.66327356000001
Centerline is valid?  [True, True]
Translation: X:21.25, Y:-4.03, Z:11.53
[[ 7.92012311e-01  2.73908233e-01 -5.45610465e-01  2.12520112e+01]
 [-2.37853956e-01  9.61528202e-01  1.37437300e-01 -4.03293888e+00]
 [ 5.62265058e-01  2.09235736e-02  8.26692330e-01  1.15321358e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.72327356000001
Centerline is valid?  [True, True]
Translation: X:21.30, Y:-4.05, Z:11.57
[[ 7.94521813e-01  2.66454928e-01 -5.45652692e-01  2.12984329e+01]
 [-2.28924737e-01  9.63717051e-01  1.37269480e-01 -4.05052899e+00]
 [ 5.62430933e-01  1.58498031e-02  8.26692343e-01  1.15656283e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.78327356
Centerline is valid?  [True, True]
Translation: X:21.35, Y:-4.05, Z:11.60
[[ 7.93030282e-01  2.70853714e-01 -5.45656702e-01  2.13490802e+01]
 [-2.34272657e-01  9.62433265e-01  1.37253538e-01 -4.04884168e+00]
 [ 5.62333792e-01  1.89862331e-02  8.26692343e-01  1.15987712e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.84327356
Centerline is valid?  [True, True]
Translation: X:21.40, Y:-4.07, Z:11.63
[[ 7.97621150e-01  2.56932857e-01 -5.45697726e-01  2.13953204e+01]
 [-2.17504225e-01  9.66384069e-01  1.37090272e-01 -4.07134799e+00]
 [ 5.62576585e-01  9.34546071e-03  8.26692354e-01  1.16329613e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.90327356
Centerline is valid?  [True, True]
Translation: X:21.44, Y:-4.09, Z:11.67
[[ 7.99225260e-01  2.51902556e-01 -5.45695965e-01  2.14420670e+01]
 [-2.11406673e-01  9.67735270e-01  1.37097284e-01 -4.08690499e+00]
 [ 5.62624388e-01  5.79215552e-03  8.26692354e-01  1.16664014e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.96327356
Centerline is valid?  [True, True]
Translation: X:21.49, Y:-4.09, Z:11.70
[[ 0.79119465  0.2760143  -0.5457354  21.49254497]
 [-0.2407534   0.96087731  0.13694014 -4.09090987]
 [ 0.5621822   0.02304135  0.82669237 11.70032206]
 [ 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 102.02327356
Centerline is valid?  [True, True]
Translation: X:21.54, Y:-4.10, Z:11.73
[[ 7.95343888e-01  2.63817275e-01 -5.45736699e-01  2.15413687e+01]
 [-2.25955248e-01  9.64465156e-01  1.36934978e-01 -4.10024569e+00]
 [ 5.62469844e-01  1.44016731e-02  8.26692365e-01  1.17340971e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.08327356000001
Centerline is valid?  [True, True]
Translation: X:21.59, Y:-4.11, Z:11.77
[[ 7.93618807e-01  2.68953864e-01 -5.45740789e-01  2.15906069e+01]
 [-2.32197238e-01  9.62983758e-01  1.36918679e-01 -4.10922811e+00]
 [ 5.62364323e-01  1.80582656e-02  8.26692365e-01  1.17680828e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.14327356
Centerline is valid?  [True, True]
Translation: X:21.64, Y:-4.12, Z:11.80
[[ 7.92147210e-01  2.73258049e-01 -5.45740631e-01  2.16382543e+01]
 [-2.37420928e-01  9.61709107e-01  1.36919305e-01 -4.11928733e+00]
 [ 5.62258038e-01  2.11100017e-02  8.26692365e-01  1.18012035e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.20327356
Centerline is valid?  [True, True]
Translation: X:21.69, Y:-4.13, Z:11.83
[[ 0.78953252  0.2806416  -0.54578264 21.68595129]
 [-0.24650467  0.95944485  0.13675168 -4.12948249]
 [ 0.56202656  0.02656807  0.82669238 11.83431317]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 102.26327356
Centerline is valid?  [True, True]
Translation: X:21.73, Y:-4.15, Z:11.87
[[ 0.79155982  0.2748824  -0.54577716 21.73271929]
 [-0.23949351  0.96121582  0.13677353 -4.14794903]
 [ 0.56220628  0.02244565  0.82669238 11.86825296]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 102.32327356
Centerline is valid?  [True, True]
Translation: X:21.78, Y:-4.16, Z:11.90
[[ 0.79068999  0.27736863 -0.54578016 21.78000534]
 [-0.2425213   0.96045806  0.1367616  -4.16272129]
 [ 0.56213232  0.02422729  0.82669238 11.90191009]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 102.38327356
Centerline is valid?  [True, True]
Translation: X:21.83, Y:-4.17, Z:11.94
[[ 0.78554215  0.29161784 -0.54578619 21.82981374]
 [-0.25986206  0.95591557  0.1367375  -4.16758828]
 [ 0.56160061  0.03441605  0.82669238 11.93558907]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 102.44327356000001
Centerline is valid?  [True, True]
Translation: X:21.88, Y:-4.18, Z:11.97
[[ 0.7840056   0.29572024 -0.5457882  21.87809331]
 [-0.26486105  0.9545437   0.13672949 -4.18155752]
 [ 0.56141236  0.03736135  0.82669238 11.96977083]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 102.50327356
Centerline is valid?  [True, True]
Translation: X:21.93, Y:-4.19, Z:12.00
[[ 0.7832904   0.29761002 -0.54578789 21.92645826]
 [-0.26716133  0.95390227  0.13673072 -4.19481775]
 [ 0.56132074  0.03871356  0.82669238 12.00389536]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 102.56327356
Centerline is valid?  [True, True]
Translation: X:21.97, Y:-4.21, Z:12.04
[[ 0.78332304  0.29752409 -0.54578789 21.97271545]
 [-0.26705668  0.95393157  0.13673072 -4.21156516]
 [ 0.56132498  0.03865198  0.82669238 12.0372046 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 102.62327356
Centerline is valid?  [True, True]
Translation: X:22.02, Y:-4.23, Z:12.07
[[ 0.78659999  0.28867094 -0.54582923 22.01925465]
 [-0.25639558  0.95687573  0.13656552 -4.23017936]
 [ 0.56171324  0.03252577  0.82669239 12.07094024]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 102.68327356
Centerline is valid?  [True, True]
Translation: X:22.06, Y:-4.26, Z:12.10
[[ 7.92913252e-01  2.70847395e-01 -5.45829885e-01  2.20631794e+01]
 [-2.34739692e-01  9.62417710e-01  1.36562909e-01 -4.25594174e+00]
 [ 5.62304056e-01  1.98453987e-02  8.26692390e-01  1.21041965e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.74327356
Centerline is valid?  [True, True]
Translation: X:22.11, Y:-4.27, Z:12.14
[[ 7.96354896e-01  2.60548603e-01 -5.45832671e-01  2.21087755e+01]
 [-2.22254808e-01  9.65378896e-01  1.36551772e-01 -4.27373793e+00]
 [ 5.62513716e-01  1.25702635e-02  8.26692390e-01  1.21372366e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.80327356000001
Centerline is valid?  [True, True]
Translation: X:22.16, Y:-4.29, Z:12.17
[[ 7.94810108e-01  2.65209053e-01 -5.45839765e-01  2.21569530e+01]
 [-2.27925492e-01  9.64059816e-01  1.36523410e-01 -4.28680468e+00]
 [ 5.62429428e-01  1.59006106e-02  8.26692391e-01  1.21711921e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.86327356
Centerline is valid?  [True, True]
Translation: X:22.20, Y:-4.31, Z:12.21
[[ 7.99186369e-01  2.51714056e-01 -5.45839887e-01  2.22027033e+01]
 [-2.11570592e-01  9.67780644e-01  1.36522925e-01 -4.31054660e+00]
 [ 5.62618017e-01  6.37640769e-03  8.26692391e-01  1.22053203e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.92327356
Centerline is valid?  [True, True]
Translation: X:22.25, Y:-4.32, Z:12.24
[[ 7.99433626e-01  2.50925559e-01 -5.45840857e-01  2.22505740e+01]
 [-2.10618450e-01  9.67988853e-01  1.36519046e-01 -4.32372076e+00]
 [ 5.62623983e-01  5.82623956e-03  8.26692391e-01  1.22391017e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.98327356
Centerline is valid?  [True, True]
Translation: X:22.30, Y:-4.33, Z:12.27
[[ 7.98669996e-01  2.53339165e-01 -5.45843847e-01  2.22993050e+01]
 [-2.13549542e-01  9.67348131e-01  1.36507092e-01 -4.33406952e+00]
 [ 5.62603618e-01  7.54058516e-03  8.26692391e-01  1.22729809e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.04327356
Centerline is valid?  [True, True]
Translation: X:22.35, Y:-4.34, Z:12.31
[[ 7.94264032e-01  2.66825657e-01 -5.45846788e-01  2.23483628e+01]
 [-2.29905815e-01  9.63593452e-01  1.36495329e-01 -4.33987949e+00]
 [ 5.62394847e-01  1.70800205e-02  8.26692391e-01  1.23063266e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.10327356
Centerline is valid?  [True, True]
Translation: X:22.40, Y:-4.36, Z:12.34
[[ 7.96925827e-01  2.58758098e-01 -5.45851146e-01  2.23950276e+01]
 [-2.20135085e-01  9.65874903e-01  1.36477899e-01 -4.36033468e+00]
 [ 5.62538684e-01  1.13982261e-02  8.26692391e-01  1.23405077e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.16327356000001
Centerline is valid?  [True, True]
Translation: X:22.44, Y:-4.37, Z:12.37
[[ 7.94422426e-01  2.66342733e-01 -5.45852139e-01  2.24426801e+01]
 [-2.29334645e-01  9.63732581e-01  1.36473926e-01 -4.37467595e+00]
 [ 5.62404330e-01  1.67648592e-02  8.26692391e-01  1.23743376e+01]
 [ 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 103.22327356000001
Centerline is valid?  [True, True]
Translation: X:22.49, Y:-4.38, Z:12.41
[[ 7.93678486e-01  2.68545389e-01 -5.45855141e-01  2.24920331e+01]
 [-2.32015349e-01  9.63092427e-01  1.36461918e-01 -4.38398148e+00]
 [ 5.62355172e-01  1.83398830e-02  8.26692391e-01  1.24084553e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.28327356
Centerline is valid?  [True, True]
Translation: X:22.54, Y:-4.40, Z:12.44
[[ 7.92216543e-01  2.72825687e-01 -5.45856294e-01  2.25389643e+01]
 [-2.37213834e-01  9.61825868e-01  1.36457308e-01 -4.39734301e+00]
 [ 5.62247763e-01  2.13809276e-02  8.26692391e-01  1.24416469e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.34327356
Centerline is valid?  [True, True]
Translation: X:22.59, Y:-4.41, Z:12.47
[[ 7.91865996e-01  2.73759881e-01 -5.45897218e-01  2.25864822e+01]
 [-2.38460881e-01  9.61540696e-01  1.36293429e-01 -4.40814916e+00]
 [ 5.62214063e-01  2.22489993e-02  8.26692403e-01  1.24747310e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.40327356
Centerline is valid?  [True, True]
Translation: X:22.63, Y:-4.42, Z:12.51
[[ 7.92112014e-01  2.72964724e-01 -5.45938473e-01  2.26345055e+01]
 [-2.37609214e-01  9.61774936e-01  1.36128007e-01 -4.41812306e+00]
 [ 5.62228084e-01  2.18913816e-02  8.26692415e-01  1.25080115e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.46327356
Centerline is valid?  [True, True]
Translation: X:22.68, Y:-4.44, Z:12.54
[[ 0.79080225  0.27671102 -0.54595129 22.67952262]
 [-0.24219441  0.96063783  0.13607658 -4.43869094]
 [ 0.56211535  0.02461668  0.82669242 12.54110306]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 103.52327356
Centerline is valid?  [True, True]
Translation: X:22.73, Y:-4.45, Z:12.58
[[ 7.92832340e-01  2.70827857e-01 -5.45957098e-01  2.27281870e+01]
 [-2.35066374e-01  9.62410154e-01  1.36053284e-01 -4.45047905e+00]
 [ 5.62281674e-01  2.04687117e-02  8.26692416e-01  1.25751707e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.58327356000001
Centerline is valid?  [True, True]
Translation: X:22.77, Y:-4.47, Z:12.61
[[ 7.93390581e-01  2.69186013e-01 -5.45958127e-01  2.27730345e+01]
 [-2.33076396e-01  9.62894605e-01  1.36049155e-01 -4.46853971e+00]
 [ 5.62322665e-01  1.93098341e-02  8.26692416e-01  1.26077589e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.64327356
Centerline is valid?  [True, True]
Translation: X:22.82, Y:-4.48, Z:12.64
[[ 7.93572386e-01  2.68607009e-01 -5.45979068e-01  2.28200259e+01]
 [-2.32431493e-01  9.63062355e-01  1.35965074e-01 -4.48268488e+00]
 [ 5.62333059e-01  1.90046019e-02  8.26692419e-01  1.26410802e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.70327356
Centerline is valid?  [True, True]
Translation: X:22.87, Y:-4.50, Z:12.67
[[ 7.93485079e-01  2.68861668e-01 -5.45980615e-01  2.28659347e+01]
 [-2.32744818e-01  9.62987559e-01  1.35958859e-01 -4.49710070e+00]
 [ 5.62326666e-01  1.91928331e-02  8.26692419e-01  1.26737681e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.76327356
Centerline is valid?  [True, True]
Translation: X:22.91, Y:-4.51, Z:12.71
[[ 7.92835347e-01  2.70682737e-01 -5.46024696e-01  2.29133759e+01]
 [-2.35077019e-01  9.62445917e-01  1.35781634e-01 -4.50921689e+00]
 [ 5.62272984e-01  2.07053789e-02  8.26692433e-01  1.27070073e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.82327356
Centerline is valid?  [True, True]
Translation: X:22.96, Y:-4.52, Z:12.74
[[ 0.79111433  0.275656   -0.54603286 22.95957145]
 [-0.24113867  0.96094974  0.1357488  -4.52302629]
 [ 0.56213011  0.02427681  0.82669243 12.73977128]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 103.88327356
Centerline is valid?  [True, True]
Translation: X:23.01, Y:-4.54, Z:12.77
[[ 0.79051352  0.27734736 -0.54604654 23.00536061]
 [-0.24323127  0.96042998  0.13569376 -4.54428312]
 [ 0.56207377  0.02554785  0.82669244 12.7734783 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 103.94327356000001
Centerline is valid?  [True, True]
Translation: X:23.05, Y:-4.56, Z:12.81
[[ 0.79125434  0.27522093 -0.54604946 23.05399352]
 [-0.24065622  0.96108011  0.13568201 -4.55769557]
 [ 0.5621398   0.02405122  0.82669244 12.80779695]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 104.00327356
Centerline is valid?  [True, True]
Translation: X:23.10, Y:-4.57, Z:12.84
[[ 7.92748839e-01  2.70891026e-01 -5.46047004e-01  2.31018944e+01]
 [-2.35391597e-01  9.62381685e-01  1.35691885e-01 -4.57033470e+00]
 [ 5.62263350e-01  2.09652921e-02  8.26692435e-01  1.28415159e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.06327356
Centerline is valid?  [True, True]
Translation: X:23.15, Y:-4.58, Z:12.87
[[ 7.93164885e-01  2.69656196e-01 -5.46054028e-01  2.31483049e+01]
 [-2.33912087e-01  9.62746342e-01  1.35663613e-01 -4.58221531e+00]
 [ 5.62294052e-01  2.01250237e-02  8.26692435e-01  1.28741069e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.12327356
Centerline is valid?  [True, True]
Translation: X:23.20, Y:-4.60, Z:12.91
[[ 7.95439528e-01  2.62840125e-01 -5.46068701e-01  2.31958010e+01]
 [-2.25682682e-01  9.64716921e-01  1.35604531e-01 -4.59764019e+00]
 [ 5.62444028e-01  1.53730445e-02  8.26692437e-01  1.29079809e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.18327356
Centerline is valid?  [True, True]
Translation: X:23.24, Y:-4.61, Z:12.94
[[ 7.96086430e-01  2.60868116e-01 -5.46071627e-01  2.32441509e+01]
 [-2.23299374e-01  9.65273017e-01  1.35592746e-01 -4.61146557e+00]
 [ 5.62480031e-01  1.39939070e-02  8.26692437e-01  1.29421801e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.24327356
Centerline is valid?  [True, True]
Translation: X:23.29, Y:-4.62, Z:12.97
[[ 7.95900898e-01  2.61432317e-01 -5.46072251e-01  2.32906620e+01]
 [-2.23985228e-01  9.65114453e-01  1.35590232e-01 -4.62355668e+00]
 [ 5.62469890e-01  1.43957301e-02  8.26692437e-01  1.29748849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.30327356000001
Centerline is valid?  [True, True]
Translation: X:23.34, Y:-4.64, Z:13.01
[[ 7.97501581e-01  2.56477225e-01 -5.46086679e-01  2.33367345e+01]
 [-2.18018239e-01  9.66488022e-01  1.35532102e-01 -4.64216083e+00]
 [ 5.62547132e-01  1.09697903e-02  8.26692439e-01  1.30083394e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.36327356
Centerline is valid?  [True, True]
Translation: X:23.39, Y:-4.66, Z:13.04
[[ 7.97336924e-01  2.56976217e-01 -5.46092532e-01  2.33850942e+01]
 [-2.18639131e-01  9.66351061e-01  1.35508516e-01 -4.65546983e+00]
 [ 5.62539564e-01  1.13512536e-02  8.26692439e-01  1.30424540e+01]
 [ 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 104.42327356
Centerline is valid?  [True, True]
Translation: X:23.43, Y:-4.67, Z:13.08
[[ 7.97106347e-01  2.57690545e-01 -5.46092532e-01  2.34324908e+01]
 [-2.19504914e-01  9.66154768e-01  1.35508516e-01 -4.66531261e+00]
 [ 5.62529167e-01  1.18552963e-02  8.26692439e-01  1.30753765e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.48327356
Centerline is valid?  [True, True]
Translation: X:23.48, Y:-4.67, Z:13.11
[[ 7.94616597e-01  2.65244823e-01 -5.46104063e-01  2.34831709e+01]
 [-2.28697380e-01  9.64026735e-01  1.35462033e-01 -4.66917848e+00]
 [ 5.62389520e-01  1.72521891e-02  8.26692440e-01  1.31094646e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.54327356
Centerline is valid?  [True, True]
Translation: X:23.53, Y:-4.68, Z:13.14
[[ 7.92571721e-01  2.71291800e-01 -5.46105142e-01  2.35315893e+01]
 [-2.36039251e-01  9.62256041e-01  1.35457684e-01 -4.67902200e+00]
 [ 5.62241530e-01  2.15423185e-02  8.26692440e-01  1.31430601e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.60327356
Centerline is valid?  [True, True]
Translation: X:23.58, Y:-4.69, Z:13.18
[[ 0.78987391  0.27904319 -0.54610814 23.58069116]
 [-0.24546298  0.95989709  0.13544558 -4.68955088]
 [ 0.56200278  0.0270644   0.82669244 13.17721544]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 104.66327356000001
Centerline is valid?  [True, True]
Translation: X:23.63, Y:-4.71, Z:13.21
[[ 0.78981549  0.27920835 -0.54610823 23.62532989]
 [-0.24566394  0.95984573  0.13544524 -4.71157648]
 [ 0.56199709  0.02718235  0.82669244 13.21031203]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 104.72327356000001
Centerline is valid?  [True, True]
Translation: X:23.67, Y:-4.73, Z:13.24
[[ 0.78802591  0.28419701 -0.54612015 23.67206501]
 [-0.25176165  0.9582712   0.13539714 -4.7258208 ]
 [ 0.56181068  0.03079566  0.82669244 13.24349387]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 104.78327356
Centerline is valid?  [True, True]
Translation: X:23.72, Y:-4.74, Z:13.28
[[ 0.78824491  0.28358972 -0.54611981 23.71729633]
 [-0.25102221  0.95846496  0.13539855 -4.74163251]
 [ 0.56183433  0.03036099  0.82669244 13.27596448]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 104.84327356
Centerline is valid?  [True, True]
Translation: X:23.76, Y:-4.76, Z:13.31
[[ 0.78924254  0.28077323 -0.54613424 23.76483553]
 [-0.24763831  0.95935305  0.13534028 -4.75581554]
 [ 0.56193548  0.02842745  0.82669244 13.30966156]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 104.90327356
Centerline is valid?  [True, True]
Translation: X:23.81, Y:-4.77, Z:13.34
[[ 0.79084165  0.27623146 -0.54613704 23.81231673]
 [-0.24212694  0.96076043  0.13532901 -4.77071878]
 [ 0.56208899  0.02521067  0.82669244 13.34346274]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 104.96327356
Centerline is valid?  [True, True]
Translation: X:23.86, Y:-4.78, Z:13.38
[[ 7.91998118e-01  2.72888995e-01 -5.46141536e-01  2.38587953e+01]
 [-2.38079652e-01  9.61773909e-01  1.35310856e-01 -4.78360615e+00]
 [ 5.62189524e-01  2.28592441e-02  8.26692443e-01  1.33762678e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.02327356
Centerline is valid?  [True, True]
Translation: X:23.90, Y:-4.80, Z:13.41
[[ 7.91776318e-01  2.73509075e-01 -5.46152954e-01  2.39047614e+01]
 [-2.38864422e-01  9.61585791e-01  1.35264759e-01 -4.80252398e+00]
 [ 5.62169059e-01  2.33570764e-02  8.26692443e-01  1.34097062e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.08327356000001
Centerline is valid?  [True, True]
Translation: X:23.95, Y:-4.81, Z:13.44
[[ 7.92163128e-01  2.72375302e-01 -5.46158653e-01  2.39530910e+01]
 [-2.37503428e-01  9.61926085e-01  1.35241745e-01 -4.81437391e+00]
 [ 5.62200765e-01  2.25810287e-02  8.26692444e-01  1.34435614e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.14327356
Centerline is valid?  [True, True]
Translation: X:24.00, Y:-4.84, Z:13.48
[[ 7.92119736e-01  2.72500027e-01 -5.46159372e-01  2.39974140e+01]
 [-2.37656882e-01  9.61888591e-01  1.35238841e-01 -4.83572952e+00]
 [ 5.62197057e-01  2.26731783e-02  8.26692444e-01  1.34763357e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.20327356
Centerline is valid?  [True, True]
Translation: X:24.04, Y:-4.85, Z:13.51
[[ 7.93267120e-01  2.69115597e-01 -5.46172200e-01  2.40448344e+01]
 [-2.33583576e-01  9.62893132e-01  1.35187016e-01 -4.85098582e+00]
 [ 5.62286395e-01  2.03374408e-02  8.26692445e-01  1.35101312e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.26327356
Centerline is valid?  [True, True]
Translation: X:24.09, Y:-4.87, Z:13.54
[[ 7.94356036e-01  2.65870541e-01 -5.46178857e-01  2.40914547e+01]
 [-2.29663875e-01  9.63839327e-01  1.35160116e-01 -4.86928886e+00]
 [ 5.62363755e-01  1.80722989e-02  8.26692445e-01  1.35439097e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.32327356
Centerline is valid?  [True, True]
Translation: X:24.14, Y:-4.88, Z:13.58
[[ 7.95018122e-01  2.63871552e-01 -5.46184941e-01  2.41393574e+01]
 [-2.27255554e-01  9.64413450e-01  1.35135528e-01 -4.88367818e+00]
 [ 5.62406525e-01  1.66883681e-02  8.26692445e-01  1.35778967e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.38327356
Centerline is valid?  [True, True]
Translation: X:24.19, Y:-4.90, Z:13.61
[[ 7.95045466e-01  2.63789153e-01 -5.46184941e-01  2.41867324e+01]
 [-2.27155599e-01  9.64436998e-01  1.35135528e-01 -4.89630935e+00]
 [ 5.62408251e-01  1.66300789e-02  8.26692445e-01  1.36112615e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.44327356000001
Centerline is valid?  [True, True]
Translation: X:24.23, Y:-4.91, Z:13.65
[[ 7.94872271e-01  2.64298469e-01 -5.46190801e-01  2.42348830e+01]
 [-2.27789711e-01  9.64290744e-01  1.35111838e-01 -4.90824318e+00]
 [ 5.62396586e-01  1.70199915e-02  8.26692446e-01  1.36450112e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.50327356
Centerline is valid?  [True, True]
Translation: X:24.28, Y:-4.92, Z:13.68
[[ 7.94329666e-01  2.65917835e-01 -5.46194185e-01  2.42819588e+01]
 [-2.29763815e-01  9.63824194e-01  1.35098160e-01 -4.92002495e+00]
 [ 5.62360180e-01  1.81831830e-02  8.26692446e-01  1.36780317e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.56327356
Centerline is valid?  [True, True]
Translation: X:24.33, Y:-4.92, Z:13.71
[[ 7.95453974e-01  2.62511122e-01 -5.46205901e-01  2.43338851e+01]
 [-2.25663536e-01  9.64799076e-01  1.35050777e-01 -4.91820952e+00]
 [ 5.62431279e-01  1.58320776e-02  8.26692447e-01  1.37120164e+01]
 [ 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 105.62327356
Centerline is valid?  [True, True]
Translation: X:24.38, Y:-4.94, Z:13.75
[[ 7.93793322e-01  2.67489029e-01 -5.46206720e-01  2.43798515e+01]
 [-2.31705293e-01  9.63366410e-01  1.35047462e-01 -4.94023685e+00]
 [ 5.62320922e-01  1.93592144e-02  8.26692447e-01  1.37459836e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.68327356
Centerline is valid?  [True, True]
Translation: X:24.43, Y:-4.95, Z:13.78
[[ 7.93522276e-01  2.68290274e-01 -5.46207585e-01  2.44257268e+01]
 [-2.32680154e-01  9.63131909e-01  1.35043966e-01 -4.95264881e+00]
 [ 5.62300936e-01  1.99312699e-02  8.26692447e-01  1.37783196e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.74327356
Centerline is valid?  [True, True]
Translation: X:24.47, Y:-4.96, Z:13.81
[[ 7.93862340e-01  2.67246958e-01 -5.46224906e-01  2.44740402e+01]
 [-2.31462083e-01  9.63435186e-01  1.34973874e-01 -4.96315750e+00]
 [ 5.62323651e-01  1.92796794e-02  8.26692449e-01  1.38119181e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.80327356000001
Centerline is valid?  [True, True]
Translation: X:24.52, Y:-4.97, Z:13.85
[[ 7.93306404e-01  2.68881068e-01 -5.46230647e-01  2.45223607e+01]
 [-2.33461421e-01  9.62955913e-01  1.34950638e-01 -4.97303025e+00]
 [ 5.62281703e-01  2.04665780e-02  8.26692449e-01  1.38454439e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.86327356
Centerline is valid?  [True, True]
Translation: X:24.57, Y:-4.98, Z:13.88
[[ 7.93027732e-01  2.69690421e-01 -5.46236298e-01  2.45703878e+01]
 [-2.34459636e-01  9.62716562e-01  1.34927763e-01 -4.98260873e+00]
 [ 5.62259456e-01  2.10689058e-02  8.26692449e-01  1.38787283e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.92327356
Centerline is valid?  [True, True]
Translation: X:24.62, Y:-4.99, Z:13.91
[[ 7.92029160e-01  2.72585838e-01 -5.46247903e-01  2.46192507e+01]
 [-2.38007576e-01  9.61852157e-01  1.34880767e-01 -4.99207664e+00]
 [ 5.62176311e-01  2.31816387e-02  8.26692450e-01  1.39125335e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.98327356
Centerline is valid?  [True, True]
Translation: X:24.67, Y:-4.99, Z:13.95
[[ 7.92623380e-01  2.70852706e-01 -5.46248102e-01  2.46708210e+01]
 [-2.35903612e-01  9.62370450e-01  1.34879961e-01 -4.98982185e+00]
 [ 5.62225634e-01  2.19528898e-02  8.26692450e-01  1.39462409e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.04327356
Centerline is valid?  [True, True]
Translation: X:24.72, Y:-5.01, Z:13.98
[[ 0.79059192  0.27671251 -0.54625507 24.71567738]
 [-0.24304036  0.9605969   0.13485172 -5.01238907]
 [ 0.56204609  0.02614935  0.82669245 13.9795468 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 106.10327356
Centerline is valid?  [True, True]
Translation: X:24.76, Y:-5.02, Z:14.01
[[ 0.79027531  0.27760417 -0.54626079 24.7628162 ]
 [-0.24413979  0.96032131  0.13482856 -5.0230849 ]
 [ 0.56201485  0.02681231  0.82669245 14.01242675]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 106.16327356000001
Centerline is valid?  [True, True]
Translation: X:24.81, Y:-5.03, Z:14.05
[[ 0.7901558   0.27792055 -0.54627281 24.8103434 ]
 [-0.24455785  0.96022177  0.13477983 -5.03444254]
 [ 0.56200113  0.02709824  0.82669245 14.04565723]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 106.22327356000001
Centerline is valid?  [True, True]
Translation: X:24.86, Y:-5.04, Z:14.08
[[ 0.78959858  0.27948236 -0.5462817  24.85943733]
 [-0.24648086  0.95973501  0.1347438  -5.04497591]
 [ 0.56194419  0.02825447  0.82669245 14.0797957 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 106.28327356
Centerline is valid?  [True, True]
Translation: X:24.91, Y:-5.06, Z:14.11
[[ 0.78952104  0.27970133 -0.5462817  24.90622454]
 [-0.24674702  0.95966662  0.1347438  -5.05523981]
 [ 0.56193633  0.02841031  0.82669245 14.1123858 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 106.34327356
Centerline is valid?  [True, True]
Translation: X:24.95, Y:-5.07, Z:14.15
[[ 0.78834024  0.28297499 -0.54630104 24.95466635]
 [-0.25078115  0.95863135  0.13466535 -5.06566161]
 [ 0.56180823  0.03083989  0.82669246 14.1460522 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 106.40327356
Centerline is valid?  [True, True]
Translation: X:25.00, Y:-5.08, Z:14.18
[[ 0.78766789  0.28483037 -0.54630665 25.00320432]
 [-0.25305329  0.95803726  0.13464261 -5.07722335]
 [ 0.56173243  0.03219104  0.82669246 14.17999838]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 106.46327356
Centerline is valid?  [True, True]
Translation: X:25.05, Y:-5.09, Z:14.21
[[ 0.78779336  0.28448304 -0.54630672 25.04937866]
 [-0.25263105  0.95814874  0.13464232 -5.08919568]
 [ 0.56174655  0.03194371  0.82669246 14.21246173]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 106.52327356
Centerline is valid?  [True, True]
Translation: X:25.10, Y:-5.10, Z:14.25
[[ 0.78800718  0.28385663 -0.54632417 25.09822793]
 [-0.25191817  0.95834637  0.13457146 -5.10033279]
 [ 0.56176679  0.03158571  0.82669246 14.24651827]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 106.58327356000001
Centerline is valid?  [True, True]
Translation: X:25.15, Y:-5.11, Z:14.28
[[ 0.78823394  0.28322507 -0.54632482 25.14663965]
 [-0.25115194  0.95854782  0.13456883 -5.11048203]
 [ 0.56179174  0.03113882  0.82669246 14.28016211]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 106.64327356
Centerline is valid?  [True, True]
Translation: X:25.19, Y:-5.12, Z:14.31
[[ 0.7886524   0.28204633 -0.54633072 25.19329899]
 [-0.24973515  0.95892128  0.13454489 -5.12251049]
 [ 0.56183605  0.03032883  0.82669246 14.3129422 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 106.70327356
Centerline is valid?  [True, True]
Translation: X:25.24, Y:-5.13, Z:14.35
[[ 0.78825313  0.28313822 -0.54634215 25.2403867 ]
 [-0.25109495  0.95857263  0.13449845 -5.13333966]
 [ 0.56179029  0.03116493  0.82669246 14.34579799]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 106.76327356
Centerline is valid?  [True, True]
Translation: X:25.29, Y:-5.14, Z:14.38
[[ 0.78736533  0.28557552 -0.54635378 25.28953399]
 [-0.25409199  0.95778919  0.1344512  -5.14413763]
 [ 0.56168772  0.0329619   0.82669246 14.38000951]
 [ 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 106.82327356
Centerline is valid?  [True, True]
Translation: X:25.34, Y:-5.14, Z:14.41
[[ 0.78775997  0.28448237 -0.54635521 25.34202026]
 [-0.25276634  0.95814071  0.13444538 -5.14093909]
 [ 0.56173251  0.03218951  0.82669246 14.41417399]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 106.88327356
Centerline is valid?  [True, True]
Translation: X:25.39, Y:-5.17, Z:14.45
[[ 0.78793141  0.28400588 -0.54635588 25.3858473 ]
 [-0.2521887   0.95829329  0.13444264 -5.16511856]
 [ 0.56175168  0.0318532   0.82669246 14.44706981]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 106.94327356000001
Centerline is valid?  [True, True]
Translation: X:25.43, Y:-5.18, Z:14.48
[[ 0.78901046  0.28097157 -0.54636752 25.43227385]
 [-0.24853168  0.95925487  0.13439533 -5.1757575 ]
 [ 0.56186697  0.02975032  0.82669246 14.4794576 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.00327356
Centerline is valid?  [True, True]
Translation: X:25.48, Y:-5.19, Z:14.51
[[ 0.78894661  0.28112305 -0.5463818  25.4792285 ]
 [-0.24875596  0.95920487  0.13433725 -5.18743873]
 [ 0.56185738  0.02993081  0.82669246 14.51235811]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.06327356
Centerline is valid?  [True, True]
Translation: X:25.53, Y:-5.20, Z:14.55
[[ 0.78811423  0.28343207 -0.54639017 25.52792324]
 [-0.25158718  0.95847093  0.13430322 -5.19543093]
 [ 0.56176494  0.03161848  0.82669246 14.54582229]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.12327356
Centerline is valid?  [True, True]
Translation: X:25.58, Y:-5.19, Z:14.58
[[ 0.78629003  0.28843743 -0.54639898 25.58050254]
 [-0.25770117  0.95685024  0.13426738 -5.19253736]
 [ 0.56154973  0.03523456  0.82669246 14.58008532]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.18327356
Centerline is valid?  [True, True]
Translation: X:25.63, Y:-5.21, Z:14.61
[[ 0.78637658  0.2882013  -0.54639903 25.62675322]
 [-0.25741396  0.95692757  0.13426718 -5.21283177]
 [ 0.56156027  0.03506617  0.82669246 14.61395053]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.24327356
Centerline is valid?  [True, True]
Translation: X:25.68, Y:-5.21, Z:14.65
[[ 0.78463552  0.2929027  -0.54640197 25.67818574]
 [-0.26314499  0.95536917  0.1342552  -5.20991095]
 [ 0.56133931  0.03844154  0.82669246 14.6474642 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.30327356000001
Centerline is valid?  [True, True]
Translation: X:25.72, Y:-5.23, Z:14.68
[[ 0.78496069  0.29202493 -0.54640475 25.72294145]
 [-0.26208413  0.95566233  0.13424386 -5.2298153 ]
 [ 0.561381    0.03782786  0.82669246 14.68027209]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.36327356
Centerline is valid?  [True, True]
Translation: X:25.77, Y:-5.24, Z:14.71
[[ 0.78544103  0.29070313 -0.54641933 25.77176202]
 [-0.26051612  0.9560993   0.1341845  -5.23993659]
 [ 0.561439    0.03695703  0.82669247 14.71415323]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.42327356
Centerline is valid?  [True, True]
Translation: X:25.82, Y:-5.25, Z:14.75
[[ 0.78653303  0.28773021 -0.5464221  25.81920702]
 [-0.25690573  0.95707732  0.13417323 -5.25093938]
 [ 0.56157389  0.03484729  0.82669247 14.74729311]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.48327356
Centerline is valid?  [True, True]
Translation: X:25.87, Y:-5.26, Z:14.78
[[ 0.786962    0.28653282 -0.54643367 25.86722842]
 [-0.25548142  0.95746511  0.13412609 -5.26244505]
 [ 0.5616227   0.03405152  0.82669247 14.7808772 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.54327356
Centerline is valid?  [True, True]
Translation: X:25.92, Y:-5.27, Z:14.81
[[ 0.78828713  0.28285558 -0.54643949 25.91585853]
 [-0.25102485  0.95864648  0.1341024  -5.27149686]
 [ 0.5617739   0.0314587   0.82669247 14.81447765]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.60327356
Centerline is valid?  [True, True]
Translation: X:25.96, Y:-5.28, Z:14.85
[[ 0.78847587  0.28231804 -0.54644516 25.96358307]
 [-0.25038715  0.95881647  0.13407926 -5.28244992]
 [ 0.56179362  0.03110458  0.82669247 14.84778831]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.66327356000001
Centerline is valid?  [True, True]
Translation: X:26.01, Y:-5.29, Z:14.88
[[ 0.78846128  0.28233517 -0.54645738 26.0116271 ]
 [-0.25044237  0.95880901  0.13402948 -5.28986492]
 [ 0.56178949  0.03117903  0.82669247 14.88072306]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.72327356000001
Centerline is valid?  [True, True]
Translation: X:26.06, Y:-5.30, Z:14.91
[[ 0.7885398   0.28209363 -0.54646882 26.05926516]
 [-0.25018089  0.9588838   0.1339828  -5.29894062]
 [ 0.56179579  0.03106529  0.82669247 14.91366068]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.78327356
Centerline is valid?  [True, True]
Translation: X:26.11, Y:-5.31, Z:14.95
[[ 0.78933139  0.27985443 -0.54647731 26.10858283]
 [-0.24748226  0.95958867  0.13394816 -5.30726058]
 [ 0.56187942  0.02951395  0.82669247 14.9475924 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.84327356
Centerline is valid?  [True, True]
Translation: X:26.16, Y:-5.32, Z:14.98
[[ 0.79030164  0.27710015 -0.54647856 26.15808684]
 [-0.24413796  0.96044568  0.13394306 -5.31644389]
 [ 0.56197862  0.02756074  0.82669247 14.98180201]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.90327356
Centerline is valid?  [True, True]
Translation: X:26.21, Y:-5.33, Z:15.02
[[ 0.79094105  0.2752665  -0.5464802  26.20616169]
 [-0.24191441  0.96100909  0.13393638 -5.32729239]
 [ 0.56204064  0.02626565  0.82669247 15.01533594]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 107.96327356
Centerline is valid?  [True, True]
Translation: X:26.25, Y:-5.34, Z:15.05
[[ 7.91095116e-01  2.74812092e-01 -5.46485893e-01  2.62542786e+01]
 [-2.41378316e-01  9.61147116e-01  1.33913142e-01 -5.33941536e+00]
 [ 5.62054291e-01  2.59718123e-02  8.26692469e-01  1.50490960e+01]
 [ 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 108.02327356
Centerline is valid?  [True, True]
Translation: X:26.30, Y:-5.35, Z:15.08
[[ 7.91402060e-01  2.73922941e-01 -5.46487879e-01  2.63021391e+01]
 [-2.40303677e-01  9.61417487e-01  1.33905038e-01 -5.34967171e+00]
 [ 5.62082665e-01  2.53503242e-02  8.26692469e-01  1.50823917e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.08327356000001
Centerline is valid?  [True, True]
Translation: X:26.35, Y:-5.36, Z:15.12
[[ 0.79077587  0.27564659 -0.54652766 26.35056255]
 [-0.24250988  0.960886    0.13374251 -5.35678208]
 [ 0.56201644  0.02677801  0.82669248 15.1154752 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 108.14327356
Centerline is valid?  [True, True]
Translation: X:26.40, Y:-5.36, Z:15.15
[[ 0.7898484   0.27821527 -0.54656727 26.3989048 ]
 [-0.24574343  0.96008668  0.13358048 -5.36351044]
 [ 0.56191608  0.02880699  0.82669249 15.1484454 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 108.20327356
Centerline is valid?  [True, True]
Translation: X:26.45, Y:-5.36, Z:15.18
[[ 0.78608507  0.28866133 -0.54657561 26.45217931]
 [-0.25847272  0.95674303  0.13354634 -5.35751221]
 [ 0.56148207  0.0362961   0.82669249 15.18268306]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 108.26327356
Centerline is valid?  [True, True]
Translation: X:26.50, Y:-5.36, Z:15.22
[[ 0.78529197  0.29081079 -0.54657626 26.50070042]
 [-0.261091    0.9560322   0.13354369 -5.36463867]
 [ 0.56138045  0.03783535  0.82669249 15.2159133 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 108.32327356
Centerline is valid?  [True, True]
Translation: X:26.55, Y:-5.37, Z:15.25
[[ 0.78528085  0.29083993 -0.54657674 26.54859875]
 [-0.26112784  0.95602241  0.13354173 -5.37495202]
 [ 0.56137888  0.03785864  0.82669249 15.24924691]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 108.38327356
Centerline is valid?  [True, True]
Translation: X:26.60, Y:-5.39, Z:15.28
[[ 0.7865007   0.28744902 -0.54661661 26.59690572]
 [-0.25711356  0.95713261  0.13337837 -5.38528091]
 [ 0.56152406  0.03564036  0.8266925  15.28278125]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 108.44327356000001
Centerline is valid?  [True, True]
Translation: X:26.64, Y:-5.41, Z:15.32
[[ 0.78977345  0.27832242 -0.54662101 26.64128429]
 [-0.24602562  0.96004501  0.13336031 -5.41198251]
 [ 0.56189794  0.02915834  0.8266925  15.31642439]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 108.50327356
Centerline is valid?  [True, True]
Translation: X:26.69, Y:-5.42, Z:15.35
[[ 0.79005043  0.27752789 -0.54662472 26.68867637]
 [-0.24507033  0.96029142  0.13334511 -5.424526  ]
 [ 0.56192602  0.02861214  0.8266925  15.34977713]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 108.56327356
Centerline is valid?  [True, True]
Translation: X:26.74, Y:-5.44, Z:15.38
[[ 0.79005236  0.27751177 -0.54663011 26.73649908]
 [-0.24506599  0.9602956   0.133323   -5.43562703]
 [ 0.56192519  0.0286283   0.82669251 15.38317869]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 108.62327356
Centerline is valid?  [True, True]
Translation: X:26.79, Y:-5.44, Z:15.42
[[ 0.79056866  0.27602022 -0.54663886 26.78612995]
 [-0.24327793  0.96075511  0.13328714 -5.43790501]
 [ 0.56197602  0.02761253  0.82669251 15.41634699]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 108.68327356
Centerline is valid?  [True, True]
Translation: X:26.83, Y:-5.46, Z:15.45
[[ 0.78850702  0.28183866 -0.54664765 26.83104585]
 [-0.25037635  0.95893474  0.13325105 -5.45933075]
 [ 0.56175472  0.03179826  0.82669251 15.44948463]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 108.74327356
Centerline is valid?  [True, True]
Translation: X:26.88, Y:-5.46, Z:15.48
[[ 0.78392166  0.29435755 -0.54664474 26.88331514]
 [-0.26560449  0.95482733  0.13326301 -5.45649642]
 [ 0.56117831  0.04072354  0.82669251 15.48359602]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 108.80327356000001
Centerline is valid?  [True, True]
Translation: X:26.93, Y:-5.49, Z:15.52
[[ 0.78595741  0.28887888 -0.54664425 26.92630592]
 [-0.25893228  0.95665799  0.133265   -5.48732368]
 [ 0.56144904  0.03680323  0.82669251 15.51699368]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 108.86327356
Centerline is valid?  [True, True]
Translation: X:26.97, Y:-5.50, Z:15.55
[[ 0.78574406  0.28945619 -0.54664557 26.97424798]
 [-0.25963874  0.95646725  0.13325959 -5.50144091]
 [ 0.5614214   0.03722244  0.82669251 15.55096817]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 108.92327356
Centerline is valid?  [True, True]
Translation: X:27.02, Y:-5.52, Z:15.58
[[ 0.78521761  0.29087501 -0.54664891 27.02006585]
 [-0.26137549  0.95599602  0.13324588 -5.51605213]
 [ 0.56135208  0.03825361  0.82669251 15.58361367]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 108.98327356
Centerline is valid?  [True, True]
Translation: X:27.07, Y:-5.53, Z:15.62
[[ 0.78477074  0.29205735 -0.54666022 27.06644031]
 [-0.26284722  0.95559889  0.1331995  -5.53023533]
 [ 0.56128979  0.03915705  0.82669251 15.61654233]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 109.04327356
Centerline is valid?  [True, True]
Translation: X:27.11, Y:-5.54, Z:15.65
[[ 0.78468261  0.29222146 -0.54669902 27.11403124]
 [-0.26315756  0.95553568  0.13304005 -5.54402114]
 [ 0.56126758  0.03947376  0.82669252 15.65015618]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 109.10327356
Centerline is valid?  [True, True]
Translation: X:27.16, Y:-5.56, Z:15.68
[[ 0.78402441  0.29397267 -0.54670449 27.16155353]
 [-0.26530587  0.95494456  0.13301761 -5.56012455]
 [ 0.56117602  0.04075485  0.82669252 15.68416359]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 109.16327356000001
Centerline is valid?  [True, True]
Translation: X:27.21, Y:-5.57, Z:15.72
[[ 0.78382704  0.29449344 -0.54670723 27.2081272 ]
 [-0.265948    0.9547675   0.13300635 -5.57294207]
 [ 0.56114779  0.04114172  0.82669252 15.71702031]
 [ 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 109.22327356000001
Centerline is valid?  [True, True]
Translation: X:27.26, Y:-5.59, Z:15.75
[[ 0.78303026  0.29656704 -0.54672809 27.25518432]
 [-0.26853369  0.95405544  0.13292055 -5.58685612]
 [ 0.56102876  0.0427341   0.82669252 15.75033612]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 109.28327356
Centerline is valid?  [True, True]
Translation: X:27.30, Y:-5.60, Z:15.78
[[ 0.78239587  0.29822074 -0.54673677 27.30292567]
 [-0.27057358  0.95348391  0.13288483 -5.60032193]
 [ 0.56093372  0.04396399  0.82669252 15.78405688]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 109.34327356
Centerline is valid?  [True, True]
Translation: X:27.35, Y:-5.61, Z:15.82
[[ 0.78259763  0.29768594 -0.54673945 27.34944197]
 [-0.26992951  0.95366798  0.13287382 -5.61421952]
 [ 0.56096257  0.04359438  0.82669252 15.81704906]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 109.40327356
Centerline is valid?  [True, True]
Translation: X:27.40, Y:-5.63, Z:15.85
[[ 0.78299776  0.29661595 -0.54674811 27.39764382]
 [-0.26865044  0.95403405  0.13283818 -5.62628415]
 [ 0.56101823  0.04287212  0.82669252 15.85084897]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 109.46327356
Centerline is valid?  [True, True]
Translation: X:27.44, Y:-5.64, Z:15.88
[[ 0.78345195  0.29539973 -0.54675592 27.44420387]
 [-0.26719099  0.95444829  0.13280599 -5.64033179]
 [ 0.56108111  0.04204114  0.82669252 15.88388331]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 109.52327356
Centerline is valid?  [True, True]
Translation: X:27.49, Y:-5.65, Z:15.92
[[ 0.78430987  0.29309308 -0.5467673  27.49177616]
 [-0.26441377  0.95522791  0.13275914 -5.65377111]
 [ 0.56119817  0.0404485   0.82669252 15.91748177]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 109.58327356000001
Centerline is valid?  [True, True]
Translation: X:27.54, Y:-5.67, Z:15.95
[[ 0.78386257  0.29428194 -0.54677017 27.53971243]
 [-0.26587001  0.95482526  0.13274734 -5.6652686 ]
 [ 0.56113511  0.04131412  0.82669252 15.9510268 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 109.64327356
Centerline is valid?  [True, True]
Translation: X:27.59, Y:-5.68, Z:15.98
[[ 0.78409358  0.29365513 -0.54677594 27.58581883]
 [-0.26512302  0.95503625  0.13272355 -5.67996892]
 [ 0.5611658   0.0408952   0.82669252 15.98386968]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 109.70327356
Centerline is valid?  [True, True]
Translation: X:27.63, Y:-5.69, Z:16.02
[[ 0.78494739  0.29134367 -0.54678739 27.63333431]
 [-0.26234074  0.95581082  0.13267635 -5.69412731]
 [ 0.56127972  0.03930065  0.82669253 16.0175453 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 109.76327356
Centerline is valid?  [True, True]
Translation: X:27.68, Y:-5.71, Z:16.05
[[ 0.78596932  0.28857346 -0.54678843 27.68145887]
 [-0.25897105  0.95672991  0.13267207 -5.70912812]
 [ 0.56141448  0.0373262   0.82669253 16.0517809 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 109.82327356
Centerline is valid?  [True, True]
Translation: X:27.73, Y:-5.71, Z:16.09
[[ 0.78470392  0.29199568 -0.54678906 27.73297775]
 [-0.26313946  0.95559219  0.13266948 -5.70946629]
 [ 0.56124627  0.03977552  0.82669253 16.08590933]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 109.88327356
Centerline is valid?  [True, True]
Translation: X:27.78, Y:-5.72, Z:16.12
[[ 0.78585771  0.28887366 -0.54679034 27.77979821]
 [-0.25934192  0.95663053  0.13266421 -5.72369743]
 [ 0.56139953  0.03755046  0.82669253 16.11915838]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 109.94327356000001
Centerline is valid?  [True, True]
Translation: X:27.82, Y:-5.75, Z:16.15
[[ 0.78799392  0.28298623 -0.54679463 27.82391864]
 [-0.25218993  0.95854324  0.13264652 -5.74999046]
 [ 0.56166343  0.03337145  0.82669253 16.15255055]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 110.00327356
Centerline is valid?  [True, True]
Translation: X:27.87, Y:-5.76, Z:16.19
[[ 0.78783285  0.28342666 -0.54679862 27.8710933 ]
 [-0.25273707  0.9584014   0.13263007 -5.76271006]
 [ 0.56164346  0.03370595  0.82669253 16.18578526]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 110.06327356
Centerline is valid?  [True, True]
Translation: X:27.92, Y:-5.77, Z:16.22
[[ 0.78776406  0.28359567 -0.54681009 27.91733039]
 [-0.25297538  0.95834507  0.13258277 -5.7742179 ]
 [ 0.56163265  0.03388555  0.82669253 16.21818907]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 110.12327356
Centerline is valid?  [True, True]
Translation: X:27.96, Y:-5.79, Z:16.25
[[ 0.78756265  0.2841146  -0.54683084 27.96427747]
 [-0.25366592  0.95817436  0.13249713 -5.78547335]
 [ 0.56160366  0.03436256  0.82669253 16.25100174]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 110.18327356
Centerline is valid?  [True, True]
Translation: X:28.01, Y:-5.80, Z:16.28
[[ 0.78736759  0.28462797 -0.54684477 28.01100712]
 [-0.25433031  0.95800618  0.13243961 -5.79633654]
 [ 0.56157669  0.03480054  0.82669253 16.28362263]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 110.24327356
Centerline is valid?  [True, True]
Translation: X:28.06, Y:-5.81, Z:16.32
[[ 0.78706611  0.28542104 -0.5468654  28.05906897]
 [-0.25535426  0.95774554  0.13235439 -5.80805476]
 [ 0.56153463  0.03547276  0.82669253 16.31724711]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 110.30327356000001
Centerline is valid?  [True, True]
Translation: X:28.11, Y:-5.81, Z:16.35
[[ 0.78467395  0.29192794 -0.54686823 28.10932386]
 [-0.26328348  0.95559783  0.1323427  -5.80852796]
 [ 0.56122063  0.04013551  0.82669254 16.35056098]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 110.36327356
Centerline is valid?  [True, True]
Translation: X:28.15, Y:-5.83, Z:16.38
[[ 0.78651662  0.28692538 -0.54686876 28.1548003 ]
 [-0.2571946   0.95725489  0.13234052 -5.83208369]
 [ 0.56146465  0.03656368  0.82669254 16.38441406]
 [ 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 110.42327356
Centerline is valid?  [True, True]
Translation: X:28.20, Y:-5.85, Z:16.42
[[ 0.7859551   0.2884579  -0.54686984 28.20171021]
 [-0.25906306  0.95675153  0.13233607 -5.84532316]
 [ 0.56139194  0.03766356  0.82669254 16.4175627 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 110.48327356
Centerline is valid?  [True, True]
Translation: X:28.25, Y:-5.84, Z:16.45
[[ 0.78471108  0.29180939 -0.54687823 28.2534773 ]
 [-0.26316776  0.95563543  0.13230136 -5.84191924]
 [ 0.561223    0.04010237  0.82669254 16.45124475]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 110.54327356
Centerline is valid?  [True, True]
Translation: X:28.30, Y:-5.85, Z:16.48
[[ 0.7843688   0.29272349 -0.54688073 28.30207295]
 [-0.2642882   0.95532761  0.13229102 -5.85158927]
 [ 0.56117495  0.04076917  0.82669254 16.4849343 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 110.60327356
Centerline is valid?  [True, True]
Translation: X:28.35, Y:-5.86, Z:16.52
[[ 0.78447231  0.29243918 -0.54688438 28.35010359]
 [-0.26395238  0.95542253  0.13227595 -5.8617944 ]
 [ 0.56118833  0.04058462  0.82669254 16.51833335]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 110.66327356000001
Centerline is valid?  [True, True]
Translation: X:28.40, Y:-5.87, Z:16.55
[[ 0.78467392  0.2918872  -0.54689002 28.39769671]
 [-0.2632963   0.95560677  0.13225262 -5.87289945]
 [ 0.56121465  0.04021894  0.82669254 16.55158281]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 110.72327356000001
Centerline is valid?  [True, True]
Translation: X:28.45, Y:-5.88, Z:16.58
[[ 0.78501499  0.29094714 -0.54690148 28.44551736]
 [-0.26218439  0.955919    0.1322052  -5.88396622]
 [ 0.56125824  0.03960597  0.82669254 16.58496446]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 110.78327356
Centerline is valid?  [True, True]
Translation: X:28.49, Y:-5.89, Z:16.62
[[ 0.78542326  0.28983526 -0.54690568 28.49324635]
 [-0.26084258  0.95628841  0.13218783 -5.89485535]
 [ 0.56131226  0.03883289  0.82669254 16.61827235]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 110.84327356
Centerline is valid?  [True, True]
Translation: X:28.54, Y:-5.91, Z:16.65
[[ 0.78574524  0.28888772 -0.54694452 28.54034283]
 [-0.25980039  0.95659429  0.13202698 -5.90692729]
 [ 0.56134498  0.03835683  0.82669255 16.65127813]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 110.90327356
Centerline is valid?  [True, True]
Translation: X:28.59, Y:-5.93, Z:16.69
[[ 0.78704978  0.28529292 -0.54695574 28.58516005]
 [-0.25545709  0.95776972  0.13198047 -5.93442776]
 [ 0.56151074  0.03584853  0.82669255 16.68529688]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 110.96327356
Centerline is valid?  [True, True]
Translation: X:28.63, Y:-5.94, Z:16.72
[[ 0.78579735  0.28872331 -0.54695647 28.63420402]
 [-0.25963451  0.95664616  0.13197747 -5.94275404]
 [ 0.56134877  0.03830123  0.82669255 16.71907303]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 111.02327356
Centerline is valid?  [True, True]
Translation: X:28.68, Y:-5.96, Z:16.75
[[ 0.78492329  0.29108979 -0.54695719 28.68241301]
 [-0.26251801  0.95585932  0.13197447 -5.9550867 ]
 [ 0.56123055  0.03999628  0.82669255 16.75293634]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 111.08327356000001
Centerline is valid?  [True, True]
Translation: X:28.73, Y:-5.95, Z:16.79
[[ 0.78263433  0.29718291 -0.54696053 28.73486914]
 [-0.26995044  0.95378884  0.13196063 -5.95059703]
 [ 0.56090129  0.04437532  0.82669255 16.78691872]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 111.14327356
Centerline is valid?  [True, True]
Translation: X:28.78, Y:-5.98, Z:16.82
[[ 0.78349069  0.2949181  -0.54696037 28.77867799]
 [-0.26719029  0.95456565  0.13196127 -5.9762586 ]
 [ 0.56102735  0.04275207  0.82669255 16.82000032]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 111.20327356
Centerline is valid?  [True, True]
Translation: X:28.83, Y:-5.97, Z:16.85
[[ 0.78231429  0.29801461 -0.54696586 28.83047199]
 [-0.27097942  0.95350007  0.13193854 -5.97309787]
 [ 0.56085159  0.04499908  0.82669255 16.85375255]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 111.26327356
Centerline is valid?  [True, True]
Translation: X:28.88, Y:-5.99, Z:16.89
[[ 0.78342622  0.29507433 -0.54696847 28.87835598]
 [-0.26740391  0.95451046  0.13192773 -5.98577266]
 [ 0.56101561  0.04290587  0.82669255 16.88745153]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 111.32327356
Centerline is valid?  [True, True]
Translation: X:28.93, Y:-6.00, Z:16.92
[[ 0.78384117  0.29396444 -0.5469716  28.92619705]
 [-0.26606074  0.95488753  0.13191473 -5.99765194]
 [ 0.5610746   0.04212748  0.82669255 16.92099404]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 111.38327356
Centerline is valid?  [True, True]
Translation: X:28.97, Y:-6.02, Z:16.96
[[ 0.78712556  0.28504249 -0.54697726 28.97154984]
 [-0.25521407  0.95784679  0.13189126 -6.02423866]
 [ 0.56151503  0.03578131  0.82669255 16.95523133]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 111.44327356000001
Centerline is valid?  [True, True]
Translation: X:29.02, Y:-6.04, Z:16.99
[[ 0.78875215  0.28050609 -0.54697932 29.02027847]
 [-0.24970118  0.95929988  0.13188272 -6.0366009 ]
 [ 0.5617111   0.03255861  0.82669255 16.9894402 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 111.50327356
Centerline is valid?  [True, True]
Translation: X:29.07, Y:-6.03, Z:17.02
[[ 0.78914023  0.27941725 -0.54697687 29.0708445 ]
 [-0.24836997  0.95964401  0.13189288 -6.03324341]
 [ 0.56175622  0.03177065  0.82669255 17.02236662]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 111.56327356
Centerline is valid?  [True, True]
Translation: X:29.12, Y:-6.05, Z:17.06
[[ 7.91495952e-01  2.72649847e-01 -5.46988317e-01  2.91179117e+01]
 [-2.40176473e-01  9.61733879e-01  1.31845392e-01 -6.04627587e+00]
 [ 5.62004822e-01  2.70186306e-02  8.26692551e-01  1.70555635e+01]
 [ 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 111.62327356
Centerline is valid?  [True, True]
Translation: X:29.17, Y:-6.06, Z:17.09
[[ 7.92789638e-01  2.68857804e-01 -5.46991838e-01  2.91658639e+01]
 [-2.35579929e-01  9.62872132e-01  1.31830780e-01 -6.05883911e+00]
 [ 5.62126932e-01  2.43462219e-02  8.26692551e-01  1.70892877e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.68327356
Centerline is valid?  [True, True]
Translation: X:29.21, Y:-6.09, Z:17.12
[[ 7.95295819e-01  2.61345542e-01 -5.46994578e-01  2.92104741e+01]
 [-2.26467891e-01  9.65057479e-01  1.31819411e-01 -6.08682864e+00]
 [ 5.62331624e-01  1.90412818e-02  8.26692551e-01  1.71232620e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.74327356
Centerline is valid?  [True, True]
Translation: X:29.26, Y:-6.10, Z:17.16
[[ 7.95553645e-01  2.60558313e-01 -5.46995214e-01  2.92574110e+01]
 [-2.25514477e-01  9.65281078e-01  1.31816774e-01 -6.09966319e+00]
 [ 5.62350085e-01  1.84880251e-02  8.26692551e-01  1.71563637e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.80327356000001
Centerline is valid?  [True, True]
Translation: X:29.31, Y:-6.10, Z:17.19
[[ 7.99920601e-01  2.46801401e-01 -5.47006491e-01  2.93088271e+01]
 [-2.08868074e-01  9.69025699e-01  1.31769962e-01 -6.09756592e+00]
 [ 5.62584358e-01  8.84668461e-03  8.26692552e-01  1.71900256e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.86327356
Centerline is valid?  [True, True]
Translation: X:29.36, Y:-6.10, Z:17.22
[[ 7.99624931e-01  2.47749631e-01 -5.47010136e-01  2.93577534e+01]
 [-2.10027176e-01  9.68777194e-01  1.31754828e-01 -6.10184652e+00]
 [ 5.62573155e-01  9.53254892e-03  8.26692552e-01  1.72230739e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.92327356
Centerline is valid?  [True, True]
Translation: X:29.41, Y:-6.11, Z:17.26
[[ 7.96945215e-01  2.56221750e-01 -5.47018042e-01  2.94055303e+01]
 [-2.20319075e-01  9.66493053e-01  1.31721997e-01 -6.11453453e+00]
 [ 5.62439178e-01  1.55432945e-02  8.26692553e-01  1.72566927e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.98327356
Centerline is valid?  [True, True]
Translation: X:29.45, Y:-6.13, Z:17.29
[[ 7.97659283e-01  2.53985339e-01 -5.47020215e-01  2.94531810e+01]
 [-2.17613413e-01  9.67107075e-01  1.31712974e-01 -6.12503764e+00]
 [ 5.62480285e-01  1.39768594e-02  8.26692553e-01  1.72898918e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.04327356
Centerline is valid?  [True, True]
Translation: X:29.50, Y:-6.13, Z:17.32
[[ 7.98566720e-01  2.51092207e-01 -5.47031899e-01  2.95004241e+01]
 [-2.14139516e-01  9.67888808e-01  1.31664435e-01 -6.13308194e+00]
 [ 5.62525966e-01  1.19983103e-02  8.26692554e-01  1.73224098e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.10327356
Centerline is valid?  [True, True]
Translation: X:29.55, Y:-6.14, Z:17.36
[[ 7.99213678e-01  2.48993769e-01 -5.47046250e-01  2.95500909e+01]
 [-2.11637267e-01  9.68447132e-01  1.31604784e-01 -6.14114035e+00]
 [ 5.62554143e-01  1.05950302e-02  8.26692555e-01  1.73565287e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.16327356000001
Centerline is valid?  [True, True]
Translation: X:29.60, Y:-6.15, Z:17.39
[[ 7.99323408e-01  2.48638640e-01 -5.47047454e-01  2.95982161e+01]
 [-2.11210371e-01  9.68541004e-01  1.31599779e-01 -6.14852343e+00]
 [ 5.62558681e-01  1.03513120e-02  8.26692555e-01  1.73895474e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.22327356000001
Centerline is valid?  [True, True]
Translation: X:29.65, Y:-6.16, Z:17.42
[[ 7.98850391e-01  2.50127816e-01 -5.47059529e-01  2.96464350e+01]
 [-2.13049333e-01  9.68144975e-01  1.31549568e-01 -6.15674393e+00]
 [ 5.62537140e-01  1.14622441e-02  8.26692557e-01  1.74227394e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.28327356
Centerline is valid?  [True, True]
Translation: X:29.70, Y:-6.16, Z:17.46
[[ 7.97631730e-01  2.53962588e-01 -5.47070953e-01  2.96957907e+01]
 [-2.17730393e-01  9.67109450e-01  1.31502045e-01 -6.16285901e+00]
 [ 5.62474088e-01  1.42237701e-02  8.26692558e-01  1.74563505e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.34327356
Centerline is valid?  [True, True]
Translation: X:29.74, Y:-6.17, Z:17.49
[[ 7.96115099e-01  2.58671581e-01 -5.47073818e-01  2.97443569e+01]
 [-2.23449692e-01  9.65805665e-01  1.31490126e-01 -6.16953253e+00]
 [ 5.62379751e-01  1.75622015e-02  8.26692558e-01  1.74895455e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.40327356
Centerline is valid?  [True, True]
Translation: X:29.79, Y:-6.18, Z:17.52
[[ 7.95157217e-01  2.61583441e-01 -5.47082355e-01  2.97933876e+01]
 [-2.27007228e-01  9.64980522e-01  1.31454597e-01 -6.17767010e+00]
 [ 5.62310162e-01  1.96645772e-02  8.26692558e-01  1.75232698e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.46327356
Centerline is valid?  [True, True]
Translation: X:29.84, Y:-6.18, Z:17.56
[[ 7.93860059e-01  2.65482501e-01 -5.47087971e-01  2.98417855e+01]
 [-2.31756189e-01  9.63854192e-01  1.31431220e-01 -6.18435232e+00]
 [ 5.62205723e-01  2.24530271e-02  8.26692558e-01  1.75563499e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.52327356
Centerline is valid?  [True, True]
Translation: X:29.89, Y:-6.19, Z:17.59
[[ 7.93205316e-01  2.67409127e-01 -5.47099338e-01  2.98898093e+01]
 [-2.34128226e-01  9.63287209e-01  1.31383889e-01 -6.19240155e+00]
 [ 5.62147046e-01  2.38769978e-02  8.26692559e-01  1.75893890e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.58327356000001
Centerline is valid?  [True, True]
Translation: X:29.94, Y:-6.20, Z:17.62
[[ 7.91894821e-01  2.71185179e-01 -5.47139097e-01  2.99388766e+01]
 [-2.38829220e-01  9.62155083e-01  1.31218141e-01 -6.20088721e+00]
 [ 5.62017078e-01  2.67618375e-02  8.26692571e-01  1.76231343e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.64327356
Centerline is valid?  [True, True]
Translation: X:29.99, Y:-6.21, Z:17.66
[[ 7.91447129e-01  2.72486329e-01 -5.47140423e-01  2.99861536e+01]
 [-2.40414056e-01  9.61761057e-01  1.31212615e-01 -6.21030046e+00]
 [ 5.61971995e-01  2.76924014e-02  8.26692571e-01  1.76559158e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.70327356
Centerline is valid?  [True, True]
Translation: X:30.03, Y:-6.22, Z:17.69
[[ 7.90969177e-01  2.73844787e-01 -5.47153355e-01  3.00343501e+01]
 [-2.42102192e-01  9.61344856e-01  1.31158668e-01 -6.22142379e+00]
 [ 5.61920181e-01  2.87245630e-02  8.26692573e-01  1.76895553e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.76327356
Centerline is valid?  [True, True]
Translation: X:30.08, Y:-6.23, Z:17.72
[[ 7.90405624e-01  2.75455897e-01 -5.47159025e-01  3.00805087e+01]
 [-2.44076852e-01  9.60848635e-01  1.31135013e-01 -6.23287642e+00]
 [ 5.61858914e-01  2.98990002e-02  8.26692573e-01  1.77219121e+01]
 [ 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 112.82327356
Centerline is valid?  [True, True]
Translation: X:30.13, Y:-6.25, Z:17.76
[[ 0.78931721  0.27853199 -0.54717298 30.12798992]
 [-0.2478572   0.95988837  0.13107677 -6.24533513]
 [ 0.56173405  0.03215961  0.82669257 17.75528801]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 112.88327356
Centerline is valid?  [True, True]
Translation: X:30.18, Y:-6.26, Z:17.79
[[ 0.78868644  0.28030763 -0.54717579 30.17505792]
 [-0.25002488  0.95932764  0.13106505 -6.2575092 ]
 [ 0.56165939  0.03343834  0.82669257 17.78836639]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 112.94327356000001
Centerline is valid?  [True, True]
Translation: X:30.22, Y:-6.27, Z:17.82
[[ 0.7831734   0.29529087 -0.5472136  30.22300439]
 [-0.26837613  0.95437813  0.13090701 -6.27227998]
 [ 0.56090433  0.04433618  0.82669259 17.82237046]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 113.00327356
Centerline is valid?  [True, True]
Translation: X:30.27, Y:-6.28, Z:17.86
[[ 0.78766696  0.28308295 -0.5472155  30.27108043]
 [-0.25351607  0.95843364  0.13089905 -6.28424211]
 [ 0.56152504  0.03562307  0.82669259 17.85608403]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 113.06327356
Centerline is valid?  [True, True]
Translation: X:30.32, Y:-6.30, Z:17.89
[[ 0.78334221  0.29483614 -0.54721717 30.31818771]
 [-0.26783236  0.95453291  0.1308921  -6.30245265]
 [ 0.56092852  0.04402916  0.82669259 17.89014612]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 113.12327356
Centerline is valid?  [True, True]
Translation: X:30.37, Y:-6.32, Z:17.92
[[ 0.78921879  0.27872132 -0.54721854 30.3665737 ]
 [-0.24821899  0.95982086  0.13088637 -6.31631857]
 [ 0.56171259  0.03253205  0.82669259 17.92436724]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 113.18327356
Centerline is valid?  [True, True]
Translation: X:30.41, Y:-6.34, Z:17.96
[[ 0.78619063  0.28714931 -0.54721985 30.41337497]
 [-0.25847781  0.95710993  0.13088089 -6.33524789]
 [ 0.56133191  0.03854686  0.82669259 17.95834109]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 113.24327356
Centerline is valid?  [True, True]
Translation: X:30.46, Y:-6.35, Z:17.99
[[ 7.91245921e-01  2.72905959e-01 -5.47222286e-01  3.04612082e+01]
 [-2.41159814e-01  9.61620926e-01  1.30870697e-01 -6.34527074e+00]
 [ 5.61935794e-01  2.84171198e-02  8.26692585e-01  1.79915857e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.30327356000001
Centerline is valid?  [True, True]
Translation: X:30.51, Y:-6.36, Z:18.02
[[ 7.92502938e-01  2.69230444e-01 -5.47223959e-01  3.05078700e+01]
 [-2.36698666e-01  9.62729679e-01  1.30863698e-01 -6.35943291e+00]
 [ 5.62061238e-01  2.58173158e-02  8.26692585e-01  1.80247116e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.36327356
Centerline is valid?  [True, True]
Translation: X:30.55, Y:-6.38, Z:18.06
[[ 0.79018199  0.27594497 -0.54723559 30.55399998]
 [-0.2448923   0.96068475  0.13081503 -6.37809032]
 [ 0.56181864  0.0306461   0.82669259 18.05817654]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 113.42327356
Centerline is valid?  [True, True]
Translation: X:30.60, Y:-6.39, Z:18.09
[[ 7.95840180e-01  2.59169434e-01 -5.47238167e-01  3.06028010e+01]
 [-2.24524658e-01  9.65649482e-01  1.30804264e-01 -6.38873001e+00]
 [ 5.62340720e-01  1.87691732e-02  8.26692587e-01  1.80921590e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.48327356
Centerline is valid?  [True, True]
Translation: X:30.65, Y:-6.40, Z:18.13
[[ 7.96665942e-01  2.56617649e-01 -5.47239215e-01  3.06506817e+01]
 [-2.21431865e-01  9.66363969e-01  1.30799881e-01 -6.40118436e+00]
 [ 5.62397818e-01  1.69723900e-02  8.26692587e-01  1.81258226e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.54327356
Centerline is valid?  [True, True]
Translation: X:30.70, Y:-6.41, Z:18.16
[[ 7.98616845e-01  2.50474031e-01 -5.47242081e-01  3.06977164e+01]
 [-2.13990471e-01  9.68040601e-01  1.30787891e-01 -6.41183975e+00]
 [ 5.62511523e-01  1.26551776e-02  8.26692587e-01  1.81586378e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.60327356
Centerline is valid?  [True, True]
Translation: X:30.75, Y:-6.42, Z:18.19
[[ 8.00650660e-01  2.43869399e-01 -5.47253356e-01  3.07451712e+01]
 [-2.06019997e-01  9.69774526e-01  1.30740695e-01 -6.42274520e+00]
 [ 5.62596019e-01  8.06751074e-03  8.26692588e-01  1.81917534e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.66327356000001
Centerline is valid?  [True, True]
Translation: X:30.79, Y:-6.43, Z:18.23
[[ 8.01974467e-01  2.39454365e-01 -5.47264616e-01  3.07940109e+01]
 [-2.00705889e-01  9.70894609e-01  1.30693548e-01 -6.43211581e+00]
 [ 5.62631407e-01  5.02634240e-03  8.26692589e-01  1.82255432e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.72327356000001
Centerline is valid?  [True, True]
Translation: X:30.84, Y:-6.44, Z:18.26
[[ 8.02574884e-01  2.37417601e-01 -5.47271813e-01  3.08425859e+01]
 [-1.98260961e-01  9.71400878e-01  1.30663406e-01 -6.43773270e+00]
 [ 5.62642112e-01  3.63546796e-03  8.26692589e-01  1.82585729e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.78327356
Centerline is valid?  [True, True]
Translation: X:30.89, Y:-6.44, Z:18.29
[[ 8.02093207e-01  2.39014529e-01 -5.47282872e-01  3.08912476e+01]
 [-2.00225599e-01  9.71004063e-01  1.30617071e-01 -6.44285688e+00]
 [ 5.62633270e-01  4.81297522e-03  8.26692590e-01  1.82915750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.84327356
Centerline is valid?  [True, True]
Translation: X:30.94, Y:-6.45, Z:18.32
[[ 8.01161276e-01  2.42112619e-01 -5.47286113e-01  3.09393597e+01]
 [-2.03986048e-01  9.70222871e-01  1.30603492e-01 -6.44868952e+00]
 [ 5.62610257e-01  7.00427108e-03  8.26692590e-01  1.83243412e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.90327356
Centerline is valid?  [True, True]
Translation: X:30.99, Y:-6.46, Z:18.36
[[ 8.03646177e-01  2.33632757e-01 -5.47328564e-01  3.09887176e+01]
 [-1.93843033e-01  9.72324070e-01  1.30425388e-01 -6.45566639e+00]
 [ 5.62652380e-01  1.27996445e-03  8.26692604e-01  1.83580371e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.96327356
Centerline is valid?  [True, True]
Translation: X:31.04, Y:-6.45, Z:18.39
[[ 7.98852386e-01  2.49529828e-01 -5.47329636e-01  3.10398837e+01]
 [-2.13097314e-01  9.68287109e-01  1.30420890e-01 -6.45486257e+00]
 [ 5.62516133e-01  1.24474360e-02  8.26692604e-01  1.83917838e+01]
 [ 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 114.02327356
Centerline is valid?  [True, True]
Translation: X:31.09, Y:-6.47, Z:18.43
[[ 8.02937509e-01  2.36051160e-01 -5.47330984e-01  3.10881599e+01]
 [-1.96776363e-01  9.71736040e-01  1.30415230e-01 -6.46609105e+00]
 [ 5.62645909e-01  2.98652104e-03  8.26692604e-01  1.84255150e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.08327356000001
Centerline is valid?  [True, True]
Translation: X:31.14, Y:-6.47, Z:18.46
[[ 7.97153605e-01  2.54895854e-01 -5.47333750e-01  3.11383519e+01]
 [-2.19615326e-01  9.66831942e-01  1.30403623e-01 -6.46653857e+00]
 [ 5.62419095e-01  1.62511613e-02  8.26692604e-01  1.84588114e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.14327356
Centerline is valid?  [True, True]
Translation: X:31.19, Y:-6.47, Z:18.49
[[ 7.95308626e-01  2.60587288e-01 -5.47337607e-01  3.11879504e+01]
 [-2.26531626e-01  9.65237038e-01  1.30387433e-01 -6.47103487e+00]
 [ 5.62287838e-01  2.02910278e-02  8.26692604e-01  1.84923518e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.20327356
Centerline is valid?  [True, True]
Translation: X:31.24, Y:-6.48, Z:18.53
[[ 7.98692246e-01  2.50019974e-01 -5.47339665e-01  3.12365752e+01]
 [-2.13720270e-01  9.68155472e-01  1.30378791e-01 -6.48253298e+00]
 [ 5.62507194e-01  1.28450519e-02  8.26692604e-01  1.85263552e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.26327356
Centerline is valid?  [True, True]
Translation: X:31.28, Y:-6.50, Z:18.56
[[ 7.92769104e-01  2.68205641e-01 -5.47341650e-01  3.12832956e+01]
 [-2.35793569e-01  9.63018659e-01  1.30370457e-01 -6.50350469e+00]
 [ 5.62066314e-01  2.57059711e-02  8.26692604e-01  1.85605919e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.32327356
Centerline is valid?  [True, True]
Translation: X:31.34, Y:-6.50, Z:18.59
[[ 7.90850562e-01  2.73811266e-01 -5.47341557e-01  3.13363844e+01]
 [-2.42605002e-01  9.61325259e-01  1.30370850e-01 -6.49592963e+00]
 [ 5.61870272e-01  2.96839396e-02  8.26692604e-01  1.85945468e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.38327356
Centerline is valid?  [True, True]
Translation: X:31.38, Y:-6.52, Z:18.63
[[ 7.91624019e-01  2.71565527e-01 -5.47342285e-01  3.13798286e+01]
 [-2.39877646e-01  9.62009851e-01  1.30367793e-01 -6.52326538e+00]
 [ 5.61952068e-01  2.80929026e-02  8.26692604e-01  1.86276201e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.44327356000001
Centerline is valid?  [True, True]
Translation: X:31.43, Y:-6.53, Z:18.66
[[ 7.92050892e-01  2.70236767e-01 -5.47382384e-01  3.14274380e+01]
 [-2.38379203e-01  9.62405067e-01  1.30199245e-01 -6.53401429e+00]
 [ 5.61988203e-01  2.73601482e-02  8.26692617e-01  1.86607643e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.50327356
Centerline is valid?  [True, True]
Translation: X:31.48, Y:-6.53, Z:18.69
[[ 7.90669202e-01  2.74245027e-01 -5.47386406e-01  3.14791267e+01]
 [-2.43262385e-01  9.61184671e-01  1.30182334e-01 -6.53158542e+00]
 [ 5.61841280e-01  3.02273603e-02  8.26692617e-01  1.86945998e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.56327356
Centerline is valid?  [True, True]
Translation: X:31.53, Y:-6.55, Z:18.73
[[ 0.78638125  0.2863033  -0.5473892  31.52694057]
 [-0.25793983  0.9573519   0.13017057 -6.54547359]
 [ 0.56131236  0.03882978  0.82669262 18.72844136]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 114.62327356
Centerline is valid?  [True, True]
Translation: X:31.57, Y:-6.56, Z:18.76
[[ 0.78670232  0.28541633 -0.54739107 31.57381465]
 [-0.25686551  0.95764178  0.13016272 -6.55687709]
 [ 0.56135512  0.03820657  0.82669262 18.76127107]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 114.68327356
Centerline is valid?  [True, True]
Translation: X:31.62, Y:-6.58, Z:18.80
[[ 7.97053030e-01  2.55063549e-01 -5.47402095e-01  3.16196415e+01]
 [-2.20015818e-01  9.66779591e-01  1.30116343e-01 -6.57935739e+00]
 [ 5.62405109e-01  1.67274941e-02  8.26692618e-01  1.87951347e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.74327356
Centerline is valid?  [True, True]
Translation: X:31.67, Y:-6.59, Z:18.83
[[ 7.95774743e-01  2.59022948e-01 -5.47402659e-01  3.16678793e+01]
 [-2.24821077e-01  9.65673774e-01  1.30113970e-01 -6.58608922e+00]
 [ 5.62314895e-01  1.95262443e-02  8.26692618e-01  1.88281344e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.80327356000001
Centerline is valid?  [True, True]
Translation: X:31.72, Y:-6.60, Z:18.86
[[ 7.97972785e-01  2.52151793e-01 -5.47411095e-01  3.17165002e+01]
 [-2.16510584e-01  9.67575712e-01  1.30078468e-01 -6.59690647e+00]
 [ 5.62461199e-01  1.47212183e-02  8.26692618e-01  1.88620167e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.86327356
Centerline is valid?  [True, True]
Translation: X:31.76, Y:-6.61, Z:18.90
[[ 8.00734896e-01  2.43233013e-01 -5.47413306e-01  3.17638993e+01]
 [-2.05708101e-01  9.69931023e-01  1.30069163e-01 -6.61293915e+00]
 [ 5.62590263e-01  8.45643430e-03  8.26692618e-01  1.88959217e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.92327356
Centerline is valid?  [True, True]
Translation: X:31.81, Y:-6.62, Z:18.93
[[ 8.00414004e-01  2.44273317e-01 -5.47419372e-01  3.18120981e+01]
 [-2.06985754e-01  9.69662597e-01  1.30043631e-01 -6.62057815e+00]
 [ 5.62578279e-01  9.21926798e-03  8.26692619e-01  1.89290287e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.98327356
Centerline is valid?  [True, True]
Translation: X:31.86, Y:-6.63, Z:18.96
[[ 7.92052350e-01  2.70079070e-01 -5.47458099e-01  3.18603844e+01]
 [-2.38407377e-01  9.62441166e-01  1.29880426e-01 -6.63159280e+00]
 [ 5.61974196e-01  2.76459533e-02  8.26692630e-01  1.89626664e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.04327356
Centerline is valid?  [True, True]
Translation: X:31.91, Y:-6.64, Z:19.00
[[ 7.94328830e-01  2.63303265e-01 -5.47460592e-01  3.19086115e+01]
 [-2.30184446e-01  9.64442287e-01  1.29869917e-01 -6.63717683e+00]
 [ 5.62189319e-01  2.28574943e-02  8.26692630e-01  1.89954766e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.10327356
Centerline is valid?  [True, True]
Translation: X:31.96, Y:-6.65, Z:19.03
[[ 7.91460628e-01  2.71780254e-01 -5.47471980e-01  3.19578867e+01]
 [-2.40515105e-01  9.61924508e-01  1.29821898e-01 -6.64558024e+00]
 [ 5.61909743e-01  2.89263603e-02  8.26692631e-01  1.90294085e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.16327356000001
Centerline is valid?  [True, True]
Translation: X:32.00, Y:-6.65, Z:19.06
[[ 7.92189299e-01  2.69645118e-01 -5.47473857e-01  3.20048526e+01]
 [-2.37925892e-01  9.62569271e-01  1.29813978e-01 -6.65436521e+00]
 [ 5.61985217e-01  2.74209618e-02  8.26692631e-01  1.90618876e+01]
 [ 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 115.22327356
Centerline is valid?  [True, True]
Translation: X:32.05, Y:-6.67, Z:19.10
[[ 0.7894928   0.2774133  -0.54748788 32.05319819]
 [-0.24741001  0.9601833   0.12975482 -6.66552435]
 [ 0.56168443  0.03301348  0.82669263 19.09563241]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 115.28327356
Centerline is valid?  [True, True]
Translation: X:32.10, Y:-6.68, Z:19.13
[[ 0.78915658  0.27836227 -0.54749095 32.10163473]
 [-0.24857318  0.95988459  0.12974186 -6.67615832]
 [ 0.56164336  0.03370492  0.82669263 19.12937391]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 115.34327356
Centerline is valid?  [True, True]
Translation: X:32.15, Y:-6.69, Z:19.16
[[ 0.78909823  0.27852206 -0.54749378 32.14960154]
 [-0.2487758   0.95983371  0.12972991 -6.68734084]
 [ 0.56163563  0.03383356  0.82669263 19.16289084]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 115.40327356
Centerline is valid?  [True, True]
Translation: X:32.20, Y:-6.70, Z:19.20
[[ 0.78935747  0.27777549 -0.54749938 32.19701494]
 [-0.24788406  0.96006759  0.12970629 -6.69826816]
 [ 0.56166564  0.03333173  0.82669263 19.19599646]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 115.46327356
Centerline is valid?  [True, True]
Translation: X:32.24, Y:-6.73, Z:19.23
[[ 7.90096225e-01  2.75645166e-01 -5.47510454e-01  3.22388932e+01]
 [-2.45325645e-01  9.60730834e-01  1.29659523e-01 -6.72806331e+00]
 [ 5.61750196e-01  3.18748557e-02  8.26692634e-01  1.92283861e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.52327356
Centerline is valid?  [True, True]
Translation: X:32.29, Y:-6.74, Z:19.26
[[ 7.91376508e-01  2.71859274e-01 -5.47554343e-01  3.22874664e+01]
 [-2.40851173e-01  9.61887315e-01  1.29473956e-01 -6.73827715e+00]
 [ 5.61884273e-01  2.94164586e-02  8.26692649e-01  1.92620776e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.58327356000001
Centerline is valid?  [True, True]
Translation: X:32.34, Y:-6.73, Z:19.30
[[ 7.92481544e-01  2.68619280e-01 -5.47555190e-01  3.23390531e+01]
 [-2.36916304e-01  9.62864522e-01  1.29470375e-01 -6.73332398e+00]
 [ 5.61999705e-01  2.71218687e-02  8.26692649e-01  1.92954685e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.64327356
Centerline is valid?  [True, True]
Translation: X:32.39, Y:-6.75, Z:19.33
[[ 7.93844581e-01  2.64488461e-01 -5.47591668e-01  3.23869832e+01]
 [-2.32004892e-01  9.64080452e-01  1.29315936e-01 -6.74570116e+00]
 [ 5.62124996e-01  2.43871908e-02  8.26692660e-01  1.93290897e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.70327356
Centerline is valid?  [True, True]
Translation: X:32.43, Y:-6.76, Z:19.36
[[ 7.96463224e-01  2.56486871e-01 -5.47595487e-01  3.24341945e+01]
 [-2.22303025e-01  9.66365840e-01  1.29299762e-01 -6.75845582e+00]
 [ 5.62341265e-01  1.87496278e-02  8.26692660e-01  1.93623504e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.76327356
Centerline is valid?  [True, True]
Translation: X:32.48, Y:-6.77, Z:19.40
[[ 7.98894550e-01  2.48802337e-01 -5.47599211e-01  3.24829477e+01]
 [-2.12994144e-01  9.68462257e-01  1.29283993e-01 -6.77017594e+00]
 [ 5.62495327e-01  1.33511477e-02  8.26692660e-01  1.93964707e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.82327356
Centerline is valid?  [True, True]
Translation: X:32.53, Y:-6.78, Z:19.43
[[ 8.01094072e-01  2.41625209e-01 -5.47599805e-01  3.25316621e+01]
 [-2.04298938e-01  9.70334089e-01  1.29281473e-01 -6.77982584e+00]
 [ 5.62592422e-01  8.30743661e-03  8.26692660e-01  1.94302471e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.88327356
Centerline is valid?  [True, True]
Translation: X:32.58, Y:-6.79, Z:19.46
[[ 8.02470600e-01  2.37006781e-01 -5.47602705e-01  3.25790289e+01]
 [-1.98714661e-01  9.71494704e-01  1.29269192e-01 -6.78884055e+00]
 [ 5.62630802e-01  5.08195990e-03  8.26692660e-01  1.94630275e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.94327356000001
Centerline is valid?  [True, True]
Translation: X:32.63, Y:-6.80, Z:19.50
[[ 8.03007529e-01  2.35148045e-01 -5.47616932e-01  3.26270937e+01]
 [-1.96505773e-01  9.71951924e-01  1.29208897e-01 -6.79802530e+00]
 [ 5.62640550e-01  3.85417113e-03  8.26692661e-01  1.94962775e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.00327356
Centerline is valid?  [True, True]
Translation: X:32.68, Y:-6.80, Z:19.53
[[ 8.02944962e-01  2.35341913e-01 -5.47625394e-01  3.26757769e+01]
 [-1.96764896e-01  9.71904268e-01  1.29173024e-01 -6.80440751e+00]
 [ 5.62639284e-01  4.03462480e-03  8.26692662e-01  1.95295093e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.06327356
Centerline is valid?  [True, True]
Translation: X:32.72, Y:-6.81, Z:19.56
[[ 8.02471228e-01  2.36861412e-01 -5.47664678e-01  3.27249634e+01]
 [-1.98718066e-01  9.71528953e-01  1.29006292e-01 -6.80932583e+00]
 [ 5.62628703e-01  5.30702841e-03  8.26692674e-01  1.95627951e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.12327356
Centerline is valid?  [True, True]
Translation: X:32.77, Y:-6.82, Z:19.60
[[ 8.02144482e-01  2.37872478e-01 -5.47705134e-01  3.27731352e+01]
 [-2.00059592e-01  9.71276414e-01  1.28834340e-01 -6.81632890e+00]
 [ 5.62619222e-01  6.22991106e-03  8.26692687e-01  1.95957341e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.18327356
Centerline is valid?  [True, True]
Translation: X:32.82, Y:-6.82, Z:19.63
[[ 8.02477002e-01  2.36728576e-01 -5.47713650e-01  3.28224313e+01]
 [-1.98699302e-01  9.71560410e-01  1.28798127e-01 -6.81890129e+00]
 [ 5.62627096e-01  5.47278567e-03  8.26692688e-01  1.96287813e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.24327356
Centerline is valid?  [True, True]
Translation: X:32.87, Y:-6.82, Z:19.66
[[ 8.03233264e-01  2.34057859e-01 -5.47752903e-01  3.28730694e+01]
 [-1.95580295e-01  9.72215208e-01  1.28631013e-01 -6.82188802e+00]
 [ 5.62640802e-01  3.80896645e-03  8.26692700e-01  1.96627353e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.30327356000001
Centerline is valid?  [True, True]
Translation: X:32.92, Y:-6.83, Z:19.70
[[ 8.01771833e-01  2.39009570e-01 -5.47755742e-01  3.29217799e+01]
 [-2.01583662e-01  9.70989804e-01  1.28618924e-01 -6.82797501e+00]
 [ 5.62606394e-01  7.29557785e-03  8.26692700e-01  1.96959528e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.36327356
Centerline is valid?  [True, True]
Translation: X:32.97, Y:-6.83, Z:19.73
[[ 8.04214956e-01  2.30628146e-01 -5.47767252e-01  3.29694305e+01]
 [-1.91471481e-01  9.73040830e-01  1.28569886e-01 -6.83030947e+00]
 [ 5.62651736e-01  1.48398204e-03  8.26692701e-01  1.97278716e+01]
 [ 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 116.42327356
Centerline is valid?  [True, True]
Translation: X:33.02, Y:-6.84, Z:19.76
[[ 8.05705308e-01  2.25318114e-01 -5.47787097e-01  3.30181596e+01]
 [-1.85106154e-01  9.74282937e-01  1.28485290e-01 -6.83539481e+00]
 [ 5.62649685e-01 -2.12251737e-03  8.26692704e-01  1.97609216e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.48327356
Centerline is valid?  [True, True]
Translation: X:33.07, Y:-6.83, Z:19.79
[[ 8.07283222e-01  2.19499649e-01 -5.47826344e-01  3.30672142e+01]
 [-1.78186225e-01  9.75594290e-01  1.28317769e-01 -6.83481995e+00]
 [ 5.62621958e-01 -5.97367329e-03  8.26692716e-01  1.97932825e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.54327356
Centerline is valid?  [True, True]
Translation: X:33.12, Y:-6.83, Z:19.83
[[ 8.07695620e-01  2.17942717e-01 -5.47840085e-01  3.31175563e+01]
 [-1.76344648e-01  9.75936562e-01  1.28259081e-01 -6.83270804e+00]
 [ 5.62610301e-01 -6.98563147e-03  8.26692718e-01  1.98262969e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.60327356
Centerline is valid?  [True, True]
Translation: X:33.17, Y:-6.84, Z:19.86
[[ 8.03492409e-01  2.32868597e-01 -5.47879699e-01  3.31668876e+01]
 [-1.94509984e-01  9.72501363e-01  1.28089674e-01 -6.83855991e+00]
 [ 5.62641817e-01  3.64899048e-03  8.26692730e-01  1.98598449e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.66327356000001
Centerline is valid?  [True, True]
Translation: X:33.22, Y:-6.83, Z:19.89
[[ 8.02671255e-01  2.35676998e-01 -5.47882477e-01  3.32189850e+01]
 [-1.97917756e-01  9.71815127e-01  1.28077792e-01 -6.83167277e+00]
 [ 5.62625469e-01  5.63130851e-03  8.26692730e-01  1.98933013e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.72327356
Centerline is valid?  [True, True]
Translation: X:33.27, Y:-6.83, Z:19.93
[[ 8.01662071e-01  2.39074372e-01 -5.47888098e-01  3.32709805e+01]
 [-2.02048262e-01  9.70967939e-01  1.28053744e-01 -6.82622269e+00]
 [ 5.62596146e-01  8.04400796e-03  8.26692731e-01  1.99269103e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.78327356
Centerline is valid?  [True, True]
Translation: X:33.32, Y:-6.83, Z:19.96
[[ 8.00613353e-01  2.42550399e-01 -5.47893751e-01  3.33211066e+01]
 [-2.06275776e-01  9.70081820e-01  1.28029552e-01 -6.82770631e+00]
 [ 5.62555386e-01  1.05150396e-02  8.26692731e-01  1.99603551e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.84327356
Centerline is valid?  [True, True]
Translation: X:33.38, Y:-6.81, Z:19.99
[[ 8.03929874e-01  2.31291071e-01 -5.47906195e-01  3.33765460e+01]
 [-1.92678081e-01  9.72880891e-01  1.27976281e-01 -6.80639632e+00]
 [ 5.62647238e-01  2.68555872e-03  8.26692732e-01  1.99937866e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.90327356
Centerline is valid?  [True, True]
Translation: X:33.43, Y:-6.80, Z:20.03
[[ 8.01921714e-01  2.38149768e-01 -5.47910807e-01  3.34283268e+01]
 [-2.00994851e-01  9.71199359e-01  1.27956531e-01 -6.80156537e+00]
 [ 5.62603443e-01  7.51613050e-03  8.26692732e-01  2.00273539e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.96327356
Centerline is valid?  [True, True]
Translation: X:33.48, Y:-6.80, Z:20.06
[[ 8.00292800e-01  2.43555117e-01 -5.47916361e-01  3.34799885e+01]
 [-2.07559483e-01  9.69820743e-01  1.27932746e-01 -6.79927058e+00]
 [ 5.62539327e-01  1.13415809e-02  8.26692732e-01  2.00612347e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.02327356
Centerline is valid?  [True, True]
Translation: X:33.53, Y:-6.80, Z:20.09
[[ 7.98502481e-01  2.49355878e-01 -5.47919185e-01  3.35297001e+01]
 [-2.14599634e-01  9.68288854e-01  1.27920649e-01 -6.80250499e+00]
 [ 5.62441806e-01  1.54383013e-02  8.26692733e-01  2.00946813e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.08327356000001
Centerline is valid?  [True, True]
Translation: X:33.58, Y:-6.81, Z:20.13
[[ 7.96560254e-01  2.55480292e-01 -5.47924797e-01  3.35796844e+01]
 [-2.22045389e-01  9.66611764e-01  1.27896610e-01 -6.80674885e+00]
 [ 5.62305617e-01  1.97868188e-02  8.26692733e-01  2.01284633e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.14327356
Centerline is valid?  [True, True]
Translation: X:33.63, Y:-6.81, Z:20.16
[[ 7.93258693e-01  2.65546984e-01 -5.47928321e-01  3.36301345e+01]
 [-2.34278603e-01  9.63721877e-01  1.27881507e-01 -6.81027105e+00]
 [ 5.62009059e-01  2.69247645e-02  8.26692733e-01  2.01624440e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.20327356
Centerline is valid?  [True, True]
Translation: X:33.67, Y:-6.84, Z:20.20
[[ 7.91692387e-01  2.70172574e-01 -5.47932428e-01  3.36744952e+01]
 [-2.39911830e-01  9.62337329e-01  1.27863911e-01 -6.83763447e+00]
 [ 5.61841151e-01  3.02265867e-02  8.26692733e-01  2.01960761e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.26327356
Centerline is valid?  [True, True]
Translation: X:33.72, Y:-6.85, Z:20.23
[[ 7.90472967e-01  2.73713448e-01 -5.47935614e-01  3.37220814e+01]
 [-2.44226240e-01  9.61253274e-01  1.27850254e-01 -6.84693475e+00]
 [ 5.61699237e-01  3.27580853e-02  8.26692733e-01  2.02290526e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.32327356
Centerline is valid?  [True, True]
Translation: X:33.77, Y:-6.86, Z:20.26
[[ 0.78985207  0.27542102 -0.54797533 33.76986372]
 [-0.24642071  0.96071572  0.12767983 -6.85993089]
 [ 0.56161423  0.0341843   0.82669275 20.26270597]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 117.38327356
Centerline is valid?  [True, True]
Translation: X:33.81, Y:-6.88, Z:20.30
[[ 0.78964119  0.27601979 -0.54797797 33.81486245]
 [-0.24715687  0.9605281   0.12766849 -6.8771386 ]
 [ 0.56158727  0.03462422  0.82669275 20.29518928]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 117.44327356000001
Centerline is valid?  [True, True]
Translation: X:33.86, Y:-6.89, Z:20.33
[[ 0.78944619  0.27654971 -0.54799176 33.86114269]
 [-0.2478424   0.96035931  0.12760931 -6.89069131]
 [ 0.5615593   0.03507491  0.82669275 20.32794935]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 117.50327356
Centerline is valid?  [True, True]
Translation: X:33.91, Y:-6.89, Z:20.36
[[ 0.78746705  0.28204955 -0.54803622 33.91210894]
 [-0.25466746  0.95859747  0.12741813 -6.89064784]
 [ 0.56128436  0.03922942  0.82669276 20.36169707]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 117.56327356
Centerline is valid?  [True, True]
Translation: X:33.95, Y:-6.93, Z:20.39
[[ 0.78862143  0.27879785 -0.54804015 33.95311757]
 [-0.25072155  0.95963932  0.12740123 -6.92927747]
 [ 0.56144006  0.03693414  0.82669276 20.39483353]
 [ 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 117.62327356
Centerline is valid?  [True, True]
Translation: X:34.00, Y:-6.95, Z:20.43
[[ 7.90124426e-01  2.74498100e-01 -5.48045786e-01  3.39991702e+01]
 [-2.45507458e-01  9.60989697e-01  1.27376962e-01 -6.94932905e+00]
 [ 5.61631088e-01  3.39056787e-02  8.26692764e-01  2.04284485e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.68327356
Centerline is valid?  [True, True]
Translation: X:34.04, Y:-6.97, Z:20.46
[[ 7.92680498e-01  2.67016728e-01 -5.48050814e-01  3.40448405e+01]
 [-2.36427096e-01  9.63266759e-01  1.27355326e-01 -6.97341038e+00]
 [ 5.61925134e-01  2.86219795e-02  8.26692764e-01  2.04624308e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.74327356
Centerline is valid?  [True, True]
Translation: X:34.09, Y:-6.99, Z:20.50
[[ 7.94581872e-01  2.61300176e-01 -5.48052796e-01  3.40911614e+01]
 [-2.29488487e-01  9.64944469e-01  1.27346797e-01 -6.99338124e+00]
 [ 5.62116255e-01  2.45843503e-02  8.26692764e-01  2.04962136e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.80327356000001
Centerline is valid?  [True, True]
Translation: X:34.14, Y:-7.01, Z:20.53
[[ 7.96895402e-01  2.54146686e-01 -5.48057644e-01  3.41369948e+01]
 [-2.20819131e-01  9.66967951e-01  1.27325931e-01 -7.01461462e+00]
 [ 5.62313640e-01  1.95561632e-02  8.26692764e-01  2.05298645e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.86327356
Centerline is valid?  [True, True]
Translation: X:34.18, Y:-7.03, Z:20.56
[[ 7.98055270e-01  2.50471360e-01 -5.48061935e-01  3.41822513e+01]
 [-2.16373025e-01  9.67974961e-01  1.27307459e-01 -7.03481937e+00]
 [ 5.62397102e-01  1.69874301e-02  8.26692764e-01  2.05629746e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.92327356
Centerline is valid?  [True, True]
Translation: X:34.23, Y:-7.04, Z:20.60
[[ 7.96058858e-01  2.56734250e-01 -5.48067350e-01  3.42322900e+01]
 [-2.23988117e-01  9.66244312e-01  1.27284145e-01 -7.03739902e+00]
 [ 5.62245158e-01  2.14349030e-02  8.26692764e-01  2.05965397e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.98327356
Centerline is valid?  [True, True]
Translation: X:34.28, Y:-7.07, Z:20.63
[[ 7.98145172e-01  2.50160678e-01 -5.48072915e-01  3.42751340e+01]
 [-2.16028636e-01  9.68058095e-01  1.27260179e-01 -7.06724802e+00]
 [ 5.62401914e-01  1.68273467e-02  8.26692765e-01  2.06295331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.04327356
Centerline is valid?  [True, True]
Translation: X:34.32, Y:-7.08, Z:20.66
[[ 7.98718134e-01  2.48310900e-01 -5.48079409e-01  3.43229158e+01]
 [-2.13804484e-01  9.68555424e-01  1.27232203e-01 -7.08268733e+00]
 [ 5.62438427e-01  1.55591679e-02  8.26692765e-01  2.06635801e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.10327356
Centerline is valid?  [True, True]
Translation: X:34.37, Y:-7.08, Z:20.70
[[ 7.97059712e-01  2.53578044e-01 -5.48082102e-01  3.43743382e+01]
 [-2.20201490e-01  9.67122651e-01  1.27220600e-01 -7.08322961e+00]
 [ 5.62322967e-01  1.92860805e-02  8.26692765e-01  2.06977525e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.16327356000001
Centerline is valid?  [True, True]
Translation: X:34.42, Y:-7.10, Z:20.73
[[ 7.97770741e-01  2.51325587e-01 -5.48085116e-01  3.44215442e+01]
 [-2.17477701e-01  9.67740498e-01  1.27207617e-01 -7.09610846e+00]
 [ 5.62374692e-01  1.77137758e-02  8.26692765e-01  2.07310277e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.22327356
Centerline is valid?  [True, True]
Translation: X:34.47, Y:-7.12, Z:20.77
[[ 8.01083359e-01  2.40470649e-01 -5.48123453e-01  3.44663052e+01]
 [-2.04431215e-01  9.70601950e-01  1.27042249e-01 -7.12436343e+00]
 [ 5.62559624e-01  1.02821120e-02  8.26692777e-01  2.07650046e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.28327356
Centerline is valid?  [True, True]
Translation: X:34.52, Y:-7.12, Z:20.80
[[ 8.00023351e-01  2.43970181e-01 -5.48125158e-01  3.45174504e+01]
 [-2.08677157e-01  9.69698912e-01  1.27034892e-01 -7.12064440e+00]
 [ 5.62509095e-01  1.27503195e-02  8.26692777e-01  2.07983420e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.34327356
Centerline is valid?  [True, True]
Translation: X:34.57, Y:-7.13, Z:20.83
[[ 8.00406344e-01  2.42691646e-01 -5.48133605e-01  3.45651874e+01]
 [-2.07152528e-01  9.70030530e-01  1.26998432e-01 -7.13042415e+00]
 [ 5.62527790e-01  1.18969112e-02  8.26692778e-01  2.08314866e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.40327356
Centerline is valid?  [True, True]
Translation: X:34.61, Y:-7.15, Z:20.87
[[ 8.01373069e-01  2.39467524e-01 -5.48139133e-01  3.46104491e+01]
 [-2.03262161e-01  9.70856298e-01  1.26974572e-01 -7.15448965e+00]
 [ 5.62570616e-01  9.66194185e-03  8.26692778e-01  2.08651874e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.46327356
Centerline is valid?  [True, True]
Translation: X:34.66, Y:-7.16, Z:20.90
[[ 8.00606555e-01  2.42011622e-01 -5.48141878e-01  3.46589374e+01]
 [-2.06352862e-01  9.70205630e-01  1.26962721e-01 -7.16172484e+00]
 [ 5.62536790e-01  1.14634587e-02  8.26692778e-01  2.08984456e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.52327356
Centerline is valid?  [True, True]
Translation: X:34.71, Y:-7.17, Z:20.93
[[ 7.99057386e-01  2.47059713e-01 -5.48150337e-01  3.47073815e+01]
 [-2.12497104e-01  9.68883235e-01  1.26926189e-01 -7.16825343e+00]
 [ 5.62452020e-01  1.50590505e-02  8.26692779e-01  2.09315595e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.58327356000001
Centerline is valid?  [True, True]
Translation: X:34.75, Y:-7.18, Z:20.96
[[ 7.97545018e-01  2.51884159e-01 -5.48157198e-01  3.47547894e+01]
 [-2.18368839e-01  9.67580650e-01  1.26896553e-01 -7.17699432e+00]
 [ 5.62349530e-01  1.84947368e-02  8.26692779e-01  2.09643282e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.64327356
Centerline is valid?  [True, True]
Translation: X:34.80, Y:-7.19, Z:21.00
[[ 7.94876689e-01  2.60090784e-01 -5.48200541e-01  3.48039289e+01]
 [-2.28458769e-01  9.65272708e-01  1.26709079e-01 -7.18609381e+00]
 [ 5.62118884e-01  2.45231276e-02  8.26692794e-01  2.09982587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.70327356
Centerline is valid?  [True, True]
Translation: X:34.85, Y:-7.19, Z:21.03
[[ 7.92731548e-01  2.66554052e-01 -5.48202180e-01  3.48532522e+01]
 [-2.36315339e-01  9.63380333e-01  1.26701988e-01 -7.19494293e+00]
 [ 5.61900127e-01  2.91079208e-02  8.26692794e-01  2.10323207e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.76327356
Centerline is valid?  [True, True]
Translation: X:34.90, Y:-7.21, Z:21.07
[[ 7.90615528e-01  2.72762983e-01 -5.48203832e-01  3.49015066e+01]
 [-2.43868481e-01  9.61497052e-01  1.26694838e-01 -7.20731821e+00]
 [ 5.61654031e-01  3.35227293e-02  8.26692794e-01  2.10662143e+01]
 [ 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 118.82327356
Centerline is valid?  [True, True]
Translation: X:34.95, Y:-7.22, Z:21.10
[[ 0.78967423  0.27547201 -0.54820597 34.94929124]
 [-0.24716993  0.96065487  0.1266856  -7.2198142 ]
 [ 0.56153507  0.03545968  0.82669279 21.0998143 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 118.88327356
Centerline is valid?  [True, True]
Translation: X:35.00, Y:-7.24, Z:21.13
[[ 7.90182385e-01  2.74003324e-01 -5.48209793e-01  3.49955402e+01]
 [-2.45394840e-01  9.61112026e-01  1.26669045e-01 -7.23720768e+00]
 [ 5.61598764e-01  3.44362063e-02  8.26692795e-01  2.11331444e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.94327356000001
Centerline is valid?  [True, True]
Translation: X:35.04, Y:-7.25, Z:21.17
[[ 7.90256765e-01  2.73714710e-01 -5.48246754e-01  3.50430171e+01]
 [-2.45154459e-01  9.61194460e-01  1.26508898e-01 -7.25100356e+00]
 [ 5.61599089e-01  3.44306242e-02  8.26692806e-01  2.11666979e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.00327356
Centerline is valid?  [True, True]
Translation: X:35.09, Y:-7.27, Z:21.20
[[ 7.91257771e-01  2.70795997e-01 -5.48252376e-01  3.50894587e+01]
 [-2.41621832e-01  9.62091759e-01  1.26484531e-01 -7.26792514e+00]
 [ 5.61720598e-01  3.23878760e-02  8.26692806e-01  2.12000797e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.06327356
Centerline is valid?  [True, True]
Translation: X:35.14, Y:-7.29, Z:21.23
[[ 7.93694794e-01  2.63485782e-01 -5.48291725e-01  3.51357066e+01]
 [-2.32854723e-01  9.64273566e-01  1.26313766e-01 -7.29023267e+00]
 [ 5.61985099e-01  2.74177396e-02  8.26692819e-01  2.12341132e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.12327356
Centerline is valid?  [True, True]
Translation: X:35.18, Y:-7.31, Z:21.27
[[ 7.93907012e-01  2.62836018e-01 -5.48296347e-01  3.51814675e+01]
 [-2.32079165e-01  9.64463147e-01  1.26293703e-01 -7.30713194e+00]
 [ 5.62006154e-01  2.69827020e-02  8.26692819e-01  2.12670395e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.18327356
Centerline is valid?  [True, True]
Translation: X:35.23, Y:-7.33, Z:21.30
[[ 7.93996704e-01  2.62483719e-01 -5.48335236e-01  3.52265241e+01]
 [-2.31767641e-01  9.64560174e-01  1.26124666e-01 -7.32738602e+00]
 [ 5.62008002e-01  2.69437954e-02  8.26692831e-01  2.12999636e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.24327356
Centerline is valid?  [True, True]
Translation: X:35.27, Y:-7.35, Z:21.33
[[ 7.94424845e-01  2.61167857e-01 -5.48343429e-01  3.52718398e+01]
 [-2.30193765e-01  9.64941648e-01  1.26089040e-01 -7.34614699e+00]
 [ 5.62049816e-01  2.60569721e-02  8.26692832e-01  2.13328716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.30327356000001
Centerline is valid?  [True, True]
Translation: X:35.32, Y:-7.36, Z:21.37
[[ 7.94835680e-01  2.59834039e-01 -5.48381723e-01  3.53184241e+01]
 [-2.28688560e-01  9.65321250e-01  1.25922308e-01 -7.36335545e+00]
 [ 5.62083432e-01  2.53210837e-02  8.26692844e-01  2.13663398e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.36327356
Centerline is valid?  [True, True]
Translation: X:35.36, Y:-7.38, Z:21.40
[[ 7.96724369e-01  2.53971953e-01 -5.48387206e-01  3.53641383e+01]
 [-2.21587875e-01  9.66979007e-01  1.25898427e-01 -7.38452670e+00]
 [ 5.62253585e-01  2.12096113e-02  8.26692844e-01  2.13998806e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.42327356
Centerline is valid?  [True, True]
Translation: X:35.41, Y:-7.40, Z:21.43
[[ 7.98089854e-01  2.49640041e-01 -5.48390768e-01  3.54095898e+01]
 [-2.16342193e-01  9.68168141e-01  1.25882909e-01 -7.40235820e+00]
 [ 5.62359885e-01  1.81741886e-02  8.26692844e-01  2.14327410e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.48327356
Centerline is valid?  [True, True]
Translation: X:35.46, Y:-7.42, Z:21.47
[[ 7.98926196e-01  2.46920011e-01 -5.48404450e-01  3.54560641e+01]
 [-2.13083903e-01  9.68898216e-01  1.25823280e-01 -7.41987612e+00]
 [ 5.62416379e-01  1.63326460e-02  8.26692846e-01  2.14662157e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.54327356
Centerline is valid?  [True, True]
Translation: X:35.50, Y:-7.43, Z:21.50
[[ 7.99192230e-01  2.46045070e-01 -5.48410068e-01  3.55027625e+01]
 [-2.12039659e-01  9.69130459e-01  1.25798792e-01 -7.43398406e+00]
 [ 5.62433073e-01  1.57472667e-02  8.26692846e-01  2.14993323e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.60327356
Centerline is valid?  [True, True]
Translation: X:35.55, Y:-7.45, Z:21.53
[[ 7.98638639e-01  2.47820856e-01 -5.48416947e-01  3.55497084e+01]
 [-2.14213834e-01  9.68656102e-01  1.25768797e-01 -7.44806188e+00]
 [ 5.62395553e-01  1.70346754e-02  8.26692846e-01  2.15326062e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.66327356000001
Centerline is valid?  [True, True]
Translation: X:35.60, Y:-7.46, Z:21.57
[[ 7.98000495e-01  2.49782438e-01 -5.48455963e-01  3.55975553e+01]
 [-2.16710197e-01  9.68122780e-01  1.25598460e-01 -7.45739665e+00]
 [ 5.62345002e-01  1.86283664e-02  8.26692859e-01  2.15657042e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.72327356
Centerline is valid?  [True, True]
Translation: X:35.64, Y:-7.47, Z:21.60
[[ 7.96024641e-01  2.56006921e-01 -5.48457134e-01  3.56447632e+01]
 [-2.24267797e-01  9.66400676e-01  1.25593349e-01 -7.47433020e+00]
 [ 5.62182111e-01  2.30258726e-02  8.26692859e-01  2.15995943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.78327356
Centerline is valid?  [True, True]
Translation: X:35.69, Y:-7.49, Z:21.63
[[ 7.93814986e-01  2.62775781e-01 -5.48458437e-01  3.56916548e+01]
 [-2.32492482e-01  9.64455798e-01  1.25587655e-01 -7.49095928e+00]
 [ 5.61965314e-01  2.78191005e-02  8.26692859e-01  2.16332280e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.84327356
Centerline is valid?  [True, True]
Translation: X:35.74, Y:-7.51, Z:21.67
[[ 7.92729079e-01  2.66028223e-01 -5.48461112e-01  3.57395623e+01]
 [-2.36452865e-01  9.63494015e-01  1.25575974e-01 -7.50613867e+00]
 [ 5.61845752e-01  3.01374750e-02  8.26692859e-01  2.16673130e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.90327356
Centerline is valid?  [True, True]
Translation: X:35.79, Y:-7.52, Z:21.70
[[ 7.91509255e-01  2.69635879e-01 -5.48461112e-01  3.57865990e+01]
 [-2.40838562e-01  9.62407118e-01  1.25575974e-01 -7.52240357e+00]
 [ 5.61702667e-01  3.26960399e-02  8.26692859e-01  2.17009898e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.96327356
Centerline is valid?  [True, True]
Translation: X:35.83, Y:-7.54, Z:21.73
[[ 7.91011934e-01  2.71086379e-01 -5.48463576e-01  3.58324451e+01]
 [-2.42609827e-01  9.61963539e-01  1.25565210e-01 -7.53830933e+00]
 [ 5.61640981e-01  3.37390740e-02  8.26692859e-01  2.17338176e+01]
 [ 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 120.02327356
Centerline is valid?  [True, True]
Translation: X:35.88, Y:-7.56, Z:21.77
[[ 7.91393489e-01  2.69948620e-01 -5.48474328e-01  3.58772438e+01]
 [-2.41258707e-01  9.62309415e-01  1.25518233e-01 -7.55701012e+00]
 [ 5.61685483e-01  3.29898942e-02  8.26692860e-01  2.17663600e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.08327356000001
Centerline is valid?  [True, True]
Translation: X:35.92, Y:-7.58, Z:21.80
[[ 7.91810620e-01  2.68695687e-01 -5.48487529e-01  3.59238907e+01]
 [-2.39775128e-01  9.62687668e-01  1.25460522e-01 -7.57514470e+00]
 [ 5.61732882e-01  3.21726936e-02  8.26692862e-01  2.18000372e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.14327356
Centerline is valid?  [True, True]
Translation: X:35.97, Y:-7.59, Z:21.83
[[ 7.91565276e-01  2.69407231e-01 -5.48492624e-01  3.59699150e+01]
 [-2.40655641e-01  9.62470835e-01  1.25438248e-01 -7.59460150e+00]
 [ 5.61702125e-01  3.27052820e-02  8.26692862e-01  2.18335162e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.20327356
Centerline is valid?  [True, True]
Translation: X:36.02, Y:-7.61, Z:21.87
[[ 7.91426297e-01  2.69804306e-01 -5.48497997e-01  3.60150911e+01]
 [-2.41154686e-01  9.62348980e-01  1.25414748e-01 -7.61340328e+00]
 [ 5.61683927e-01  3.30163325e-02  8.26692862e-01  2.18663320e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.26327356
Centerline is valid?  [True, True]
Translation: X:36.06, Y:-7.63, Z:21.90
[[ 7.91289865e-01  2.70176314e-01 -5.48511722e-01  3.60613879e+01]
 [-2.41648519e-01  9.62232921e-01  1.25354695e-01 -7.62952370e+00]
 [ 5.61663906e-01  3.33551457e-02  8.26692864e-01  2.18994677e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.32327356
Centerline is valid?  [True, True]
Translation: X:36.11, Y:-7.65, Z:21.93
[[ 7.91588992e-01  2.69287661e-01 -5.48517114e-01  3.61068624e+01]
 [-2.40584235e-01  9.62502645e-01  1.25331100e-01 -7.64817452e+00]
 [ 5.61699292e-01  3.27538508e-02  8.26692864e-01  2.19324573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.38327356
Centerline is valid?  [True, True]
Translation: X:36.16, Y:-7.65, Z:21.97
[[ 7.95244815e-01  2.58268718e-01 -5.48527987e-01  3.61574206e+01]
 [-2.27227312e-01  9.65749344e-01  1.25283496e-01 -7.65090572e+00]
 [ 5.62097352e-01  2.50094893e-02  8.26692865e-01  2.19663957e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.44327356000001
Centerline is valid?  [True, True]
Translation: X:36.20, Y:-7.67, Z:22.00
[[ 7.97774854e-01  2.50341417e-01 -5.48529359e-01  3.62047033e+01]
 [-2.17608761e-01  9.67962798e-01  1.25277489e-01 -7.66743958e+00]
 [ 5.62318157e-01  1.94215637e-02  8.26692865e-01  2.20002717e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.50327356
Centerline is valid?  [True, True]
Translation: X:36.25, Y:-7.70, Z:22.03
[[ 8.00366028e-01  2.41921713e-01 -5.48532684e-01  3.62468898e+01]
 [-2.07407649e-01  9.70201662e-01  1.25262931e-01 -7.70078033e+00]
 [ 5.62491144e-01  1.35136798e-02  8.26692865e-01  2.20333088e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.56327356
Centerline is valid?  [True, True]
Translation: X:36.29, Y:-7.72, Z:22.07
[[ 8.04076288e-01  2.29281681e-01 -5.48535535e-01  3.62939371e+01]
 [-1.92104608e-01  9.73348933e-01  1.25250444e-01 -7.71714106e+00]
 [ 5.62634110e-01  4.66529193e-03  8.26692865e-01  2.20669988e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.62327356
Centerline is valid?  [True, True]
Translation: X:36.35, Y:-7.71, Z:22.10
[[ 8.06698193e-01  2.19869259e-01 -5.48539456e-01  3.63458840e+01]
 [-1.80728214e-01  9.75527519e-01  1.25233269e-01 -7.70937390e+00]
 [ 5.62650281e-01 -1.88889585e-03  8.26692865e-01  2.21002823e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.68327356
Centerline is valid?  [True, True]
Translation: X:36.40, Y:-7.72, Z:22.13
[[ 8.08866563e-01  2.11724575e-01 -5.48550442e-01  3.63955018e+01]
 [-1.70915939e-01  9.77300580e-01  1.25185135e-01 -7.71632775e+00]
 [ 5.62603434e-01 -7.50205581e-03  8.26692866e-01  2.21342365e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.74327356
Centerline is valid?  [True, True]
Translation: X:36.44, Y:-7.72, Z:22.17
[[ 8.09804438e-01  2.08101347e-01 -5.48553190e-01  3.64447811e+01]
 [-1.66547237e-01  9.78056090e-01  1.25173090e-01 -7.71862855e+00]
 [ 5.62564477e-01 -1.00057059e-02  8.26692866e-01  2.21672787e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.80327356000001
Centerline is valid?  [True, True]
Translation: X:36.49, Y:-7.72, Z:22.20
[[ 8.07090752e-01  2.18362163e-01 -5.48564020e-01  3.64946171e+01]
 [-1.78979022e-01  9.75863766e-01  1.25125613e-01 -7.71960557e+00]
 [ 5.62646450e-01 -2.80627288e-03  8.26692867e-01  2.22004744e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.86327356
Centerline is valid?  [True, True]
Translation: X:36.54, Y:-7.73, Z:22.23
[[ 8.07397829e-01  2.17195894e-01 -5.48575145e-01  3.65433144e+01]
 [-1.77602106e-01  9.76121550e-01  1.25076826e-01 -7.72606865e+00]
 [ 5.62642193e-01 -3.55865720e-03  8.26692868e-01  2.22337453e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.92327356
Centerline is valid?  [True, True]
Translation: X:36.59, Y:-7.72, Z:22.27
[[ 8.06162889e-01  2.21640473e-01 -5.48613614e-01  3.65932582e+01]
 [-1.83091721e-01  9.75128422e-01  1.24907899e-01 -7.72121882e+00]
 [ 5.62653374e-01 -2.49501914e-04  8.26692881e-01  2.22660830e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.98327356
Centerline is valid?  [True, True]
Translation: X:36.65, Y:-7.72, Z:22.30
[[ 8.05953754e-01  2.22349613e-01 -5.48633936e-01  3.66451002e+01]
 [-1.84010319e-01  9.74966934e-01  1.24818589e-01 -7.71647341e+00]
 [ 5.62653311e-01  3.56295149e-04  8.26692884e-01  2.22997342e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.04327356
Centerline is valid?  [True, True]
Translation: X:36.70, Y:-7.71, Z:22.33
[[ 8.04787358e-01  2.26521771e-01 -5.48639403e-01  3.66965228e+01]
 [-1.89074928e-01  9.74000509e-01  1.24794552e-01 -7.71169778e+00]
 [ 5.62643741e-01  3.30087798e-03  8.26692884e-01  2.23331308e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.10327356
Centerline is valid?  [True, True]
Translation: X:36.75, Y:-7.71, Z:22.37
[[ 8.02781871e-01  2.33510523e-01 -5.48647521e-01  3.67476750e+01]
 [-1.97560730e-01  9.72319385e-01  1.24758854e-01 -7.70839855e+00]
 [ 5.62593126e-01  8.23705816e-03  8.26692885e-01  2.23665674e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.16327356000001
Centerline is valid?  [True, True]
Translation: X:36.80, Y:-7.72, Z:22.40
[[ 8.04632207e-01  2.27032919e-01 -5.48655688e-01  3.67968055e+01]
 [-1.89742401e-01  9.73879876e-01  1.24722929e-01 -7.71530573e+00]
 [ 5.62640944e-01  3.74716224e-03  8.26692885e-01  2.24002033e+01]
 [ 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 121.22327356
Centerline is valid?  [True, True]
Translation: X:36.85, Y:-7.71, Z:22.43
[[ 8.04806437e-01  2.26404034e-01 -5.48660015e-01  3.68460047e+01]
 [-1.88994239e-01  9.74027781e-01  1.24703891e-01 -7.71435073e+00]
 [ 5.62643561e-01  3.33108772e-03  8.26692886e-01  2.24327051e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.28327356
Centerline is valid?  [True, True]
Translation: X:36.90, Y:-7.71, Z:22.47
[[ 8.04412731e-01  2.27766102e-01 -5.48673638e-01  3.68969279e+01]
 [-1.90683717e-01  9.73706122e-01  1.24643928e-01 -7.71059735e+00]
 [ 5.62636542e-01  4.35796598e-03  8.26692887e-01  2.24659166e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.34327356
Centerline is valid?  [True, True]
Translation: X:36.95, Y:-7.72, Z:22.50
[[ 8.01601805e-01  2.37382162e-01 -5.48711450e-01  3.69460705e+01]
 [-2.02443646e-01  9.71350593e-01  1.24477286e-01 -7.71754376e+00]
 [ 5.62539880e-01  1.13019293e-02  8.26692899e-01  2.24995274e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.40327356
Centerline is valid?  [True, True]
Translation: X:37.00, Y:-7.72, Z:22.53
[[ 8.00731694e-01  2.40288718e-01 -5.48716763e-01  3.69954154e+01]
 [-2.05982303e-01  9.70609359e-01  1.24453862e-01 -7.72070788e+00]
 [ 5.62494485e-01  1.33717909e-02  8.26692900e-01  2.25327490e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.46327356
Centerline is valid?  [True, True]
Translation: X:37.04, Y:-7.72, Z:22.57
[[ 8.01450559e-01  2.37861283e-01 -5.48724896e-01  3.70439336e+01]
 [-2.03064816e-01  9.71228522e-01  1.24417996e-01 -7.72267939e+00]
 [ 5.62531494e-01  1.17118470e-02  8.26692900e-01  2.25652392e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.52327356
Centerline is valid?  [True, True]
Translation: X:37.09, Y:-7.74, Z:22.60
[[ 7.99995719e-01  2.42663925e-01 -5.48744994e-01  3.70900576e+01]
 [-2.08947166e-01  9.69991395e-01  1.24329299e-01 -7.73573357e+00]
 [ 5.62448158e-01  1.51958038e-02  8.26692903e-01  2.25977928e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.58327356000001
Centerline is valid?  [True, True]
Translation: X:37.14, Y:-7.75, Z:22.63
[[ 7.99040934e-01  2.45761380e-01 -5.48757624e-01  3.71370113e+01]
 [-2.12741717e-01  9.69173385e-01  1.24273533e-01 -7.74683887e+00]
 [ 5.62382919e-01  1.74439998e-02  8.26692905e-01  2.26306134e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.64327356
Centerline is valid?  [True, True]
Translation: X:37.19, Y:-7.75, Z:22.66
[[ 8.00054277e-01  2.42411203e-01 -5.48771321e-01  3.71854650e+01]
 [-2.08720436e-01  9.70055103e-01  1.24213026e-01 -7.75414720e+00]
 [ 5.62449049e-01  1.51626265e-02  8.26692906e-01  2.26638579e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.70327356
Centerline is valid?  [True, True]
Translation: X:37.23, Y:-7.77, Z:22.70
[[ 7.97885252e-01  2.49371380e-01 -5.48810568e-01  3.72315549e+01]
 [-2.17282037e-01  9.68195610e-01  1.24039417e-01 -7.77321555e+00]
 [ 5.62287864e-01  2.02774569e-02  8.26692920e-01  2.26972654e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.76327356
Centerline is valid?  [True, True]
Translation: X:37.28, Y:-7.79, Z:22.73
[[ 7.96874697e-01  2.52576179e-01 -5.48813257e-01  3.72779205e+01]
 [-2.21179774e-01  9.67314159e-01  1.24027522e-01 -7.78716318e+00]
 [ 5.62201231e-01  2.25519985e-02  8.26692920e-01  2.27301349e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.82327356
Centerline is valid?  [True, True]
Translation: X:37.33, Y:-7.80, Z:22.76
[[ 7.95001931e-01  2.58381657e-01 -5.48826794e-01  3.73252099e+01]
 [-2.28270500e-01  9.65673140e-01  1.23967596e-01 -7.80424923e+00]
 [ 5.62018246e-01  2.67264886e-02  8.26692921e-01  2.27640732e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.88327356
Centerline is valid?  [True, True]
Translation: X:37.37, Y:-7.82, Z:22.80
[[ 7.93444638e-01  2.63124094e-01 -5.48827221e-01  3.73719812e+01]
 [-2.34033874e-01  9.64292824e-01  1.23965704e-01 -7.82234710e+00]
 [ 5.61848514e-01  3.00842374e-02  8.26692921e-01  2.27978371e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.94327356000001
Centerline is valid?  [True, True]
Translation: X:37.42, Y:-7.84, Z:22.83
[[ 7.92789455e-01  2.65086113e-01 -5.48829876e-01  3.74175307e+01]
 [-2.36426739e-01  9.63710442e-01  1.23953947e-01 -7.83916682e+00]
 [ 5.61771553e-01  3.14886757e-02  8.26692921e-01  2.28305949e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.00327356
Centerline is valid?  [True, True]
Translation: X:37.46, Y:-7.86, Z:22.86
[[ 7.92001950e-01  2.67339093e-01 -5.48874048e-01  3.74639293e+01]
 [-2.39301020e-01  9.63025937e-01  1.23758095e-01 -7.85561537e+00]
 [ 5.61665321e-01  3.33294670e-02  8.26692938e-01  2.28637980e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.06327356
Centerline is valid?  [True, True]
Translation: X:37.51, Y:-7.87, Z:22.90
[[ 7.92447283e-01  2.66010972e-01 -5.48876549e-01  3.75105804e+01]
 [-2.37693883e-01  9.63425294e-01  1.23747001e-01 -7.87135296e+00]
 [ 5.61719611e-01  3.24016233e-02  8.26692938e-01  2.28971237e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.12327356
Centerline is valid?  [True, True]
Translation: X:37.56, Y:-7.89, Z:22.93
[[ 7.93759112e-01  2.61995825e-01 -5.48912252e-01  3.75552692e+01]
 [-2.32922838e-01  9.64610203e-01  1.23588463e-01 -7.88922155e+00]
 [ 5.61866020e-01  2.97547310e-02  8.26692949e-01  2.29294128e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.18327356
Centerline is valid?  [True, True]
Translation: X:37.60, Y:-7.91, Z:22.96
[[ 7.96232172e-01  2.54351856e-01 -5.48925734e-01  3.76021571e+01]
 [-2.23678726e-01  9.66803250e-01  1.23528556e-01 -7.90749939e+00]
 [ 5.62122901e-01  2.44255988e-02  8.26692950e-01  2.29632564e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.24327356
Centerline is valid?  [True, True]
Translation: X:37.65, Y:-7.92, Z:23.00
[[ 7.98255906e-01  2.47921225e-01 -5.48928570e-01  3.76496386e+01]
 [-2.15881931e-01  9.68575656e-01  1.23515955e-01 -7.92232462e+00]
 [ 5.62301076e-01  1.99064188e-02  8.26692950e-01  2.29969948e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.30327356000001
Centerline is valid?  [True, True]
Translation: X:37.70, Y:-7.94, Z:23.03
[[ 7.99944668e-01  2.42407370e-01 -5.48932779e-01  3.76958144e+01]
 [-2.09206462e-01  9.70041796e-01  1.23497247e-01 -7.93678949e+00]
 [ 5.62424381e-01  1.60493201e-02  8.26692951e-01  2.30298099e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.36327356
Centerline is valid?  [True, True]
Translation: X:37.74, Y:-7.95, Z:23.06
[[ 8.02089604e-01  2.35188141e-01 -5.48943354e-01  3.77430839e+01]
 [-2.00487772e-01  9.71887182e-01  1.23450226e-01 -7.94691351e+00]
 [ 5.62545038e-01  1.10382871e-02  8.26692952e-01  2.30626921e+01]
 [ 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 122.42327356
Centerline is valid?  [True, True]
Translation: X:37.79, Y:-7.95, Z:23.10
[[ 8.03495106e-01  2.30326897e-01 -5.48949119e-01  3.77924051e+01]
 [-1.94616495e-01  9.73083137e-01  1.23424587e-01 -7.95369220e+00]
 [ 5.62601132e-01  7.66350210e-03  8.26692952e-01  2.30964453e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.48327356
Centerline is valid?  [True, True]
Translation: X:37.84, Y:-7.96, Z:23.13
[[ 8.04270320e-01  2.27598430e-01 -5.48951917e-01  3.78406795e+01]
 [-1.91321130e-01  9.73737988e-01  1.23412140e-01 -7.95619409e+00]
 [ 5.62623744e-01  5.76937973e-03  8.26692952e-01  2.31288701e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.54327356
Centerline is valid?  [True, True]
Translation: X:37.89, Y:-7.96, Z:23.16
[[ 8.06146531e-01  2.20826772e-01 -5.48965670e-01  3.78911788e+01]
 [-1.83167273e-01  9.75312410e-01  1.23350937e-01 -7.95571198e+00]
 [ 5.62652220e-01  1.11361529e-03  8.26692954e-01  2.31623102e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.60327356
Centerline is valid?  [True, True]
Translation: X:37.94, Y:-7.95, Z:23.20
[[ 8.08072795e-01  2.13656451e-01 -5.48971109e-01  3.79417791e+01]
 [-1.74512055e-01  9.76901254e-01  1.23326728e-01 -7.95352881e+00]
 [ 5.62640116e-01 -3.85489755e-03  8.26692954e-01  2.31955776e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.66327356000001
Centerline is valid?  [True, True]
Translation: X:37.99, Y:-7.95, Z:23.23
[[ 8.03200012e-01  2.31212305e-01 -5.49008752e-01  3.79920446e+01]
 [-1.95870335e-01  9.72865192e-01  1.23158962e-01 -7.94730279e+00]
 [ 5.62587373e-01  8.61324859e-03  8.26692966e-01  2.32279764e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.72327356
Centerline is valid?  [True, True]
Translation: X:38.04, Y:-7.96, Z:23.26
[[ 8.09286838e-01  2.08799612e-01 -5.49051487e-01  3.80408339e+01]
 [-1.68885175e-01  9.77934875e-01  1.22968200e-01 -7.95648465e+00]
 [ 5.62612310e-01 -6.78988973e-03  8.26692982e-01  2.32616872e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.78327356
Centerline is valid?  [True, True]
Translation: X:38.09, Y:-7.95, Z:23.29
[[ 8.10008948e-01  2.05973460e-01 -5.49054130e-01  3.80924852e+01]
 [-1.65478584e-01  9.78518555e-01  1.22956399e-01 -7.94920415e+00]
 [ 5.62585409e-01 -8.73908300e-03  8.26692982e-01  2.32949053e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.84327356
Centerline is valid?  [True, True]
Translation: X:38.14, Y:-7.95, Z:23.33
[[ 8.09393792e-01  2.08371049e-01 -5.49056642e-01  3.81426684e+01]
 [-1.68382927e-01  9.78024372e-01  1.22945182e-01 -7.94888945e+00]
 [ 5.62608994e-01 -7.05930290e-03  8.26692982e-01  2.33281850e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.90327356
Centerline is valid?  [True, True]
Translation: X:38.19, Y:-7.94, Z:23.36
[[ 8.06845259e-01  2.17936640e-01 -5.49094117e-01  3.81948109e+01]
 [-1.80061300e-01  9.75962901e-01  1.22777621e-01 -7.94103887e+00]
 [ 5.62653229e-01 -1.91940821e-04  8.26692994e-01  2.33616074e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.96327356
Centerline is valid?  [True, True]
Translation: X:38.25, Y:-7.93, Z:23.39
[[ 8.03738374e-01  2.29046039e-01 -5.49128891e-01  3.82463381e+01]
 [-1.93613566e-01  9.73384636e-01  1.22621927e-01 -7.93371764e+00]
 [ 5.62599693e-01  7.76285407e-03  8.26693005e-01  2.33947101e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.02327356
Centerline is valid?  [True, True]
Translation: X:38.30, Y:-7.91, Z:23.43
[[ 8.01305213e-01  2.37392136e-01 -5.49140174e-01  3.83019755e+01]
 [-2.03760432e-01  9.71317632e-01  1.22571384e-01 -7.91045529e+00]
 [ 5.62487016e-01  1.36759505e-02  8.26693006e-01  2.34282076e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.08327356000001
Centerline is valid?  [True, True]
Translation: X:38.35, Y:-7.91, Z:23.46
[[ 7.98060216e-01  2.48071124e-01 -5.49145345e-01  3.83532932e+01]
 [-2.16728584e-01  9.68509502e-01  1.22548212e-01 -7.91031539e+00]
 [ 5.62253157e-01  2.12146403e-02  8.26693006e-01  2.34622714e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.14327356
Centerline is valid?  [True, True]
Translation: X:38.40, Y:-7.91, Z:23.50
[[ 7.95445093e-01  2.56332428e-01 -5.49145510e-01  3.84033131e+01]
 [-2.26759375e-01  9.66210279e-01  1.22547473e-01 -7.91340193e+00]
 [ 5.62002927e-01  2.70441066e-02  8.26693006e-01  2.34959554e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.20327356
Centerline is valid?  [True, True]
Translation: X:38.45, Y:-7.92, Z:23.53
[[ 7.93480200e-01  2.62346057e-01 -5.49148176e-01  3.84524748e+01]
 [-2.34074669e-01  9.64465704e-01  1.22535525e-01 -7.92091874e+00]
 [ 5.61781294e-01  3.13121643e-02  8.26693006e-01  2.35297244e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.26327356
Centerline is valid?  [True, True]
Translation: X:38.50, Y:-7.93, Z:23.56
[[ 7.92196028e-01  2.66195221e-01 -5.49149850e-01  3.84999162e+01]
 [-2.38759463e-01  9.63317602e-01  1.22528021e-01 -7.93237301e+00]
 [ 5.61622091e-01  3.40485116e-02  8.26693006e-01  2.35629350e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.32327356
Centerline is valid?  [True, True]
Translation: X:38.55, Y:-7.95, Z:23.60
[[ 7.91403608e-01  2.68538997e-01 -5.49151287e-01  3.85470988e+01]
 [-2.41614338e-01  9.62606344e-01  1.22521579e-01 -7.94728508e+00]
 [ 5.61518335e-01  3.57188056e-02  8.26693006e-01  2.35964863e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.38327356
Centerline is valid?  [True, True]
Translation: X:38.59, Y:-7.97, Z:23.63
[[ 0.78983658  0.27310821 -0.54915397 38.59441051]
 [-0.24718173  0.96119332  0.12250956 -7.96528001]
 [ 0.56130149  0.03897829  0.82669301 23.63057926]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 123.44327356000001
Centerline is valid?  [True, True]
Translation: X:38.64, Y:-7.99, Z:23.66
[[ 0.78893607  0.27569874 -0.54915397 38.64095402]
 [-0.25033474  0.96037697  0.12250956 -7.98535515]
 [ 0.56117056  0.0408201   0.82669301 23.66447207]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 123.50327356
Centerline is valid?  [True, True]
Translation: X:38.69, Y:-8.01, Z:23.70
[[ 0.78819496  0.27780544 -0.54915649 38.68621949]
 [-0.25290737  0.95970414  0.12249826 -8.00540596]
 [ 0.56105844  0.04233321  0.82669301 23.69751015]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 123.56327356
Centerline is valid?  [True, True]
Translation: X:38.73, Y:-8.03, Z:23.73
[[ 0.78787729  0.27869054 -0.54916387 38.7313704 ]
 [-0.25400806  0.95941763  0.12246515 -8.02714962]
 [ 0.56100738  0.04300454  0.82669301 23.73071821]
 [ 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 123.62327356
Centerline is valid?  [True, True]
Translation: X:38.78, Y:-8.05, Z:23.76
[[ 0.78885103  0.27584606 -0.54920215 38.77739118]
 [-0.25066379  0.9603187   0.1222933  -8.04516649]
 [ 0.56114322  0.0411939   0.82669302 23.76392156]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 123.68327356
Centerline is valid?  [True, True]
Translation: X:38.82, Y:-8.07, Z:23.80
[[ 0.78999487  0.27247671 -0.54923998 38.82286623]
 [-0.2466805   0.96137124  0.1221232  -8.06976163]
 [ 0.56129925  0.0390101   0.82669303 23.79773126]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 123.74327356
Centerline is valid?  [True, True]
Translation: X:38.87, Y:-8.09, Z:23.83
[[ 7.91389300e-01  2.68388026e-01 -5.49245704e-01  3.88685475e+01]
 [-2.41723773e-01  9.62632760e-01  1.22097448e-01 -8.09292912e+00]
 [ 5.61491401e-01  3.61391296e-02  8.26693032e-01  2.38314971e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.80327356000001
Centerline is valid?  [True, True]
Translation: X:38.91, Y:-8.12, Z:23.87
[[ 0.7886333   0.27637752 -0.54924765 38.91382841]
 [-0.25145247  0.96013854  0.12208867 -8.11774063]
 [ 0.5610964   0.04182648  0.82669303 23.86524343]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 123.86327356
Centerline is valid?  [True, True]
Translation: X:38.96, Y:-8.14, Z:23.90
[[ 0.78631468  0.28290089 -0.54925068 38.96003057]
 [-0.25940685  0.9580218   0.12207506 -8.13702146]
 [ 0.56072927  0.04648998  0.82669303 23.89878344]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 123.92327356
Centerline is valid?  [True, True]
Translation: X:39.01, Y:-8.16, Z:23.93
[[ 0.78571942  0.28454432 -0.5492536  39.00510856]
 [-0.26141845  0.95747652  0.12206193 -8.15879895]
 [ 0.56062945  0.04767859  0.82669303 23.93194503]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 123.98327356
Centerline is valid?  [True, True]
Translation: X:39.05, Y:-8.19, Z:23.97
[[ 0.79006653  0.27216377 -0.54929205 39.04920021]
 [-0.24646191  0.96145706  0.12188867 -8.18935016]
 [ 0.5612944   0.03907941  0.82669305 23.96569569]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 124.04327356
Centerline is valid?  [True, True]
Translation: X:39.10, Y:-8.20, Z:24.00
[[ 0.78353755  0.29042088 -0.54929465 39.09733431]
 [-0.26871052  0.95547929  0.12187695 -8.20177809]
 [ 0.56023528  0.05210608  0.82669305 23.99950682]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 124.10327356
Centerline is valid?  [True, True]
Translation: X:39.14, Y:-8.22, Z:24.03
[[ 0.78405355  0.28902021 -0.54929714 39.14249117]
 [-0.2670104   0.95595721  0.12186574 -8.22395925]
 [ 0.56032622  0.05111878  0.82669305 24.03277759]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 124.16327356000001
Centerline is valid?  [True, True]
Translation: X:39.19, Y:-8.25, Z:24.07
[[ 7.90155901e-01  2.71858102e-01 -5.49314868e-01  3.91869114e+01]
 [-2.46161092e-01  9.61547158e-01  1.21785791e-01 -8.25384942e+00]
 [ 5.61300605e-01  3.89901861e-02  8.26693048e-01  2.40666704e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.22327356
Centerline is valid?  [True, True]
Translation: X:39.23, Y:-8.27, Z:24.10
[[ 0.78986744  0.2726904  -0.54931719 39.23298011]
 [-0.24718122  0.96128675  0.12177531 -8.27159803]
 [ 0.5612583   0.03959455  0.82669305 24.09989258]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 124.28327356
Centerline is valid?  [True, True]
Translation: X:39.28, Y:-8.29, Z:24.13
[[ 0.78917002  0.27469187 -0.54932237 39.27909446]
 [-0.24963349  0.96065581  0.12175196 -8.29224147]
 [ 0.561154    0.04104626  0.82669305 24.13356647]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 124.34327356
Centerline is valid?  [True, True]
Translation: X:39.33, Y:-8.31, Z:24.17
[[ 0.78780883  0.27856137 -0.54932759 39.32578159]
 [-0.25436118  0.95941784  0.12172838 -8.3112016 ]
 [ 0.56094352  0.04382892  0.82669305 24.16737241]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 124.40327356
Centerline is valid?  [True, True]
Translation: X:39.37, Y:-8.33, Z:24.20
[[ 0.78782946  0.27849862 -0.54932983 39.37044986]
 [-0.25429176  0.95943752  0.1217183  -8.33010204]
 [ 0.56094603  0.04379679  0.82669305 24.19983294]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 124.46327356
Centerline is valid?  [True, True]
Translation: X:39.42, Y:-8.35, Z:24.23
[[ 0.78845625  0.27669362 -0.54934268 39.41673255]
 [-0.252134    0.96001418  0.12166027 -8.35180898]
 [ 0.56103938  0.04258417  0.82669305 24.23375937]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 124.52327356
Centerline is valid?  [True, True]
Translation: X:39.46, Y:-8.37, Z:24.27
[[ 0.78964109  0.27328253 -0.54934836 39.46193914]
 [-0.24799922  0.96109386  0.12163463 -8.37265891]
 [ 0.56121595  0.04019026  0.82669305 24.26685687]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 124.58327356000001
Centerline is valid?  [True, True]
Translation: X:39.51, Y:-8.39, Z:24.30
[[ 7.90215439e-01  2.71542067e-01 -5.49385534e-01  3.95098246e+01]
 [-2.45997346e-01  9.61629446e-01  1.21466517e-01 -8.38777057e+00]
 [ 5.61288576e-01  3.91626661e-02  8.26693063e-01  2.43008281e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.64327356
Centerline is valid?  [True, True]
Translation: X:39.56, Y:-8.40, Z:24.33
[[ 0.78997019  0.27225138 -0.54938719 39.55636253]
 [-0.24686574  0.96140783  0.12145902 -8.40275061]
 [ 0.56125253  0.03967586  0.82669306 24.33395303]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 124.70327356
Centerline is valid?  [True, True]
Translation: X:39.60, Y:-8.42, Z:24.37
[[ 0.78650933  0.28202099 -0.54942446 39.60411594]
 [-0.25887906  0.95826422  0.12129024 -8.41680944]
 [ 0.56070019  0.04683858  0.82669308 24.36767892]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 124.76327356
Centerline is valid?  [True, True]
Translation: X:39.65, Y:-8.44, Z:24.40
[[ 0.7886152   0.27607455 -0.54942599 39.65111378]
 [-0.25164127  0.96019114  0.12128332 -8.43501035]
 [ 0.5610372   0.04261238  0.82669308 24.40158119]
 [ 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 124.82327356
Centerline is valid?  [True, True]
Translation: X:39.70, Y:-8.45, Z:24.44
[[ 0.78752572  0.27916374 -0.54942775 39.69888617]
 [-0.25540874  0.95919689  0.12127534 -8.45162643]
 [ 0.56086506  0.0448212   0.82669308 24.43576512]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 124.88327356
Centerline is valid?  [True, True]
Translation: X:39.75, Y:-8.47, Z:24.47
[[ 0.78803297  0.27772575 -0.54942921 39.74523328]
 [-0.253662    0.95966113  0.12126873 -8.46717965]
 [ 0.5609453   0.04380556  0.82669308 24.4688464 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 124.94327356000001
Centerline is valid?  [True, True]
Translation: X:39.79, Y:-8.48, Z:24.50
[[ 0.78881377  0.27547893 -0.5494399  39.79150806]
 [-0.25095973  0.96037746  0.12122028 -8.47907905]
 [ 0.56106332  0.04226707  0.82669308 24.501324  ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 125.00327356
Centerline is valid?  [True, True]
Translation: X:39.84, Y:-8.50, Z:24.54
[[ 0.78905487  0.27476125 -0.54945306 39.83800065]
 [-0.25012733  0.96060212  0.12116059 -8.50003332]
 [ 0.56109601  0.04183088  0.82669308 24.53526797]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 125.06327356
Centerline is valid?  [True, True]
Translation: X:39.88, Y:-8.52, Z:24.57
[[ 0.78871579  0.27572773 -0.54945575 39.88354743]
 [-0.25131245  0.96029429  0.12114838 -8.51826247]
 [ 0.56104319  0.04253343  0.82669308 24.56820585]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 125.12327356
Centerline is valid?  [True, True]
Translation: X:39.93, Y:-8.53, Z:24.60
[[ 0.78938858  0.27377971 -0.54946369 39.93159637]
 [-0.24896582  0.96090989  0.12111238 -8.52530146]
 [ 0.5611432   0.04119295  0.82669308 24.60115526]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 125.18327356
Centerline is valid?  [True, True]
Translation: X:39.98, Y:-8.54, Z:24.63
[[ 0.78967667  0.27292678 -0.54947404 39.97908521]
 [-0.24796013  0.96117581  0.12106538 -8.53849836]
 [ 0.56118315  0.04064515  0.82669308 24.6346292 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 125.24327356
Centerline is valid?  [True, True]
Translation: X:40.02, Y:-8.56, Z:24.67
[[ 0.78856612  0.27610857 -0.54947933 40.02452372]
 [-0.25185023  0.96016688  0.12104139 -8.56412012]
 [ 0.56101242  0.04293736  0.82669308 24.66857057]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 125.30327356000001
Centerline is valid?  [True, True]
Translation: X:40.07, Y:-8.57, Z:24.70
[[ 0.78898655  0.27490274 -0.54948039 40.074391  ]
 [-0.25038544  0.96055051  0.12103657 -8.56573749]
 [ 0.56107695  0.04208566  0.82669308 24.70195034]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 125.36327356
Centerline is valid?  [True, True]
Translation: X:40.12, Y:-8.58, Z:24.74
[[ 0.78880062  0.27542573 -0.54948544 40.1216548 ]
 [-0.25103806  0.96038305  0.12101363 -8.57828312]
 [ 0.56104677  0.04248613  0.82669308 24.73519065]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 125.42327356
Centerline is valid?  [True, True]
Translation: X:40.17, Y:-8.60, Z:24.77
[[ 0.7883059   0.27681752 -0.54949602 40.16686968]
 [-0.25276598  0.95993577  0.12096561 -8.60127867]
 [ 0.56096628  0.04353599  0.82669308 24.76858541]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 125.48327356
Centerline is valid?  [True, True]
Translation: X:40.22, Y:-8.61, Z:24.80
[[ 7.90082929e-01  2.71693408e-01 -5.49501280e-01  4.02169009e+01]
 [-2.46544579e-01  9.61555447e-01  1.20941690e-01 -8.60650148e+00]
 [ 5.61235009e-01  3.99225973e-02  8.26693081e-01  2.48025928e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.54327356
Centerline is valid?  [True, True]
Translation: X:40.26, Y:-8.62, Z:24.84
[[ 7.90872191e-01  2.69383480e-01 -5.49503156e-01  4.02647358e+01]
 [-2.43739576e-01  9.62271369e-01  1.20933168e-01 -8.61877476e+00]
 [ 5.61348552e-01  3.82929860e-02  8.26693081e-01  2.48361797e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.60327356
Centerline is valid?  [True, True]
Translation: X:40.31, Y:-8.63, Z:24.87
[[ 7.91688826e-01  2.66964894e-01 -5.49507550e-01  4.03114656e+01]
 [-2.40811024e-01  9.63010929e-01  1.20913196e-01 -8.63024159e+00]
 [ 5.61461355e-01  3.66018499e-02  8.26693082e-01  2.48689082e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.66327356000001
Centerline is valid?  [True, True]
Translation: X:40.36, Y:-8.64, Z:24.90
[[ 7.93689593e-01  2.60934817e-01 -5.49517835e-01  4.03601068e+01]
 [-2.33510719e-01  9.64812960e-01  1.20866442e-01 -8.64293555e+00]
 [ 5.61720191e-01  3.23878679e-02  8.26693082e-01  2.49030729e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.72327356
Centerline is valid?  [True, True]
Translation: X:40.41, Y:-8.65, Z:24.94
[[ 7.92681029e-01  2.63982874e-01 -5.49517814e-01  4.04086059e+01]
 [-2.37216505e-01  9.63908507e-01  1.20866536e-01 -8.65077522e+00]
 [ 5.61591591e-01  3.45460851e-02  8.26693082e-01  2.49364574e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.78327356
Centerline is valid?  [True, True]
Translation: X:40.46, Y:-8.66, Z:24.97
[[ 7.94377118e-01  2.58823118e-01 -5.49523055e-01  4.04572754e+01]
 [-2.30960393e-01  9.65429613e-01  1.20842702e-01 -8.66214338e+00]
 [ 5.61802716e-01  3.09233833e-02  8.26693083e-01  2.49704587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.84327356
Centerline is valid?  [True, True]
Translation: X:40.51, Y:-8.67, Z:25.00
[[ 7.98450018e-01  2.45969372e-01 -5.49524009e-01  4.05053737e+01]
 [-2.15352730e-01  9.69031110e-01  1.20838364e-01 -8.67484040e+00]
 [ 5.62228397e-01  2.18581015e-02  8.26693083e-01  2.50042846e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.90327356
Centerline is valid?  [True, True]
Translation: X:40.55, Y:-8.69, Z:25.04
[[ 8.00669212e-01  2.38645027e-01 -5.49524672e-01  4.05535682e+01]
 [-2.06469165e-01  9.70963079e-01  1.20835352e-01 -8.68517864e+00]
 [ 5.62404923e-01  1.67107536e-02  8.26693083e-01  2.50378303e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.96327356
Centerline is valid?  [True, True]
Translation: X:40.60, Y:-8.70, Z:25.07
[[ 8.02159904e-01  2.33573233e-01 -5.49529829e-01  4.06019067e+01]
 [-2.00336376e-01  9.72249877e-01  1.20811893e-01 -8.69607405e+00]
 [ 5.62498733e-01  1.31803578e-02  8.26693083e-01  2.50715426e+01]
 [ 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 126.02327356
Centerline is valid?  [True, True]
Translation: X:40.65, Y:-8.70, Z:25.11
[[ 8.03900493e-01  2.27507622e-01 -5.49530963e-01  4.06505085e+01]
 [-1.92990498e-01  9.73735282e-01  1.20806737e-01 -8.70401934e+00]
 [ 5.62582140e-01  8.93765894e-03  8.26693083e-01  2.51050083e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.08327356000001
Centerline is valid?  [True, True]
Translation: X:40.70, Y:-8.72, Z:25.14
[[ 8.04700068e-01  2.24581027e-01 -5.49564521e-01  4.06977216e+01]
 [-1.89550514e-01  9.74429698e-01  1.20653914e-01 -8.71754348e+00]
 [ 5.62608570e-01  7.08002493e-03  8.26693093e-01  2.51382900e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.14327356
Centerline is valid?  [True, True]
Translation: X:40.74, Y:-8.73, Z:25.17
[[ 8.01374098e-01  2.36150158e-01 -5.49574979e-01  4.07444469e+01]
 [-2.03601043e-01  9.71597007e-01  1.20606263e-01 -8.73122657e+00]
 [ 5.62446593e-01  1.52433035e-02  8.26693094e-01  2.51713241e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.20327356
Centerline is valid?  [True, True]
Translation: X:40.79, Y:-8.74, Z:25.21
[[ 7.98378051e-01  2.46071833e-01 -5.49582697e-01  4.07943394e+01]
 [-2.15660756e-01  9.68995899e-01  1.20571086e-01 -8.73636980e+00]
 [ 5.62212527e-01  2.22621105e-02  8.26693095e-01  2.52052243e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.26327356
Centerline is valid?  [True, True]
Translation: X:40.84, Y:-8.74, Z:25.24
[[ 7.96124071e-01  2.53268540e-01 -5.49583034e-01  4.08432739e+01]
 [-2.24399879e-01  9.67009658e-01  1.20569550e-01 -8.74379866e+00]
 [ 5.61988575e-01  2.73380454e-02  8.26693095e-01  2.52388384e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.32327356
Centerline is valid?  [True, True]
Translation: X:40.89, Y:-8.75, Z:25.27
[[ 7.94163287e-01  2.59345873e-01 -5.49585654e-01  4.08915366e+01]
 [-2.31792364e-01  9.65265852e-01  1.20557604e-01 -8.75468512e+00]
 [ 5.61762382e-01  3.16473350e-02  8.26693095e-01  2.52725050e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.38327356
Centerline is valid?  [True, True]
Translation: X:40.94, Y:-8.76, Z:25.31
[[ 7.92937290e-01  2.63065465e-01 -5.49588041e-01  4.09410657e+01]
 [-2.36321770e-01  9.64168299e-01  1.20546724e-01 -8.76294397e+00]
 [ 5.61607046e-01  3.42936258e-02  8.26693095e-01  2.53066308e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.44327356000001
Centerline is valid?  [True, True]
Translation: X:40.99, Y:-8.77, Z:25.34
[[ 7.91926265e-01  2.66089542e-01 -5.49589981e-01  4.09898608e+01]
 [-2.40005602e-01  9.63259015e-01  1.20537879e-01 -8.77304934e+00]
 [ 5.61471373e-01  3.64475616e-02  8.26693095e-01  2.53405391e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.50327356
Centerline is valid?  [True, True]
Translation: X:41.04, Y:-8.78, Z:25.37
[[ 7.91241070e-01  2.68114867e-01 -5.49592565e-01  4.10390712e+01]
 [-2.42477524e-01  9.62641216e-01  1.20526095e-01 -8.78270558e+00]
 [ 5.61375293e-01  3.78986481e-02  8.26693095e-01  2.53746564e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.56327356
Centerline is valid?  [True, True]
Translation: X:41.09, Y:-8.79, Z:25.41
[[ 7.89849713e-01  2.72186414e-01 -5.49592565e-01  4.10877372e+01]
 [-2.47432168e-01  9.61379625e-01  1.20526095e-01 -8.79403178e+00]
 [ 5.61172659e-01  4.07893783e-02  8.26693095e-01  2.54086613e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.62327356
Centerline is valid?  [True, True]
Translation: X:41.14, Y:-8.81, Z:25.44
[[ 0.78929893  0.27377921 -0.54959271 41.13527217]
 [-0.24937149  0.96087849  0.12052545 -8.80815284]
 [ 0.56108917  0.04192214  0.82669309 25.44232135]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 126.68327356
Centerline is valid?  [True, True]
Translation: X:41.18, Y:-8.82, Z:25.48
[[ 7.89737894e-01  2.72500224e-01 -5.49597749e-01  4.11821989e+01]
 [-2.47830497e-01  9.61279982e-01  1.20502450e-01 -8.82248166e+00]
 [ 5.61154259e-01  4.10417320e-02  8.26693095e-01  2.54755958e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.74327356
Centerline is valid?  [True, True]
Translation: X:41.23, Y:-8.84, Z:25.51
[[ 7.90208107e-01  2.71062004e-01 -5.49633094e-01  4.12306247e+01]
 [-2.46191668e-01  9.61721214e-01  1.20341056e-01 -8.83568807e+00]
 [ 5.61213694e-01  4.02206102e-02  8.26693106e-01  2.55096316e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.80327356000001
Centerline is valid?  [True, True]
Translation: X:41.28, Y:-8.85, Z:25.54
[[ 7.90933034e-01  2.68938307e-01 -5.49633626e-01  4.12770744e+01]
 [-2.43609008e-01  9.62378962e-01  1.20338628e-01 -8.85236605e+00]
 [ 5.61319505e-01  3.87159063e-02  8.26693106e-01  2.55429405e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.86327356
Centerline is valid?  [True, True]
Translation: X:41.33, Y:-8.85, Z:25.58
[[ 7.90688418e-01  2.69635329e-01 -5.49644080e-01  4.13282259e+01]
 [-2.44490188e-01  9.62161451e-01  1.20290861e-01 -8.84764610e+00]
 [ 5.61281012e-01  3.92699938e-02  8.26693107e-01  2.55762378e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.92327356
Centerline is valid?  [True, True]
Translation: X:41.37, Y:-8.88, Z:25.61
[[ 7.91891703e-01  2.66059223e-01 -5.49654455e-01  4.13718587e+01]
 [-2.40172170e-01  9.63254299e-01  1.20243439e-01 -8.88025162e+00]
 [ 5.61448893e-01  3.67919220e-02  8.26693108e-01  2.56099670e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.98327356
Centerline is valid?  [True, True]
Translation: X:41.42, Y:-8.87, Z:25.64
[[ 7.90993302e-01  2.68709322e-01 -5.49658891e-01  4.14244733e+01]
 [-2.43410232e-01  9.62443687e-01  1.20223158e-01 -8.87415453e+00]
 [ 5.61320813e-01  3.86968860e-02  8.26693108e-01  2.56440523e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.04327356
Centerline is valid?  [True, True]
Translation: X:41.47, Y:-8.91, Z:25.68
[[ 7.91313027e-01  2.67766686e-01 -5.49658708e-01  4.14662855e+01]
 [-2.42262757e-01  9.62733061e-01  1.20223995e-01 -8.90766491e+00]
 [ 5.61366592e-01  3.80270204e-02  8.26693108e-01  2.56767266e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.10327356
Centerline is valid?  [True, True]
Translation: X:41.51, Y:-8.92, Z:25.71
[[ 7.92394586e-01  2.64522255e-01 -5.49671535e-01  4.15145753e+01]
 [-2.38356719e-01  9.63714879e-01  1.20165326e-01 -8.91937705e+00]
 [ 5.61513040e-01  3.57995501e-02  8.26693110e-01  2.57105053e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.16327356000001
Centerline is valid?  [True, True]
Translation: X:41.56, Y:-8.93, Z:25.74
[[ 7.92661997e-01  2.63714512e-01 -5.49674098e-01  4.15609472e+01]
 [-2.37382478e-01  9.63956779e-01  1.20153601e-01 -8.93406677e+00]
 [ 5.61548321e-01  3.52418062e-02  8.26693110e-01  2.57434670e+01]
 [ 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 127.22327356
Centerline is valid?  [True, True]
Translation: X:41.61, Y:-8.95, Z:25.78
[[ 7.93322884e-01  2.61703759e-01 -5.49681675e-01  4.16086559e+01]
 [-2.34961400e-01  9.64554085e-01  1.20118929e-01 -8.94825846e+00]
 [ 5.61633280e-01  3.38608812e-02  8.26693111e-01  2.57772323e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.28327356
Centerline is valid?  [True, True]
Translation: X:41.66, Y:-8.96, Z:25.81
[[ 7.93250633e-01  2.61922080e-01 -5.49681960e-01  4.16557920e+01]
 [-2.35227746e-01  9.64489328e-01  1.20117627e-01 -8.96158212e+00]
 [ 5.61623842e-01  3.40170646e-02  8.26693111e-01  2.58105091e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.34327356
Centerline is valid?  [True, True]
Translation: X:41.70, Y:-8.97, Z:25.84
[[ 7.92742810e-01  2.63432396e-01 -5.49692832e-01  4.17047706e+01]
 [-2.37098617e-01  9.64037321e-01  1.20067852e-01 -8.97296221e+00]
 [ 5.61554168e-01  3.51484836e-02  8.26693112e-01  2.58447014e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.40327356
Centerline is valid?  [True, True]
Translation: X:41.75, Y:-8.98, Z:25.88
[[ 7.92391140e-01  2.64486652e-01 -5.49693635e-01  4.17529751e+01]
 [-2.38383284e-01  9.63720915e-01  1.20064180e-01 -8.98422961e+00]
 [ 5.61506626e-01  3.58999816e-02  8.26693112e-01  2.58783884e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.46327356
Centerline is valid?  [True, True]
Translation: X:41.80, Y:-8.99, Z:25.91
[[ 7.93907913e-01  2.59892749e-01 -5.49696265e-01  4.18035336e+01]
 [-2.32805801e-01  9.65084941e-01  1.20052135e-01 -8.98545572e+00]
 [ 5.61704267e-01  3.26621394e-02  8.26693112e-01  2.59121778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.52327356
Centerline is valid?  [True, True]
Translation: X:41.85, Y:-9.01, Z:25.95
[[ 7.93407431e-01  2.61415590e-01 -5.49696769e-01  4.18490646e+01]
 [-2.34658731e-01  9.64636366e-01  1.20049830e-01 -9.00638750e+00]
 [ 5.61640390e-01  3.37427192e-02  8.26693112e-01  2.59454913e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.58327356000001
Centerline is valid?  [True, True]
Translation: X:41.90, Y:-9.02, Z:25.98
[[ 7.94105394e-01  2.59265670e-01 -5.49707136e-01  4.18955724e+01]
 [-2.32077890e-01  9.65266435e-01  1.20002343e-01 -9.01625859e+00]
 [ 5.61726335e-01  3.22803645e-02  8.26693113e-01  2.59778228e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.64327356
Centerline is valid?  [True, True]
Translation: X:41.94, Y:-9.03, Z:26.01
[[ 7.94351606e-01  2.58462409e-01 -5.49729669e-01  4.19445471e+01]
 [-2.31172784e-01  9.65496434e-01  1.19899044e-01 -9.02599395e+00]
 [ 5.61751431e-01  3.18405399e-02  8.26693117e-01  2.60117439e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.70327356
Centerline is valid?  [True, True]
Translation: X:42.00, Y:-9.02, Z:26.05
[[ 7.92434465e-01  2.64280348e-01 -5.49730404e-01  4.19971524e+01]
 [-2.38248768e-01  9.63775156e-01  1.19895676e-01 -9.01931690e+00]
 [ 5.61502576e-01  3.59631257e-02  8.26693117e-01  2.60457548e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.76327356
Centerline is valid?  [True, True]
Translation: X:42.04, Y:-9.05, Z:26.08
[[ 7.93776955e-01  2.60217578e-01 -5.49731714e-01  4.20415763e+01]
 [-2.33312781e-01  9.64982701e-01  1.19889667e-01 -9.04662957e+00]
 [ 5.61678993e-01  3.30937806e-02  8.26693117e-01  2.60792534e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.82327356
Centerline is valid?  [True, True]
Translation: X:42.09, Y:-9.04, Z:26.11
[[ 7.89659883e-01  2.72447035e-01 -5.49736193e-01  4.20936675e+01]
 [-2.48204069e-01  9.61262780e-01  1.19869128e-01 -9.04180100e+00]
 [ 5.61098929e-01  4.17909185e-02  8.26693118e-01  2.61131815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.88327356
Centerline is valid?  [True, True]
Translation: X:42.14, Y:-9.07, Z:26.15
[[ 7.94819854e-01  2.57001377e-01 -5.49737840e-01  4.21385162e+01]
 [-2.29422944e-01  9.65918380e-01  1.19861574e-01 -9.06942253e+00]
 [ 5.61806473e-01  3.08541148e-02  8.26693118e-01  2.61470060e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.94327356000001
Centerline is valid?  [True, True]
Translation: X:42.19, Y:-9.08, Z:26.18
[[ 7.96407952e-01  2.52034341e-01 -5.49739088e-01  4.21869854e+01]
 [-2.23392227e-01  9.67331633e-01  1.19855849e-01 -9.08080844e+00]
 [ 5.61987800e-01  2.73532880e-02  8.26693118e-01  2.61808848e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.00327356
Centerline is valid?  [True, True]
Translation: X:42.23, Y:-9.09, Z:26.21
[[ 7.97137750e-01  2.49712386e-01 -5.49740967e-01  4.22343375e+01]
 [-2.20578221e-01  9.67978249e-01  1.19847229e-01 -9.09271592e+00]
 [ 5.62064636e-01  2.57261338e-02  8.26693118e-01  2.62140948e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.06327356
Centerline is valid?  [True, True]
Translation: X:42.28, Y:-9.10, Z:26.25
[[ 7.98263516e-01  2.46067398e-01 -5.49751030e-01  4.22816947e+01]
 [-2.16184652e-01  9.68974666e-01  1.19801057e-01 -9.10364055e+00]
 [ 5.62173955e-01  2.32149223e-02  8.26693119e-01  2.62471445e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.12327356
Centerline is valid?  [True, True]
Translation: X:42.33, Y:-9.12, Z:26.28
[[ 7.98236457e-01  2.46144136e-01 -5.49755967e-01  4.23295227e+01]
 [-2.16293380e-01  9.68953203e-01  1.19778394e-01 -9.11506587e+00]
 [ 5.62170555e-01  2.32970954e-02  8.26693119e-01  2.62805930e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.18327356
Centerline is valid?  [True, True]
Translation: X:42.38, Y:-9.12, Z:26.31
[[ 7.98340122e-01  2.45796266e-01 -5.49761080e-01  4.23777764e+01]
 [-2.15887253e-01  9.69046672e-01  1.19754925e-01 -9.12343959e+00]
 [ 5.62179458e-01  2.30812477e-02  8.26693119e-01  2.63138821e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.24327356
Centerline is valid?  [True, True]
Translation: X:42.42, Y:-9.13, Z:26.35
[[ 7.98139536e-01  2.46423698e-01 -5.49771445e-01  4.24246467e+01]
 [-2.16681601e-01  9.68875245e-01  1.19707323e-01 -9.13280791e+00]
 [ 5.62158665e-01  2.35822098e-02  8.26693120e-01  2.63463818e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.30327356
Centerline is valid?  [True, True]
Translation: X:42.47, Y:-9.14, Z:26.38
[[ 7.96970689e-01  2.50150214e-01 -5.49784132e-01  4.24739390e+01]
 [-2.21246301e-01  9.67850290e-01  1.19649035e-01 -9.14085763e+00]
 [ 5.62038963e-01  2.62809317e-02  8.26693121e-01  2.63802954e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.36327356
Centerline is valid?  [True, True]
Translation: X:42.52, Y:-9.15, Z:26.41
[[ 7.95982378e-01  2.53274760e-01 -5.49785367e-01  4.25224364e+01]
 [-2.25045329e-01  9.66974698e-01  1.19643359e-01 -9.14994540e+00]
 [ 5.61931182e-01  2.84926236e-02  8.26693121e-01  2.64138602e+01]
 [ 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 128.42327356
Centerline is valid?  [True, True]
Translation: X:42.57, Y:-9.16, Z:26.45
[[ 7.95590530e-01  2.54491757e-01 -5.49790555e-01  4.25709709e+01]
 [-2.26540288e-01  9.66628506e-01  1.19619515e-01 -9.16029921e+00]
 [ 5.61885404e-01  2.93815571e-02  8.26693122e-01  2.64476228e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.48327356000001
Centerline is valid?  [True, True]
Translation: X:42.62, Y:-9.17, Z:26.48
[[ 7.95724053e-01  2.54068298e-01 -5.49793172e-01  4.26200714e+01]
 [-2.26034091e-01  9.66748488e-01  1.19607487e-01 -9.16557681e+00]
 [ 5.61900188e-01  2.90974454e-02  8.26693122e-01  2.64810341e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.54327356
Centerline is valid?  [True, True]
Translation: X:42.67, Y:-9.18, Z:26.51
[[ 7.95042646e-01  2.56181580e-01 -5.49798316e-01  4.26682281e+01]
 [-2.28618176e-01  9.66143590e-01  1.19583835e-01 -9.17768820e+00]
 [ 5.61819295e-01  3.06196396e-02  8.26693122e-01  2.65148000e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.60327356
Centerline is valid?  [True, True]
Translation: X:42.72, Y:-9.19, Z:26.55
[[ 7.94290028e-01  2.58505363e-01 -5.49798443e-01  4.27153303e+01]
 [-2.31442817e-01  9.65470905e-01  1.19583252e-01 -9.18852295e+00]
 [ 5.61727312e-01  3.22631160e-02  8.26693122e-01  2.65476926e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.66327356
Centerline is valid?  [True, True]
Translation: X:42.76, Y:-9.20, Z:26.58
[[ 7.94875765e-01  2.56676252e-01 -5.49808895e-01  4.27627564e+01]
 [-2.29252868e-01  9.65999204e-01  1.19535181e-01 -9.19600472e+00]
 [ 5.61796797e-01  3.10296473e-02  8.26693123e-01  2.65802895e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.72327356
Centerline is valid?  [True, True]
Translation: X:42.81, Y:-9.21, Z:26.61
[[ 7.94873577e-01  2.56655462e-01 -5.49821763e-01  4.28101602e+01]
 [-2.29268430e-01  9.66002837e-01  1.19475968e-01 -9.20554368e+00]
 [ 5.61793542e-01  3.10884826e-02  8.26693124e-01  2.66131631e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.78327356
Centerline is valid?  [True, True]
Translation: X:42.86, Y:-9.22, Z:26.65
[[ 7.96354518e-01  2.52000335e-01 -5.49832076e-01  4.28586538e+01]
 [-2.23645206e-01  9.67326035e-01  1.19428490e-01 -9.21979267e+00]
 [ 5.61962902e-01  2.78598905e-02  8.26693125e-01  2.66474486e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.84327356
Centerline is valid?  [True, True]
Translation: X:42.91, Y:-9.23, Z:26.68
[[ 7.96767480e-01  2.50696366e-01 -5.49829896e-01  4.29066763e+01]
 [-2.22054486e-01  9.67691192e-01  1.19438525e-01 -9.23163007e+00]
 [ 5.62008352e-01  2.69274624e-02  8.26693126e-01  2.66811039e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.90327356
Centerline is valid?  [True, True]
Translation: X:42.95, Y:-9.24, Z:26.71
[[ 7.96952824e-01  2.50095175e-01 -5.49835066e-01  4.29544903e+01]
 [-2.21340734e-01  9.67857636e-01  1.19414722e-01 -9.24303710e+00]
 [ 5.62027113e-01  2.65329970e-02  8.26693126e-01  2.67145396e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.96327356
Centerline is valid?  [True, True]
Translation: X:43.00, Y:-9.25, Z:26.75
[[ 7.96805009e-01  2.50534660e-01 -5.49849218e-01  4.30020578e+01]
 [-2.21919356e-01  9.67733170e-01  1.19349531e-01 -9.25318245e+00]
 [ 5.62008521e-01  2.69238800e-02  8.26693128e-01  2.67476060e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.02327356
Centerline is valid?  [True, True]
Translation: X:43.05, Y:-9.26, Z:26.78
[[ 7.96457370e-01  2.51620656e-01 -5.49856984e-01  4.30500885e+01]
 [-2.23263040e-01  9.67428471e-01  1.19313740e-01 -9.26200771e+00]
 [ 5.61969103e-01  2.77344345e-02  8.26693128e-01  2.67808064e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.08327356
Centerline is valid?  [True, True]
Translation: X:43.10, Y:-9.28, Z:26.81
[[ 7.95416127e-01  2.54877011e-01 -5.49864433e-01  4.30985490e+01]
 [-2.27242771e-01  9.66505637e-01  1.19279406e-01 -9.27557594e+00]
 [ 5.61848652e-01  3.00759542e-02  8.26693129e-01  2.68149780e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.14327356
Centerline is valid?  [True, True]
Translation: X:43.15, Y:-9.29, Z:26.85
[[ 7.94279490e-01  2.58397386e-01 -5.49864422e-01  4.31473039e+01]
 [-2.31521134e-01  9.65489708e-01  1.19279456e-01 -9.28739568e+00]
 [ 5.61709940e-01  3.25640092e-02  8.26693129e-01  2.68491121e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.20327356
Centerline is valid?  [True, True]
Translation: X:43.20, Y:-9.30, Z:26.88
[[ 7.93901862e-01  2.59553349e-01 -5.49865340e-01  4.31954787e+01]
 [-2.32929278e-01  9.65151477e-01  1.19275223e-01 -9.29816509e+00]
 [ 5.61661628e-01  3.33869150e-02  8.26693129e-01  2.68827065e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.26327356000002
Centerline is valid?  [True, True]
Translation: X:43.24, Y:-9.31, Z:26.91
[[ 7.93627452e-01  2.60380219e-01 -5.49870539e-01  4.32418471e+01]
 [-2.33951098e-01  9.64907261e-01  1.19251252e-01 -9.30826036e+00]
 [ 5.61624743e-01  3.40017491e-02  8.26693129e-01  2.69149910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.32327356
Centerline is valid?  [True, True]
Translation: X:43.29, Y:-9.32, Z:26.95
[[ 7.93211546e-01  2.61603733e-01 -5.49889926e-01  4.32890423e+01]
 [-2.35500527e-01  9.64541325e-01  1.19161801e-01 -9.32153062e+00]
 [ 5.61564729e-01  3.49788512e-02  8.26693132e-01  2.69482464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.38327356
Centerline is valid?  [True, True]
Translation: X:43.34, Y:-9.33, Z:26.98
[[ 7.92720587e-01  2.63065721e-01 -5.49900442e-01  4.33364487e+01]
 [-2.37311971e-01  9.64103242e-01  1.19113252e-01 -9.33330474e+00]
 [ 5.61495413e-01  3.60744306e-02  8.26693133e-01  2.69814494e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.44327356
Centerline is valid?  [True, True]
Translation: X:43.38, Y:-9.34, Z:27.02
[[ 7.92682874e-01  2.63163108e-01 -5.49908211e-01  4.33845201e+01]
 [-2.37455192e-01  9.64072409e-01  1.19077378e-01 -9.34468576e+00]
 [ 5.61488106e-01  3.61879620e-02  8.26693134e-01  2.70150450e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.50327356
Centerline is valid?  [True, True]
Translation: X:43.43, Y:-9.36, Z:27.05
[[ 7.93144844e-01  2.61762093e-01 -5.49910777e-01  4.34319932e+01]
 [-2.35759569e-01  9.64489931e-01  1.19065527e-01 -9.35580424e+00]
 [ 5.61550248e-01  3.52105186e-02  8.26693134e-01  2.70482185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.56327356
Centerline is valid?  [True, True]
Translation: X:43.48, Y:-9.37, Z:27.08
[[ 7.92878761e-01  2.62560590e-01 -5.49913818e-01  4.34790335e+01]
 [-2.36740309e-01  9.64251404e-01  1.19051482e-01 -9.36703303e+00]
 [ 5.61513398e-01  3.57933759e-02  8.26693134e-01  2.70811186e+01]
 [ 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 129.62327356
Centerline is valid?  [True, True]
Translation: X:43.53, Y:-9.38, Z:27.11
[[ 7.94293528e-01  2.58227268e-01 -5.49924058e-01  4.35274659e+01]
 [-2.31504258e-01  9.65527725e-01  1.19004165e-01 -9.37714299e+00]
 [ 5.61697045e-01  3.27855227e-02  8.26693135e-01  2.71147647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.68327356
Centerline is valid?  [True, True]
Translation: X:43.57, Y:-9.39, Z:27.15
[[ 7.94207839e-01  2.58484234e-01 -5.49927094e-01  4.35735792e+01]
 [-2.31826306e-01  9.65452180e-01  1.18990131e-01 -9.38748140e+00]
 [ 5.61685385e-01  3.29846718e-02  8.26693135e-01  2.71469199e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.74327356
Centerline is valid?  [True, True]
Translation: X:43.62, Y:-9.40, Z:27.18
[[ 7.93136706e-01  2.61716208e-01 -5.49944354e-01  4.36228656e+01]
 [-2.35810942e-01  9.64496519e-01  1.18910318e-01 -9.39710176e+00]
 [ 5.61540172e-01  3.53707586e-02  8.26693138e-01  2.71810453e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.80327356
Centerline is valid?  [True, True]
Translation: X:43.67, Y:-9.40, Z:27.21
[[ 7.93657334e-01  2.60133416e-01 -5.49944218e-01  4.36716186e+01]
 [-2.33885913e-01  9.64965060e-01  1.18910947e-01 -9.40383531e+00]
 [ 5.61609666e-01  3.42496603e-02  8.26693138e-01  2.72144463e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.86327356
Centerline is valid?  [True, True]
Translation: X:43.72, Y:-9.41, Z:27.25
[[ 7.93180934e-01  2.61566526e-01 -5.49951778e-01  4.37199138e+01]
 [-2.35652637e-01  9.64539443e-01  1.18875973e-01 -9.41114434e+00]
 [ 5.61544157e-01  3.53074315e-02  8.26693138e-01  2.72476057e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.92327356
Centerline is valid?  [True, True]
Translation: X:43.77, Y:-9.42, Z:27.28
[[ 7.93772633e-01  2.59743416e-01 -5.49962148e-01  4.37680259e+01]
 [-2.33469004e-01  9.65076233e-01  1.18827980e-01 -9.41892799e+00]
 [ 5.61620184e-01  3.40767159e-02  8.26693139e-01  2.72807045e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.98327356000001
Centerline is valid?  [True, True]
Translation: X:43.82, Y:-9.43, Z:27.31
[[ 7.94212778e-01  2.58372531e-01 -5.49972452e-01  4.38160887e+01]
 [-2.31835306e-01  9.65475860e-01  1.18780275e-01 -9.42738484e+00]
 [ 5.61674687e-01  3.31662190e-02  8.26693140e-01  2.73138676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.04327356
Centerline is valid?  [True, True]
Translation: X:43.86, Y:-9.44, Z:27.35
[[ 7.94751374e-01  2.56688733e-01 -5.49982861e-01  4.38636684e+01]
 [-2.29821851e-01  9.65963050e-01  1.18732062e-01 -9.43676807e+00]
 [ 5.61740304e-01  3.20356101e-02  8.26693141e-01  2.73468424e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.10327356
Centerline is valid?  [True, True]
Translation: X:43.91, Y:-9.45, Z:27.38
[[ 7.96270397e-01  2.51920373e-01 -5.49990528e-01  4.39124820e+01]
 [-2.24052199e-01  9.67321944e-01  1.18696539e-01 -9.44693598e+00]
 [ 5.61919983e-01  2.87120475e-02  8.26693142e-01  2.73807579e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.16327356
Centerline is valid?  [True, True]
Translation: X:43.96, Y:-9.46, Z:27.41
[[ 7.97432198e-01  2.48212369e-01 -5.49993191e-01  4.39601820e+01]
 [-2.19557036e-01  9.68353638e-01  1.18684198e-01 -9.45747993e+00]
 [ 5.62046793e-01  2.61122737e-02  8.26693142e-01  2.74139992e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.22327356
Centerline is valid?  [True, True]
Translation: X:44.01, Y:-9.47, Z:27.45
[[ 7.98259208e-01  2.45530128e-01 -5.49997448e-01  4.40087667e+01]
 [-2.16313914e-01  9.69085669e-01  1.18664467e-01 -9.46830164e+00]
 [ 5.62130347e-01  2.42470974e-02  8.26693142e-01  2.74478650e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.28327356
Centerline is valid?  [True, True]
Translation: X:44.06, Y:-9.48, Z:27.48
[[ 7.99359419e-01  2.41918374e-01 -5.50000017e-01  4.40563894e+01]
 [-2.11938267e-01  9.70053473e-01  1.18652559e-01 -9.47842914e+00]
 [ 5.62233661e-01  2.17200097e-02  8.26693142e-01  2.74809954e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.34327356
Centerline is valid?  [True, True]
Translation: X:44.10, Y:-9.49, Z:27.51
[[ 8.00305119e-01  2.38747875e-01 -5.50010153e-01  4.41049419e+01]
 [-2.08123645e-01  9.70884787e-01  1.18605559e-01 -9.48727604e+00]
 [ 5.62313315e-01  1.95494818e-02  8.26693143e-01  2.75145413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.40327356
Centerline is valid?  [True, True]
Translation: X:44.15, Y:-9.50, Z:27.55
[[ 8.00295253e-01  2.38769293e-01 -5.50015211e-01  4.41527105e+01]
 [-2.08165730e-01  9.70878630e-01  1.18582099e-01 -9.49998574e+00]
 [ 5.62311779e-01  1.95936275e-02  8.26693143e-01  2.75481328e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.46327356
Centerline is valid?  [True, True]
Translation: X:44.20, Y:-9.51, Z:27.58
[[ 8.01562794e-01  2.34467207e-01 -5.50020195e-01  4.42017014e+01]
 [-2.02963680e-01  9.71982260e-01  1.18558977e-01 -9.51004877e+00]
 [ 5.62408065e-01  1.66016583e-02  8.26693144e-01  2.75821581e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.52327356
Centerline is valid?  [True, True]
Translation: X:44.25, Y:-9.52, Z:27.62
[[ 8.02839688e-01  2.30050973e-01 -5.50022713e-01  4.42507983e+01]
 [-1.97617745e-01  9.73084665e-01  1.18547297e-01 -9.51888585e+00]
 [ 5.62490588e-01  1.35197732e-02  8.26693144e-01  2.76160844e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.58327356
Centerline is valid?  [True, True]
Translation: X:44.30, Y:-9.53, Z:27.65
[[ 8.03628850e-01  2.27275823e-01 -5.50023973e-01  4.42981839e+01]
 [-1.94258600e-01  9.73761532e-01  1.18541449e-01 -9.53089839e+00]
 [ 5.62533792e-01  1.15835588e-02  8.26693144e-01  2.76493308e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.64327356
Centerline is valid?  [True, True]
Translation: X:44.35, Y:-9.52, Z:27.68
[[ 8.01998222e-01  2.32946376e-01 -5.50031670e-01  4.43491508e+01]
 [-2.01156141e-01  9.72364437e-01  1.18505728e-01 -9.52157616e+00]
 [ 5.62436715e-01  1.56008648e-02  8.26693144e-01  2.76818850e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.70327356
Centerline is valid?  [True, True]
Translation: X:44.39, Y:-9.55, Z:27.72
[[ 8.05048935e-01  2.22142978e-01 -5.50044279e-01  4.43942478e+01]
 [-1.88105149e-01  9.74980369e-01  1.18447177e-01 -9.54840565e+00]
 [ 5.62594583e-01  8.11038746e-03  8.26693146e-01  2.77157035e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.76327356000002
Centerline is valid?  [True, True]
Translation: X:44.44, Y:-9.55, Z:27.75
[[ 8.05712957e-01  2.19716050e-01 -5.50046805e-01  4.44430045e+01]
 [-1.85174316e-01  9.75542679e-01  1.18435444e-01 -9.55485820e+00]
 [ 5.62616302e-01  6.42956883e-03  8.26693146e-01  2.77490621e+01]
 [ 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 130.82327356
Centerline is valid?  [True, True]
Translation: X:44.49, Y:-9.56, Z:27.78
[[ 8.05596871e-01  2.20053441e-01 -5.50081962e-01  4.44918778e+01]
 [-1.85694433e-01  9.75463643e-01  1.18271969e-01 -9.56005969e+00]
 [ 5.62611108e-01  6.86762976e-03  8.26693157e-01  2.77822374e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.88327356
Centerline is valid?  [True, True]
Translation: X:44.54, Y:-9.57, Z:27.82
[[ 8.03601972e-01  2.27218515e-01 -5.50086918e-01  4.45416778e+01]
 [-1.94389300e-01  9.73771018e-01  1.18248912e-01 -9.56692960e+00]
 [ 5.62527041e-01  1.19059520e-02  8.26693158e-01  2.78163449e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.94327356
Centerline is valid?  [True, True]
Translation: X:44.59, Y:-9.58, Z:27.85
[[ 8.01588376e-01  2.34223408e-01 -5.50086785e-01  4.45896826e+01]
 [-2.02880192e-01  9.72037384e-01  1.18249533e-01 -9.57586748e+00]
 [ 5.62401728e-01  1.68142615e-02  8.26693158e-01  2.78495664e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.00327356
Centerline is valid?  [True, True]
Translation: X:44.64, Y:-9.58, Z:27.88
[[ 8.00979125e-01  2.36280579e-01 -5.50094473e-01  4.46369101e+01]
 [-2.05399606e-01  9.71512485e-01  1.18213760e-01 -9.58343300e+00]
 [ 5.62355264e-01  1.83024342e-02  8.26693158e-01  2.78820551e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.06327356
Centerline is valid?  [True, True]
Translation: X:44.69, Y:-9.59, Z:27.92
[[ 7.99573094e-01  2.40966867e-01 -5.50107113e-01  4.46869526e+01]
 [-2.11125447e-01  9.70291431e-01  1.18154915e-01 -9.58641486e+00]
 [ 5.62235638e-01  2.16681188e-02  8.26693160e-01  2.79157499e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.12327356
Centerline is valid?  [True, True]
Translation: X:44.74, Y:-9.59, Z:27.95
[[ 7.97971179e-01  2.46214135e-01 -5.50109623e-01  4.47367218e+01]
 [-2.17502865e-01  9.68883214e-01  1.18143226e-01 -9.59355769e+00]
 [ 5.62080512e-01  2.53755299e-02  8.26693160e-01  2.79498827e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.18327356
Centerline is valid?  [True, True]
Translation: X:44.79, Y:-9.60, Z:27.98
[[ 7.96228788e-01  2.51793109e-01 -5.50109033e-01  4.47853748e+01]
 [-2.24276862e-01  9.67337282e-01  1.18145975e-01 -9.59976830e+00]
 [ 5.61889319e-01  2.93055013e-02  8.26693160e-01  2.79831470e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.24327356
Centerline is valid?  [True, True]
Translation: X:44.83, Y:-9.61, Z:28.02
[[ 7.95177976e-01  2.55090630e-01 -5.50109768e-01  4.48341220e+01]
 [-2.28286078e-01  9.66399402e-01  1.18142551e-01 -9.60528996e+00]
 [ 5.61762809e-01  3.16380472e-02  8.26693160e-01  2.80163725e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.30327356
Centerline is valid?  [True, True]
Translation: X:44.88, Y:-9.62, Z:28.05
[[ 7.93780002e-01  2.59392347e-01 -5.50117185e-01  4.48821080e+01]
 [-2.33539104e-01  9.65147650e-01  1.18108006e-01 -9.61502686e+00]
 [ 5.61580621e-01  3.47221017e-02  8.26693160e-01  2.80496780e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.36327356
Centerline is valid?  [True, True]
Translation: X:44.93, Y:-9.63, Z:28.08
[[ 7.93615180e-01  2.59899891e-01 -5.50115436e-01  4.49300028e+01]
 [-2.34150613e-01  9.64998479e-01  1.18116152e-01 -9.62582260e+00]
 [ 5.61558935e-01  3.50710957e-02  8.26693160e-01  2.80830957e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.42327356
Centerline is valid?  [True, True]
Translation: X:44.98, Y:-9.63, Z:28.12
[[ 7.93990601e-01  2.58714908e-01 -5.50132277e-01  4.49778897e+01]
 [-2.32763986e-01  9.65343480e-01  1.18037671e-01 -9.63441350e+00]
 [ 5.61604712e-01  3.43301808e-02  8.26693163e-01  2.81161496e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.48327356000001
Centerline is valid?  [True, True]
Translation: X:45.03, Y:-9.65, Z:28.15
[[ 7.95038883e-01  2.55400467e-01 -5.50167044e-01  4.50258616e+01]
 [-2.28846836e-01  9.66299388e-01  1.17875439e-01 -9.64728463e+00]
 [ 5.61731520e-01  3.21884295e-02  8.26693174e-01  2.81498288e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.54327356
Centerline is valid?  [True, True]
Translation: X:45.07, Y:-9.66, Z:28.18
[[ 7.95661034e-01  2.53450630e-01 -5.50169335e-01  4.50734879e+01]
 [-2.26484599e-01  9.66857088e-01  1.17864745e-01 -9.65720048e+00]
 [ 5.61808015e-01  3.08244965e-02  8.26693174e-01  2.81829326e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.60327356
Centerline is valid?  [True, True]
Translation: X:45.12, Y:-9.67, Z:28.22
[[ 7.96946302e-01  2.49302774e-01 -5.50204252e-01  4.51217275e+01]
 [-2.21557749e-01  9.68017823e-01  1.17701562e-01 -9.66831842e+00]
 [ 5.61950848e-01  2.81001911e-02  8.26693186e-01  2.82165388e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.66327356
Centerline is valid?  [True, True]
Translation: X:45.17, Y:-9.68, Z:28.25
[[ 7.99474316e-01  2.41069805e-01 -5.50205569e-01  4.51703100e+01]
 [-2.11566053e-01  9.70251306e-01  1.17695405e-01 -9.68052691e+00]
 [ 5.62210480e-01  2.23103670e-02  8.26693186e-01  2.82506079e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.72327356
Centerline is valid?  [True, True]
Translation: X:45.22, Y:-9.69, Z:28.28
[[ 8.02152374e-01  2.32001412e-01 -5.50206246e-01  4.52191564e+01]
 [-2.00567909e-01  9.72584727e-01  1.17692239e-01 -9.69183242e+00]
 [ 5.62426957e-01  1.59466073e-02  8.26693186e-01  2.82847255e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.78327356
Centerline is valid?  [True, True]
Translation: X:45.27, Y:-9.70, Z:28.32
[[ 8.03944762e-01  2.25709814e-01 -5.50207142e-01  4.52664072e+01]
 [-1.92944886e-01  9.74126169e-01  1.17688051e-01 -9.70319517e+00]
 [ 5.62534524e-01  1.15449622e-02  8.26693186e-01  2.83177889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.84327356
Centerline is valid?  [True, True]
Translation: X:45.31, Y:-9.72, Z:28.35
[[ 8.06175095e-01  2.17583610e-01 -5.50217310e-01  4.53142073e+01]
 [-1.83135059e-01  9.76023701e-01  1.17640495e-01 -9.71687428e+00]
 [ 5.62621779e-01  5.92524224e-03  8.26693187e-01  2.83515251e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.90327356
Centerline is valid?  [True, True]
Translation: X:45.36, Y:-9.72, Z:28.38
[[ 8.07988655e-01  2.10747748e-01 -5.50217885e-01  4.53627182e+01]
 [-1.74863696e-01  9.77539786e-01  1.17637809e-01 -9.72392980e+00]
 [ 5.62651777e-01  1.16311764e-03  8.26693187e-01  2.83848149e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.96327356
Centerline is valid?  [True, True]
Translation: X:45.41, Y:-9.73, Z:28.42
[[ 8.08201817e-01  2.09902111e-01 -5.50228068e-01  4.54101852e+01]
 [-1.73873089e-01  9.77722201e-01  1.17590163e-01 -9.73366122e+00]
 [ 5.62652621e-01  6.33270521e-04  8.26693188e-01  2.84177677e+01]
 [ 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 132.02327356
Centerline is valid?  [True, True]
Translation: X:45.46, Y:-9.74, Z:28.45
[[ 8.08167144e-01  2.09943073e-01 -5.50263367e-01  4.54576916e+01]
 [-1.74035238e-01  9.77713228e-01  1.17424787e-01 -9.73995280e+00]
 [ 5.62652293e-01  8.66361559e-04  8.26693200e-01  2.84501980e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.08327356
Centerline is valid?  [True, True]
Translation: X:45.51, Y:-9.75, Z:28.48
[[ 8.06784811e-01  2.15162451e-01 -5.50275739e-01  4.55061342e+01]
 [-1.80390820e-01  9.76567555e-01  1.17366786e-01 -9.74536323e+00]
 [ 5.62634358e-01  4.57495134e-03  8.26693201e-01  2.84831817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.14327356
Centerline is valid?  [True, True]
Translation: X:45.56, Y:-9.75, Z:28.52
[[ 8.05494486e-01  2.19856177e-01 -5.50310726e-01  4.55553881e+01]
 [-1.86185847e-01  9.75499048e-01  1.17202546e-01 -9.75107522e+00]
 [ 5.62595293e-01  8.05406415e-03  8.26693213e-01  2.85166965e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.20327356
Centerline is valid?  [True, True]
Translation: X:45.60, Y:-9.76, Z:28.55
[[ 8.03102661e-01  2.28426678e-01 -5.50315699e-01  4.56028842e+01]
 [-1.96585745e-01  9.73459338e-01  1.17179189e-01 -9.75906256e+00]
 [ 5.62476809e-01  1.40773030e-02  8.26693213e-01  2.85494344e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.26327356000002
Centerline is valid?  [True, True]
Translation: X:45.65, Y:-9.76, Z:28.58
[[ 8.01063590e-01  2.35382418e-01 -5.50356468e-01  4.56529328e+01]
 [-2.05151545e-01  9.71713322e-01  1.16987449e-01 -9.76374597e+00]
 [ 5.62325501e-01  1.91920940e-02  8.26693229e-01  2.85833216e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.32327356
Centerline is valid?  [True, True]
Translation: X:45.70, Y:-9.77, Z:28.62
[[ 8.00333613e-01  2.37848190e-01 -5.50358381e-01  4.57026419e+01]
 [-2.08149157e-01  9.71076707e-01  1.16978450e-01 -9.77084319e+00]
 [ 5.62263317e-01  2.09348471e-02  8.26693229e-01  2.86174146e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.38327356
Centerline is valid?  [True, True]
Translation: X:45.75, Y:-9.78, Z:28.65
[[ 7.98683193e-01  2.43332790e-01 -5.50358347e-01  4.57530231e+01]
 [-2.14805623e-01  9.69625984e-01  1.16978610e-01 -9.77552428e+00]
 [ 5.62106485e-01  2.47912180e-02  8.26693229e-01  2.86516176e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.44327356
Centerline is valid?  [True, True]
Translation: X:45.80, Y:-9.79, Z:28.69
[[ 7.97087470e-01  2.48507530e-01 -5.50359494e-01  4.58019883e+01]
 [-2.21093328e-01  9.68212274e-01  1.16973213e-01 -9.78607470e+00]
 [ 5.61933541e-01  2.84429296e-02  8.26693229e-01  2.86857058e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.50327356
Centerline is valid?  [True, True]
Translation: X:45.85, Y:-9.78, Z:28.72
[[ 7.94894050e-01  2.55436427e-01 -5.50359592e-01  4.58524347e+01]
 [-2.29513154e-01  9.66251048e-01  1.16972750e-01 -9.78304505e+00]
 [ 5.61664634e-01  3.33338229e-02  8.26693229e-01  2.87188609e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.56327356
Centerline is valid?  [True, True]
Translation: X:45.90, Y:-9.79, Z:28.75
[[ 7.90879387e-01  2.67613579e-01 -5.50356945e-01  4.59012681e+01]
 [-2.44316294e-01  9.62613115e-01  1.16985205e-01 -9.79355521e+00]
 [ 5.61087643e-01  4.19399820e-02  8.26693229e-01  2.87528638e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.62327356
Centerline is valid?  [True, True]
Translation: X:45.95, Y:-9.81, Z:28.79
[[ 7.96160261e-01  2.51462586e-01 -5.50359343e-01  4.59479868e+01]
 [-2.24682867e-01  9.67385503e-01  1.16973921e-01 -9.81481627e+00]
 [ 5.61824215e-01  3.05263278e-02  8.26693229e-01  2.87869694e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.68327356
Centerline is valid?  [True, True]
Translation: X:46.00, Y:-9.82, Z:28.82
[[ 7.97577089e-01  2.46929311e-01 -5.50360521e-01  4.59956028e+01]
 [-2.19179771e-01  9.68647834e-01  1.16968380e-01 -9.82430962e+00]
 [ 5.61988448e-01  2.73365933e-02  8.26693229e-01  2.88200097e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.74327356
Centerline is valid?  [True, True]
Translation: X:46.04, Y:-9.84, Z:28.85
[[ 7.99294029e-01  2.41302719e-01 -5.50365382e-01  4.60437861e+01]
 [-2.12364068e-01  9.70167641e-01  1.16945505e-01 -9.83698550e+00]
 [ 5.62165952e-01  2.34039875e-02  8.26693229e-01  2.88538698e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.80327356
Centerline is valid?  [True, True]
Translation: X:46.09, Y:-9.84, Z:28.89
[[ 8.00617860e-01  2.36867172e-01 -5.50368045e-01  4.60927312e+01]
 [-2.06990130e-01  9.71329896e-01  1.16932971e-01 -9.84467668e+00]
 [ 5.62286518e-01  2.03021281e-02  8.26693229e-01  2.88875368e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.86327356
Centerline is valid?  [True, True]
Translation: X:46.14, Y:-9.85, Z:28.92
[[ 8.02627735e-01  2.29958658e-01 -5.50370543e-01  4.61406730e+01]
 [-1.98619588e-01  9.73077433e-01  1.16921211e-01 -9.85452612e+00]
 [ 5.62440200e-01  1.54701638e-02  8.26693229e-01  2.89208415e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.92327356
Centerline is valid?  [True, True]
Translation: X:46.19, Y:-9.86, Z:28.95
[[ 8.03093589e-01  2.28317784e-01 -5.50374124e-01  4.61882723e+01]
 [-1.96641964e-01  9.73481027e-01  1.16904352e-01 -9.86405723e+00]
 [ 5.62470110e-01  1.43415133e-02  8.26693230e-01  2.89538708e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.98327356000001
Centerline is valid?  [True, True]
Translation: X:46.24, Y:-9.87, Z:28.99
[[ 8.04187560e-01  2.24410069e-01 -5.50383948e-01  4.62363139e+01]
 [-1.91937768e-01  9.74425000e-01  1.16858088e-01 -9.87201111e+00]
 [ 5.62532010e-01  1.16636459e-02  8.26693231e-01  2.89869578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.04327356
Centerline is valid?  [True, True]
Translation: X:46.28, Y:-9.88, Z:29.02
[[ 8.04440329e-01  2.23418408e-01 -5.50417997e-01  4.62842295e+01]
 [-1.90846055e-01  9.74658643e-01  1.16697527e-01 -9.87976454e+00]
 [ 5.62542034e-01  1.11689066e-02  8.26693242e-01  2.90198799e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.10327356
Centerline is valid?  [True, True]
Translation: X:46.33, Y:-9.89, Z:29.05
[[ 8.04336616e-01  2.23706306e-01 -5.50452629e-01  4.63325508e+01]
 [-1.91306748e-01  9.74587892e-01  1.16533978e-01 -9.88891934e+00]
 [ 5.62533854e-01  1.15727570e-02  8.26693253e-01  2.90532692e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.16327356
Centerline is valid?  [True, True]
Translation: X:46.38, Y:-9.89, Z:29.09
[[ 8.03382567e-01  2.27096379e-01 -5.50457706e-01  4.63823308e+01]
 [-1.95431518e-01  9.73772018e-01  1.16509994e-01 -9.89484027e+00]
 [ 5.62479309e-01  1.39746868e-02  8.26693253e-01  2.90872388e+01]
 [ 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 133.22327356
Centerline is valid?  [True, True]
Translation: X:46.43, Y:-9.90, Z:29.12
[[ 8.02103610e-01  2.31566972e-01 -5.50460295e-01  4.64318494e+01]
 [-2.00859906e-01  9.72668273e-01  1.16497761e-01 -9.89728977e+00]
 [ 5.62392298e-01  1.71221287e-02  8.26693254e-01  2.91205508e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.28327356
Centerline is valid?  [True, True]
Translation: X:46.48, Y:-9.91, Z:29.15
[[ 8.00183677e-01  2.38109163e-01 -5.50463541e-01  4.64801514e+01]
 [-2.08806472e-01  9.70995212e-01  1.16482423e-01 -9.90569707e+00]
 [ 5.62232995e-01  2.17330163e-02  8.26693254e-01  2.91538910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.34327356
Centerline is valid?  [True, True]
Translation: X:46.53, Y:-9.91, Z:29.19
[[ 7.98153184e-01  2.44812671e-01 -5.50470935e-01  4.65295796e+01]
 [-2.16967817e-01  9.69208416e-01  1.16447468e-01 -9.91294343e+00]
 [ 5.62028879e-01  2.64915594e-02  8.26693254e-01  2.91878090e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.40327356
Centerline is valid?  [True, True]
Translation: X:46.58, Y:-9.92, Z:29.22
[[ 7.97172041e-01  2.47986068e-01 -5.50472204e-01  4.65766376e+01]
 [-2.20826084e-01  9.68337351e-01  1.16441469e-01 -9.92316174e+00]
 [ 5.61918658e-01  2.87347374e-02  8.26693254e-01  2.92205802e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.46327356
Centerline is valid?  [True, True]
Translation: X:46.63, Y:-9.92, Z:29.25
[[ 7.95570612e-01  2.53049634e-01 -5.50484591e-01  4.66280202e+01]
 [-2.27018897e-01  9.66911291e-01  1.16382886e-01 -9.91946475e+00]
 [ 5.61720413e-01  3.23796006e-02  8.26693256e-01  2.92542489e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.52327356
Centerline is valid?  [True, True]
Translation: X:46.67, Y:-9.94, Z:29.29
[[ 7.96967899e-01  2.48611739e-01 -5.50485578e-01  4.66734830e+01]
 [-2.21629688e-01  9.68161346e-01  1.16378215e-01 -9.94337184e+00]
 [ 5.61891849e-01  2.92542450e-02  8.26693256e-01  2.92878856e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.58327356
Centerline is valid?  [True, True]
Translation: X:46.72, Y:-9.95, Z:29.32
[[ 7.97121706e-01  2.48109811e-01 -5.50489334e-01  4.67214350e+01]
 [-2.21032194e-01  9.68300064e-01  1.16360449e-01 -9.95205304e+00]
 [ 5.61909027e-01  2.89224255e-02  8.26693256e-01  2.93210306e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.64327356
Centerline is valid?  [True, True]
Translation: X:46.77, Y:-9.96, Z:29.36
[[ 7.97714341e-01  2.46119739e-01 -5.50524208e-01  4.67706686e+01]
 [-2.18728724e-01  9.68842819e-01  1.16195256e-01 -9.96225231e+00]
 [ 5.61969372e-01  2.77248356e-02  8.26693268e-01  2.93551779e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.70327356
Centerline is valid?  [True, True]
Translation: X:46.82, Y:-9.97, Z:29.39
[[ 7.97920603e-01  2.45448649e-01 -5.50524906e-01  4.68186601e+01]
 [-2.17915973e-01  9.69026346e-01  1.16191950e-01 -9.97453283e+00]
 [ 5.61992295e-01  2.72562200e-02  8.26693268e-01  2.93888617e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.76327356000002
Centerline is valid?  [True, True]
Translation: X:46.87, Y:-9.99, Z:29.42
[[ 7.98966394e-01  2.42015282e-01 -5.50528206e-01  4.68660944e+01]
 [-2.13757849e-01  9.69953940e-01  1.16176314e-01 -9.98593832e+00]
 [ 5.62103446e-01  2.48587544e-02  8.26693268e-01  2.94220461e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.82327356
Centerline is valid?  [True, True]
Translation: X:46.91, Y:-10.00, Z:29.46
[[ 8.00768683e-01  2.35975833e-01 -5.50531491e-01  4.69136664e+01]
 [-2.06438865e-01  9.71539848e-01  1.16160743e-01 -9.99867137e+00]
 [ 5.62274409e-01  2.06332112e-02  8.26693268e-01  2.94555086e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.88327356
Centerline is valid?  [True, True]
Translation: X:46.96, Y:-10.01, Z:29.49
[[ 8.02555016e-01  2.29818477e-01 -5.50535116e-01  4.69620928e+01]
 [-1.98982528e-01  9.73096412e-01  1.16143562e-01 -1.00087469e+01]
 [ 5.62415682e-01  1.63352709e-02  8.26693268e-01  2.94891660e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.94327356
Centerline is valid?  [True, True]
Translation: X:47.01, Y:-10.02, Z:29.52
[[ 8.03058359e-01  2.28044338e-01 -5.50538874e-01  4.70092886e+01]
 [-1.96843787e-01  9.73533428e-01  1.16125746e-01 -1.00204381e+01]
 [ 5.62449816e-01  1.51144055e-02  8.26693268e-01  2.95222304e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.00327356
Centerline is valid?  [True, True]
Translation: X:47.06, Y:-10.03, Z:29.56
[[ 8.02860119e-01  2.28657541e-01 -5.50573662e-01  4.70562966e+01]
 [-1.97700331e-01  9.73379533e-01  1.15960612e-01 -1.00325794e+01]
 [ 5.62432403e-01  1.57484449e-02  8.26693280e-01  2.95551664e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.06327356
Centerline is valid?  [True, True]
Translation: X:47.10, Y:-10.04, Z:29.59
[[ 8.02588628e-01  2.29525172e-01 -5.50608472e-01  4.71042640e+01]
 [-1.98865704e-01  9.73161815e-01  1.15795132e-01 -1.00402272e+01]
 [ 5.62409037e-01  1.65612854e-02  8.26693292e-01  2.95881110e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.12327356
Centerline is valid?  [True, True]
Translation: X:47.15, Y:-10.05, Z:29.62
[[ 8.00903104e-01  2.35256605e-01 -5.50643757e-01  4.71527284e+01]
 [-2.05932595e-01  9.71710930e-01  1.15627136e-01 -1.00527813e+01]
 [ 5.62268605e-01  2.07893654e-02  8.26693304e-01  2.96220727e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.18327356
Centerline is valid?  [True, True]
Translation: X:47.20, Y:-10.07, Z:29.66
[[ 7.99294502e-01  2.40659442e-01 -5.50646286e-01  4.71998437e+01]
 [-2.12497784e-01  9.70297811e-01  1.15615089e-01 -1.00663486e+01]
 [ 5.62114749e-01  2.46006104e-02  8.26693304e-01  2.96553473e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.24327356
Centerline is valid?  [True, True]
Translation: X:47.25, Y:-10.08, Z:29.69
[[ 7.98673124e-01  2.42702323e-01 -5.50651272e-01  4.72481888e+01]
 [-2.14994324e-01  9.69750526e-01  1.15591336e-01 -1.00757755e+01]
 [ 5.62048647e-01  2.60672046e-02  8.26693304e-01  2.96888568e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.30327356
Centerline is valid?  [True, True]
Translation: X:47.30, Y:-10.09, Z:29.72
[[ 7.98034047e-01  2.44784030e-01 -5.50656371e-01  4.72960519e+01]
 [-2.17538930e-01  9.69185778e-01  1.15567043e-01 -1.00905919e+01]
 [ 5.61977290e-01  2.75627623e-02  8.26693304e-01  2.97227983e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.36327356
Centerline is valid?  [True, True]
Translation: X:47.34, Y:-10.10, Z:29.76
[[ 7.98296092e-01  2.43924436e-01 -5.50657987e-01  4.73430061e+01]
 [-2.16500326e-01  9.69419232e-01  1.15559344e-01 -1.00999454e+01]
 [ 5.62006190e-01  2.69670605e-02  8.26693304e-01  2.97553783e+01]
 [ 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 134.42327356
Centerline is valid?  [True, True]
Translation: X:47.39, Y:-10.11, Z:29.79
[[ 7.99105028e-01  2.41222014e-01 -5.50675125e-01  4.73910890e+01]
 [-2.13275262e-01  9.70143588e-01  1.15477625e-01 -1.01108779e+01]
 [ 5.62089687e-01  2.51666308e-02  8.26693307e-01  2.97888967e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.48327356000001
Centerline is valid?  [True, True]
Translation: X:47.44, Y:-10.12, Z:29.82
[[ 8.00408652e-01  2.36848985e-01 -5.50680078e-01  4.74394968e+01]
 [-2.07983656e-01  9.71294586e-01  1.15454002e-01 -1.01199511e+01]
 [ 5.62217742e-01  2.21220744e-02  8.26693308e-01  2.98223985e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.54327356
Centerline is valid?  [True, True]
Translation: X:47.49, Y:-10.13, Z:29.86
[[ 8.00371607e-01  2.36962588e-01 -5.50685049e-01  4.74859440e+01]
 [-2.08137803e-01  9.71264384e-01  1.15430289e-01 -1.01344511e+01]
 [ 5.62213435e-01  2.22312503e-02  8.26693308e-01  2.98553521e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.60327356
Centerline is valid?  [True, True]
Translation: X:47.53, Y:-10.15, Z:29.89
[[ 8.01219645e-01  2.33996288e-01 -5.50720271e-01  4.75333528e+01]
 [-2.04654178e-01  9.72024346e-01  1.15262038e-01 -1.01454659e+01]
 [ 5.62284401e-01  2.03569948e-02  8.26693320e-01  2.98883918e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.66327356
Centerline is valid?  [True, True]
Translation: X:47.58, Y:-10.16, Z:29.92
[[ 8.02609777e-01  2.29164928e-01 -5.50727684e-01  4.75812675e+01]
 [-1.98818587e-01  9.73238921e-01  1.15226612e-01 -1.01563028e+01]
 [ 5.62395515e-01  1.70128947e-02  8.26693321e-01  2.99218057e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.72327356
Centerline is valid?  [True, True]
Translation: X:47.63, Y:-10.17, Z:29.95
[[ 8.02427417e-01  2.29725879e-01 -5.50759713e-01  4.76279749e+01]
 [-1.99603897e-01  9.73096300e-01  1.15073347e-01 -1.01677337e+01]
 [ 5.62377565e-01  1.75957767e-02  8.26693331e-01  2.99544424e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.78327356
Centerline is valid?  [True, True]
Translation: X:47.68, Y:-10.18, Z:29.99
[[ 8.02399774e-01  2.29793429e-01 -5.50771806e-01  4.76757885e+01]
 [-1.99725519e-01  9.73078191e-01  1.15015442e-01 -1.01782042e+01]
 [ 5.62373826e-01  1.77148199e-02  8.26693332e-01  2.99877270e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.84327356
Centerline is valid?  [True, True]
Translation: X:47.72, Y:-10.19, Z:30.02
[[ 8.02217241e-01  2.30350377e-01 -5.50805049e-01  4.77242134e+01]
 [-2.00510261e-01  9.72935620e-01  1.14856062e-01 -1.01872186e+01]
 [ 5.62354989e-01  1.83025510e-02  8.26693343e-01  3.00211686e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.90327356
Centerline is valid?  [True, True]
Translation: X:47.77, Y:-10.20, Z:30.05
[[ 8.01242271e-01  2.33643390e-01 -5.50837172e-01  4.77731741e+01]
 [-2.04610596e-01  9.72099786e-01  1.14701829e-01 -1.01960643e+01]
 [ 5.62268021e-01  2.08031681e-02  8.26693353e-01  3.00549466e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.96327356
Centerline is valid?  [True, True]
Translation: X:47.82, Y:-10.20, Z:30.09
[[ 8.01140368e-01  2.33991416e-01 -5.50837661e-01  4.78218267e+01]
 [-2.05034453e-01  9.72010752e-01  1.14699483e-01 -1.02034214e+01]
 [ 5.62258823e-01  2.10503129e-02  8.26693353e-01  3.00883842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.02327356
Centerline is valid?  [True, True]
Translation: X:47.87, Y:-10.21, Z:30.12
[[ 7.99230130e-01  2.40423833e-01 -5.50842609e-01  4.78714104e+01]
 [-2.12857698e-01  9.70330398e-01  1.14675711e-01 -1.02101684e+01]
 [ 5.62070103e-01  2.55988066e-02  8.26693354e-01  3.01223477e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.08327356
Centerline is valid?  [True, True]
Translation: X:47.92, Y:-10.22, Z:30.16
[[ 7.97399331e-01  2.46426610e-01 -5.50843202e-01  4.79197671e+01]
 [-2.20149753e-01  9.68702338e-01  1.14672864e-01 -1.02178448e+01]
 [ 5.61861543e-01  2.98279302e-02  8.26693354e-01  3.01556323e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.14327356
Centerline is valid?  [True, True]
Translation: X:47.97, Y:-10.23, Z:30.19
[[ 7.97226918e-01  2.46959504e-01 -5.50854104e-01  4.79679473e+01]
 [-2.20833235e-01  9.68552956e-01  1.14620473e-01 -1.02267373e+01]
 [ 5.61837986e-01  3.02683679e-02  8.26693355e-01  3.01889453e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.20327356
Centerline is valid?  [True, True]
Translation: X:48.02, Y:-10.24, Z:30.22
[[ 7.95965836e-01  2.50983376e-01 -5.50859086e-01  4.80159965e+01]
 [-2.25739371e-01  9.67424091e-01  1.14596525e-01 -1.02358653e+01]
 [ 5.61676174e-01  3.31356647e-02  8.26693355e-01  3.02222169e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.26327356000002
Centerline is valid?  [True, True]
Translation: X:48.06, Y:-10.25, Z:30.26
[[ 7.95693954e-01  2.51837713e-01 -5.50861960e-01  4.80635622e+01]
 [-2.26787312e-01  9.67180602e-01  1.14582713e-01 -1.02470699e+01]
 [ 5.61639250e-01  3.37557312e-02  8.26693355e-01  3.02554587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.32327356
Centerline is valid?  [True, True]
Translation: X:48.11, Y:-10.26, Z:30.29
[[ 7.97102144e-01  2.47268325e-01 -5.50896131e-01  4.81113223e+01]
 [-2.21347767e-01  9.68459414e-01  1.14418225e-01 -1.02589089e+01]
 [ 5.61812547e-01  3.07366163e-02  8.26693367e-01  3.02888487e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.38327356
Centerline is valid?  [True, True]
Translation: X:48.16, Y:-10.27, Z:30.32
[[ 7.98666469e-01  2.42158718e-01 -5.50900197e-01  4.81589095e+01]
 [-2.15154814e-01  9.69856358e-01  1.14398647e-01 -1.02729711e+01]
 [ 5.61996688e-01  2.71624660e-02  8.26693367e-01  3.03224973e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.44327356
Centerline is valid?  [True, True]
Translation: X:48.21, Y:-10.27, Z:30.36
[[ 8.00651385e-01  2.35503820e-01 -5.50904085e-01  4.82101565e+01]
 [-2.07089072e-01  9.71612758e-01  1.14379918e-01 -1.02710762e+01]
 [ 5.62202345e-01  2.25077761e-02  8.26693367e-01  3.03563771e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.50327356
Centerline is valid?  [True, True]
Translation: X:48.25, Y:-10.30, Z:30.39
[[ 8.00447519e-01  2.36190303e-01 -5.50906444e-01  4.82540716e+01]
 [-2.07929972e-01  9.71434486e-01  1.14368558e-01 -1.02980514e+01]
 [ 5.62182262e-01  2.30039331e-02  8.26693367e-01  3.03893688e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.56327356
Centerline is valid?  [True, True]
Translation: X:48.30, Y:-10.31, Z:30.42
[[ 8.00353367e-01  2.36492124e-01 -5.50913752e-01  4.83020644e+01]
 [-2.08320468e-01  9.71354966e-01  1.14333343e-01 -1.03101643e+01]
 [ 5.62171744e-01  2.32595344e-02  8.26693368e-01  3.04230102e+01]
 [ 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 135.62327356
Centerline is valid?  [True, True]
Translation: X:48.35, Y:-10.32, Z:30.46
[[ 8.00550575e-01  2.35818172e-01 -5.50916115e-01  4.83492167e+01]
 [-2.07510372e-01  9.71529689e-01  1.14321955e-01 -1.03212562e+01]
 [ 5.62190557e-01  2.28003011e-02  8.26693368e-01  3.04559614e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.68327356
Centerline is valid?  [True, True]
Translation: X:48.40, Y:-10.33, Z:30.49
[[ 8.00022448e-01  2.37580647e-01 -5.50926056e-01  4.83964255e+01]
 [-2.09682397e-01  9.71068863e-01  1.14274036e-01 -1.03337204e+01]
 [ 5.62136438e-01  2.40977016e-02  8.26693369e-01  3.04891225e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.74327356
Centerline is valid?  [True, True]
Translation: X:48.44, Y:-10.34, Z:30.52
[[ 7.99437322e-01  2.39553349e-01 -5.50921193e-01  4.84440053e+01]
 [-2.12060988e-01  9.70549445e-01  1.14297475e-01 -1.03434865e+01]
 [ 5.62076601e-01  2.54552250e-02  8.26693369e-01  3.05221919e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.80327356
Centerline is valid?  [True, True]
Translation: X:48.49, Y:-10.36, Z:30.55
[[ 7.99192916e-01  2.40288446e-01 -5.50955666e-01  4.84895412e+01]
 [-2.13067893e-01  9.70348476e-01  1.14131101e-01 -1.03551332e+01]
 [ 5.62043376e-01  2.61781958e-02  8.26693381e-01  3.05540680e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.86327356
Centerline is valid?  [True, True]
Translation: X:48.54, Y:-10.37, Z:30.59
[[ 7.98506107e-01  2.42522533e-01 -5.50972611e-01  4.85372549e+01]
 [-2.15837073e-01  9.69745908e-01  1.14049250e-01 -1.03686044e+01]
 [ 5.61962948e-01  2.78512934e-02  8.26693384e-01  3.05876871e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.92327356
Centerline is valid?  [True, True]
Translation: X:48.58, Y:-10.38, Z:30.62
[[ 7.97937347e-01  2.44381911e-01 -5.50975019e-01  4.85844223e+01]
 [-2.18103421e-01  9.69240074e-01  1.14037614e-01 -1.03797439e+01]
 [ 5.61895798e-01  2.91746657e-02  8.26693384e-01  3.06206543e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.98327356000001
Centerline is valid?  [True, True]
Translation: X:48.63, Y:-10.39, Z:30.65
[[ 7.97052564e-01  2.47175753e-01 -5.51009398e-01  4.86330977e+01]
 [-2.21612132e-01  9.68463417e-01  1.13871300e-01 -1.03903569e+01]
 [ 5.61778668e-01  3.13489561e-02  8.26693396e-01  3.06544784e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.04327356
Centerline is valid?  [True, True]
Translation: X:48.68, Y:-10.40, Z:30.69
[[ 7.96226267e-01  2.49823114e-01 -5.51010112e-01  4.86805079e+01]
 [-2.24831640e-01  9.67721472e-01  1.13867845e-01 -1.04045246e+01]
 [ 5.61671136e-01  3.32199378e-02  8.26693396e-01  3.06880281e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.10327356
Centerline is valid?  [True, True]
Translation: X:48.73, Y:-10.41, Z:30.72
[[ 7.96327932e-01  2.49493588e-01 -5.51012499e-01  4.87272976e+01]
 [-2.24439112e-01  9.67813944e-01  1.13856292e-01 -1.04147115e+01]
 [ 5.61683995e-01  3.30018108e-02  8.26693396e-01  3.07206120e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.16327356
Centerline is valid?  [True, True]
Translation: X:48.77, Y:-10.43, Z:30.75
[[ 7.95913426e-01  2.50727849e-01 -5.51051145e-01  4.87737496e+01]
 [-2.26068436e-01  9.67456677e-01  1.13668992e-01 -1.04330447e+01]
 [ 5.61618092e-01  3.41045930e-02  8.26693411e-01  3.07540039e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.22327356
Centerline is valid?  [True, True]
Translation: X:48.82, Y:-10.44, Z:30.79
[[ 7.96462109e-01  2.48968340e-01 -5.51056145e-01  4.88201068e+01]
 [-2.23946606e-01  9.67952886e-01  1.13644749e-01 -1.04435075e+01]
 [ 5.61690330e-01  3.28934168e-02  8.26693411e-01  3.07863306e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.28327356
Centerline is valid?  [True, True]
Translation: X:48.87, Y:-10.46, Z:30.82
[[ 7.97977425e-01  2.44034719e-01 -5.51070853e-01  4.88685952e+01]
 [-2.18001339e-01  9.69317544e-01  1.13573393e-01 -1.04560492e+01]
 [ 5.61878496e-01  2.95051796e-02  8.26693413e-01  3.08203398e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.34327356
Centerline is valid?  [True, True]
Translation: X:48.92, Y:-10.47, Z:30.85
[[ 7.98874308e-01  2.41080915e-01 -5.51071531e-01  4.89158639e+01]
 [-2.14416103e-01  9.70117295e-01  1.13570101e-01 -1.04739042e+01]
 [ 5.61983607e-01  2.74303737e-02  8.26693413e-01  3.08543002e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.40327356
Centerline is valid?  [True, True]
Translation: X:48.96, Y:-10.49, Z:30.89
[[ 7.99594340e-01  2.38668115e-01 -5.51077510e-01  4.89632360e+01]
 [-2.11506419e-01  9.70759217e-01  1.13541083e-01 -1.04872104e+01]
 [ 5.62062208e-01  2.57696232e-02  8.26693414e-01  3.08876912e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.46327356
Centerline is valid?  [True, True]
Translation: X:49.01, Y:-10.50, Z:30.92
[[ 8.00674615e-01  2.35007016e-01 -5.51082447e-01  4.90091762e+01]
 [-2.07078892e-01  9.71716109e-01  1.13517118e-01 -1.05006329e+01]
 [ 5.62173010e-01  2.32272679e-02  8.26693414e-01  3.09201460e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.52327356
Centerline is valid?  [True, True]
Translation: X:49.06, Y:-10.51, Z:30.95
[[ 8.02067767e-01  2.30164295e-01 -5.51100440e-01  4.90569959e+01]
 [-2.01263065e-01  9.72947521e-01  1.13429711e-01 -1.05148568e+01]
 [ 5.62299276e-01  1.99378485e-02  8.26693417e-01  3.09539296e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.58327356
Centerline is valid?  [True, True]
Translation: X:49.10, Y:-10.53, Z:30.99
[[ 8.02642917e-01  2.28148855e-01 -5.51101124e-01  4.91040821e+01]
 [-1.98820763e-01  9.73449926e-01  1.13426387e-01 -1.05274583e+01]
 [ 5.62347449e-01  1.85294599e-02  8.26693417e-01  3.09870460e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.64327356
Centerline is valid?  [True, True]
Translation: X:49.15, Y:-10.54, Z:31.02
[[ 8.03163590e-01  2.26284960e-01 -5.51111028e-01  4.91512407e+01]
 [-1.96593429e-01  9.73907797e-01  1.13378248e-01 -1.05384669e+01]
 [ 5.62387119e-01  1.72835256e-02  8.26693418e-01  3.10199681e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.70327356
Centerline is valid?  [True, True]
Translation: X:49.20, Y:-10.55, Z:31.05
[[ 8.03136079e-01  2.26358550e-01 -5.51120899e-01  4.91984814e+01]
 [-1.96715570e-01  9.73888720e-01  1.13330247e-01 -1.05495130e+01]
 [ 5.62383698e-01  1.73944518e-02  8.26693419e-01  3.10529498e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.76327356000002
Centerline is valid?  [True, True]
Translation: X:49.25, Y:-10.56, Z:31.09
[[ 8.02557938e-01  2.28376287e-01 -5.51130682e-01  4.92466369e+01]
 [-1.99195180e-01  9.73390117e-01  1.13282657e-01 -1.05575248e+01]
 [ 5.62336232e-01  1.88666797e-02  8.26693420e-01  3.10861258e+01]
 [ 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 136.82327356
Centerline is valid?  [True, True]
Translation: X:49.29, Y:-10.57, Z:31.12
[[ 8.02084432e-01  2.30010339e-01 -5.51140461e-01  4.92945817e+01]
 [-2.01209878e-01  9.72981195e-01  1.13235061e-01 -1.05668853e+01]
 [ 5.62294540e-01  2.00708252e-02  8.26693421e-01  3.11193462e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.88327356
Centerline is valid?  [True, True]
Translation: X:49.34, Y:-10.58, Z:31.15
[[ 8.01403791e-01  2.32347406e-01 -5.51150294e-01  4.93427693e+01]
 [-2.04078100e-01  9.72389218e-01  1.13187184e-01 -1.05750821e+01]
 [ 5.62231352e-01  2.17690664e-02  8.26693422e-01  3.11525691e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.94327356
Centerline is valid?  [True, True]
Translation: X:49.39, Y:-10.58, Z:31.19
[[ 8.00705402e-01  2.34742747e-01 -5.51150344e-01  4.93908853e+01]
 [-2.06985020e-01  9.71774623e-01  1.13186940e-01 -1.05836894e+01]
 [ 5.62163732e-01  2.34504704e-02  8.26693422e-01  3.11858260e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.00327356
Centerline is valid?  [True, True]
Translation: X:49.44, Y:-10.59, Z:31.22
[[ 7.99623210e-01  2.38326606e-01 -5.51183410e-01  4.94401386e+01]
 [-2.11446212e-01  9.70832469e-01  1.13025732e-01 -1.05916866e+01]
 [ 5.62043790e-01  2.61676460e-02  8.26693433e-01  3.12196721e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.06327356
Centerline is valid?  [True, True]
Translation: X:49.49, Y:-10.60, Z:31.25
[[ 7.98775832e-01  2.41146127e-01 -5.51185737e-01  4.94893220e+01]
 [-2.14877723e-01  9.70080055e-01  1.13014384e-01 -1.05983149e+01]
 [ 5.61947271e-01  2.81643777e-02  8.26693433e-01  3.12533645e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.12327356
Centerline is valid?  [True, True]
Translation: X:49.54, Y:-10.59, Z:31.29
[[ 7.98331616e-01  2.42607160e-01 -5.51188168e-01  4.95417305e+01]
 [-2.16660385e-01  9.69684850e-01  1.13002522e-01 -1.05852009e+01]
 [ 5.61894037e-01  2.92071549e-02  8.26693434e-01  3.12865085e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.18327356
Centerline is valid?  [True, True]
Translation: X:49.59, Y:-10.59, Z:31.32
[[ 7.98706136e-01  2.41360350e-01 -5.51192970e-01  4.95897782e+01]
 [-2.15162178e-01  9.70021114e-01  1.12979096e-01 -1.05944999e+01]
 [ 5.61937493e-01  2.83587823e-02  8.26693434e-01  3.13198032e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.24327356
Centerline is valid?  [True, True]
Translation: X:49.64, Y:-10.61, Z:31.35
[[ 8.01472052e-01  2.31929906e-01 -5.51226876e-01  4.96374743e+01]
 [-2.03828137e-01  9.72485070e-01  1.12813468e-01 -1.06099957e+01]
 [ 5.62224724e-01  2.19387056e-02  8.26693446e-01  3.13536385e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.30327356
Centerline is valid?  [True, True]
Translation: X:49.68, Y:-10.62, Z:31.39
[[ 8.02958248e-01  2.26728671e-01 -5.51227867e-01  4.96849591e+01]
 [-1.97522049e-01  9.73786042e-01  1.12808622e-01 -1.06204000e+01]
 [ 5.62354952e-01  1.82990448e-02  8.26693446e-01  3.13867179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.36327356
Centerline is valid?  [True, True]
Translation: X:49.73, Y:-10.63, Z:31.42
[[ 8.04222571e-01  2.22190686e-01 -5.51232579e-01  4.97314845e+01]
 [-1.92035623e-01  9.74885495e-01  1.12785596e-01 -1.06312004e+01]
 [ 5.62448555e-01  1.51515693e-02  8.26693446e-01  3.14192026e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.42327356
Centerline is valid?  [True, True]
Translation: X:49.78, Y:-10.64, Z:31.45
[[ 8.05764229e-01  2.16492056e-01 -5.51248761e-01  4.97796724e+01]
 [-1.85183750e-01  9.76219357e-01  1.12706456e-01 -1.06421900e+01]
 [ 5.62539764e-01  1.12674819e-02  8.26693449e-01  3.14527930e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.48327356000001
Centerline is valid?  [True, True]
Translation: X:49.83, Y:-10.65, Z:31.49
[[ 8.07109438e-01  2.11409250e-01 -5.51253557e-01  4.98292997e+01]
 [-1.79043253e-01  9.77366899e-01  1.12682999e-01 -1.06504711e+01]
 [ 5.62599207e-01  7.75071826e-03  8.26693449e-01  3.14870022e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.54327356
Centerline is valid?  [True, True]
Translation: X:49.88, Y:-10.66, Z:31.52
[[ 8.06982127e-01  2.11897617e-01 -5.51252434e-01  4.98768327e+01]
 [-1.79630904e-01  9.77258432e-01  1.12688490e-01 -1.06606063e+01]
 [ 5.62594512e-01  8.08437562e-03  8.26693449e-01  3.15200823e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.60327356
Centerline is valid?  [True, True]
Translation: X:49.92, Y:-10.68, Z:31.55
[[ 8.05218739e-01  2.18416414e-01 -5.51286724e-01  4.99222975e+01]
 [-1.87642635e-01  9.75771168e-01  1.12520529e-01 -1.06834323e+01]
 [ 5.62506021e-01  1.28412552e-02  8.26693461e-01  3.15534226e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.66327356
Centerline is valid?  [True, True]
Translation: X:49.97, Y:-10.67, Z:31.59
[[ 8.04701056e-01  2.20297416e-01 -5.51294167e-01  4.99734482e+01]
 [-1.89947233e-01  9.75329373e-01  1.12484052e-01 -1.06736496e+01]
 [ 5.62473341e-01  1.42007663e-02  8.26693462e-01  3.15861831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.72327356
Centerline is valid?  [True, True]
Translation: X:50.02, Y:-10.70, Z:31.62
[[ 8.02452951e-01  2.28321083e-01 -5.51306399e-01  5.00187957e+01]
 [-1.99717225e-01  9.73382688e-01  1.12424076e-01 -1.06992306e+01]
 [ 5.62300891e-01  1.98903530e-02  8.26693463e-01  3.16198734e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.78327356
Centerline is valid?  [True, True]
Translation: X:50.07, Y:-10.70, Z:31.65
[[ 8.02039170e-01  2.29765170e-01 -5.51308567e-01  5.00674359e+01]
 [-2.01476340e-01  9.73021327e-01  1.12413443e-01 -1.07040791e+01]
 [ 5.62263687e-01  2.09156472e-02  8.26693463e-01  3.16529646e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.84327356
Centerline is valid?  [True, True]
Translation: X:50.12, Y:-10.71, Z:31.69
[[ 8.00630137e-01  2.34548466e-01 -5.51342363e-01  5.01154174e+01]
 [-2.07394794e-01  9.71796225e-01  1.12247481e-01 -1.07137051e+01]
 [ 5.62119902e-01  2.44768202e-02  8.26693475e-01  3.16861867e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.90327356
Centerline is valid?  [True, True]
Translation: X:50.16, Y:-10.72, Z:31.72
[[ 8.02112195e-01  2.29411492e-01 -5.51349611e-01  5.01648940e+01]
 [-2.01185622e-01  9.73104744e-01  1.12211870e-01 -1.07190342e+01]
 [ 5.62263615e-01  2.09171052e-02  8.26693476e-01  3.17198894e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.96327356
Centerline is valid?  [True, True]
Translation: X:50.22, Y:-10.71, Z:31.75
[[ 8.02916683e-01  2.26573909e-01 -5.51352033e-01  5.02174067e+01]
 [-1.97751772e-01  9.73809737e-01  1.12199971e-01 -1.07125603e+01]
 [ 5.62333564e-01  1.89436126e-02  8.26693476e-01  3.17540273e+01]
 [ 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 138.02327356
Centerline is valid?  [True, True]
Translation: X:50.27, Y:-10.72, Z:31.79
[[ 8.03751324e-01  2.23592661e-01 -5.51353001e-01  5.02651408e+01]
 [-1.94139785e-01  9.74536802e-01  1.12195213e-01 -1.07223821e+01]
 [ 5.62399816e-01  1.68625023e-02  8.26693476e-01  3.17871937e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.08327356
Centerline is valid?  [True, True]
Translation: X:50.31, Y:-10.73, Z:31.82
[[ 8.04915210e-01  2.19281046e-01 -5.51386732e-01  5.03134612e+01]
 [-1.89026740e-01  9.75560527e-01  1.12029237e-01 -1.07317637e+01]
 [ 5.62477019e-01  1.40527999e-02  8.26693487e-01  3.18206130e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.14327356
Centerline is valid?  [True, True]
Translation: X:50.36, Y:-10.74, Z:31.85
[[ 8.05940001e-01  2.15471490e-01 -5.51391650e-01  5.03606034e+01]
 [-1.84426959e-01  9.76443327e-01  1.12005025e-01 -1.07403314e+01]
 [ 5.62536587e-01  1.14221548e-02  8.26693488e-01  3.18532052e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.20327356
Centerline is valid?  [True, True]
Translation: X:50.41, Y:-10.75, Z:31.89
[[ 8.06716041e-01  2.12516220e-01 -5.51403741e-01  5.04084898e+01]
 [-1.80887683e-01  9.77111998e-01  1.11945473e-01 -1.07498243e+01]
 [ 5.62573440e-01  9.43393615e-03  8.26693489e-01  3.18864020e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.26327356000002
Centerline is valid?  [True, True]
Translation: X:50.45, Y:-10.77, Z:31.92
[[ 8.08014118e-01  2.07437377e-01 -5.51437140e-01  5.04532891e+01]
 [-1.74849992e-01  9.78229290e-01  1.11780749e-01 -1.07735503e+01]
 [ 5.62619468e-01  6.09835653e-03  8.26693501e-01  3.19194133e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.32327356
Centerline is valid?  [True, True]
Translation: X:50.51, Y:-10.77, Z:31.95
[[ 8.09156890e-01  2.02844380e-01 -5.51470113e-01  5.05050175e+01]
 [-1.69401663e-01  9.79206069e-01  1.11617880e-01 -1.07668881e+01]
 [ 5.62643941e-01  3.10357739e-03  8.26693512e-01  3.19529391e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.38327356
Centerline is valid?  [True, True]
Translation: X:50.55, Y:-10.77, Z:31.99
[[ 8.09452857e-01  2.01647220e-01 -5.51474814e-01  5.05529347e+01]
 [-1.67968822e-01  9.79455516e-01  1.11594652e-01 -1.07735054e+01]
 [ 5.62647800e-01  2.29996512e-03  8.26693513e-01  3.19857860e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.44327356
Centerline is valid?  [True, True]
Translation: X:50.60, Y:-10.78, Z:32.02
[[ 8.09330471e-01  2.02105645e-01 -5.51486624e-01  5.06013996e+01]
 [-1.68563325e-01  9.79360030e-01  1.11536261e-01 -1.07784941e+01]
 [ 5.62646065e-01  2.69072448e-03  8.26693514e-01  3.20187621e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.50327356
Centerline is valid?  [True, True]
Translation: X:50.65, Y:-10.78, Z:32.05
[[ 8.08062742e-01  2.07024838e-01 -5.51520916e-01  5.06494732e+01]
 [-1.74633241e-01  9.78315255e-01  1.11366477e-01 -1.07843463e+01]
 [ 5.62616953e-01  6.32278407e-03  8.26693526e-01  3.20515423e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.56327356
Centerline is valid?  [True, True]
Translation: X:50.70, Y:-10.80, Z:32.08
[[ 8.07053970e-01  2.10893957e-01 -5.51532074e-01  5.06953933e+01]
 [-1.79356192e-01  9.77466712e-01  1.11311197e-01 -1.08025631e+01]
 [ 5.62579102e-01  9.08654936e-03  8.26693528e-01  3.20846051e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.62327356
Centerline is valid?  [True, True]
Translation: X:50.74, Y:-10.80, Z:32.12
[[ 8.05851820e-01  2.15355438e-01 -5.51565844e-01  5.07449167e+01]
 [-1.84875513e-01  9.76456929e-01  1.11143650e-01 -1.08042378e+01]
 [ 5.62515680e-01  1.24057059e-02  8.26693540e-01  3.21177920e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.68327356
Centerline is valid?  [True, True]
Translation: X:50.79, Y:-10.81, Z:32.15
[[ 8.04557612e-01  2.20129565e-01 -5.51570506e-01  5.07938223e+01]
 [-1.90677549e-01  9.75343173e-01  1.11120508e-01 -1.08071592e+01]
 [ 5.62431437e-01  1.57692615e-02  8.26693540e-01  3.21508037e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.74327356
Centerline is valid?  [True, True]
Translation: X:50.84, Y:-10.81, Z:32.18
[[ 8.02963372e-01  2.25792032e-01 -5.51604734e-01  5.08428206e+01]
 [-1.97660604e-01  9.73971405e-01  1.10950384e-01 -1.08121655e+01]
 [ 5.62298950e-01  1.99414300e-02  8.26693552e-01  3.21840912e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.80327356
Centerline is valid?  [True, True]
Translation: X:50.89, Y:-10.82, Z:32.22
[[ 8.01591172e-01  2.30606152e-01 -5.51608915e-01  5.08917579e+01]
 [-2.03515646e-01  9.72767190e-01  1.10929595e-01 -1.08194537e+01]
 [ 5.62168101e-01  2.33408601e-02  8.26693553e-01  3.22177130e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.86327356
Centerline is valid?  [True, True]
Translation: X:50.94, Y:-10.83, Z:32.25
[[ 8.00166151e-01  2.35491979e-01 -5.51613686e-01  5.09407619e+01]
 [-2.09462557e-01  9.71506730e-01  1.10905868e-01 -1.08266839e+01]
 [ 5.62013850e-01  2.67992921e-02  8.26693553e-01  3.22513703e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.92327356
Centerline is valid?  [True, True]
Translation: X:50.99, Y:-10.83, Z:32.28
[[ 7.99816070e-01  2.36675215e-01 -5.51614990e-01  5.09897458e+01]
 [-2.10903708e-01  9.71195631e-01  1.10899378e-01 -1.08326120e+01]
 [ 5.61973203e-01  2.76385420e-02  8.26693553e-01  3.22848474e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.98327356000001
Centerline is valid?  [True, True]
Translation: X:51.04, Y:-10.84, Z:32.32
[[ 7.99468163e-01  2.37836715e-01 -5.51619754e-01  5.10370443e+01]
 [-2.12330476e-01  9.70887405e-01  1.10875680e-01 -1.08437174e+01]
 [ 5.61930979e-01  2.84841083e-02  8.26693553e-01  3.23178868e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.04327356
Centerline is valid?  [True, True]
Translation: X:51.09, Y:-10.85, Z:32.35
[[ 8.00681360e-01  2.33641809e-01 -5.51652848e-01  5.10857381e+01]
 [-2.07350500e-01  9.71981937e-01  1.10710818e-01 -1.08542184e+01]
 [ 5.62063279e-01  2.57414056e-02  8.26693565e-01  3.23517132e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.10327356
Centerline is valid?  [True, True]
Translation: X:51.13, Y:-10.87, Z:32.39
[[ 7.99961524e-01  2.36089169e-01 -5.51655205e-01  5.11319185e+01]
 [-2.10329892e-01  9.71342911e-01  1.10699073e-01 -1.08727484e+01]
 [ 5.61981225e-01  2.74745811e-02  8.26693565e-01  3.23850055e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.16327356
Centerline is valid?  [True, True]
Translation: X:51.18, Y:-10.88, Z:32.42
[[ 8.01253550e-01  2.31587871e-01 -5.51688143e-01  5.11797045e+01]
 [-2.04978393e-01  9.72504979e-01  1.10534716e-01 -1.08845968e+01]
 [ 5.62117966e-01  2.45178154e-02  8.26693577e-01  3.24184044e+01]
 [ 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 139.22327356
Centerline is valid?  [True, True]
Translation: X:51.23, Y:-10.89, Z:32.45
[[ 8.01711073e-01  2.29924806e-01 -5.51719076e-01  5.12298642e+01]
 [-2.03066226e-01  9.72923601e-01  1.10380139e-01 -1.08883601e+01]
 [ 5.62159642e-01  2.35425309e-02  8.26693587e-01  3.24523114e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.28327356
Centerline is valid?  [True, True]
Translation: X:51.27, Y:-10.92, Z:32.49
[[ 8.01410506e-01  2.30967291e-01 -5.51720319e-01  5.12743810e+01]
 [-2.04335678e-01  9.72658485e-01  1.10373923e-01 -1.09154904e+01]
 [ 5.62128216e-01  2.42813245e-02  8.26693587e-01  3.24856406e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.34327356
Centerline is valid?  [True, True]
Translation: X:51.32, Y:-10.93, Z:32.52
[[ 8.02694530e-01  2.26383004e-01 -5.51753774e-01  5.13219969e+01]
 [-1.98887974e-01  9.73805991e-01  1.10206472e-01 -1.09267471e+01]
 [ 5.62250003e-01  2.12750585e-02  8.26693599e-01  3.25188418e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.40327356
Centerline is valid?  [True, True]
Translation: X:51.37, Y:-10.94, Z:32.55
[[ 8.02635227e-01  2.26581738e-01 -5.51758469e-01  5.13694999e+01]
 [-1.99145213e-01  9.73756078e-01  1.10182961e-01 -1.09396894e+01]
 [ 5.62243610e-01  2.14433314e-02  8.26693599e-01  3.25522604e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.46327356
Centerline is valid?  [True, True]
Translation: X:51.42, Y:-10.95, Z:32.59
[[ 8.02587905e-01  2.26731973e-01 -5.51765590e-01  5.14175920e+01]
 [-1.99351964e-01  9.73717808e-01  1.10147290e-01 -1.09537680e+01]
 [ 5.62237893e-01  2.15926714e-02  8.26693600e-01  3.25862175e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.52327356
Centerline is valid?  [True, True]
Translation: X:51.47, Y:-10.97, Z:32.62
[[ 8.03204892e-01  2.24530681e-01 -5.51767953e-01  5.14651406e+01]
 [-1.96689712e-01  9.74260406e-01  1.10135452e-01 -1.09683558e+01]
 [ 5.62294458e-01  2.00657461e-02  8.26693600e-01  3.26198909e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.58327356
Centerline is valid?  [True, True]
Translation: X:51.51, Y:-10.98, Z:32.65
[[ 8.04404452e-01  2.20182571e-01 -5.51772701e-01  5.15140561e+01]
 [-1.91433012e-01  9.75309604e-01  1.10111663e-01 -1.09795437e+01]
 [ 5.62393884e-01  1.70531982e-02  8.26693600e-01  3.26540179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.64327356
Centerline is valid?  [True, True]
Translation: X:51.56, Y:-10.99, Z:32.69
[[ 8.04579536e-01  2.19538740e-01 -5.51773969e-01  5.15624195e+01]
 [-1.90656768e-01  9.75462361e-01  1.10105310e-01 -1.09883999e+01]
 [ 5.62407119e-01  1.66109623e-02  8.26693600e-01  3.26874743e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.70327356
Centerline is valid?  [True, True]
Translation: X:51.61, Y:-11.01, Z:32.72
[[ 8.03688784e-01  2.22701300e-01 -5.51804739e-01  5.16085667e+01]
 [-1.94597475e-01  9.74701297e-01  1.09950919e-01 -1.10095698e+01]
 [ 5.62331008e-01  1.90134885e-02  8.26693610e-01  3.27210163e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.76327356
Centerline is valid?  [True, True]
Translation: X:51.66, Y:-11.02, Z:32.75
[[ 8.03491693e-01  2.23402744e-01 -5.51808221e-01  5.16566407e+01]
 [-1.95460192e-01  9.74530632e-01  1.09933441e-01 -1.10233482e+01]
 [ 5.62313447e-01  1.95259343e-02  8.26693610e-01  3.27549285e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.82327356
Centerline is valid?  [True, True]
Translation: X:51.70, Y:-11.03, Z:32.79
[[ 8.03504409e-01  2.23351298e-01 -5.51810531e-01  5.17049127e+01]
 [-1.95405747e-01  9.74542858e-01  1.09921847e-01 -1.10337258e+01]
 [ 5.62314199e-01  1.95042600e-02  8.26693610e-01  3.27885236e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.88327356
Centerline is valid?  [True, True]
Translation: X:51.75, Y:-11.04, Z:32.82
[[ 8.03464863e-01  2.23482247e-01 -5.51815095e-01  5.17528380e+01]
 [-1.95580290e-01  9.74510428e-01  1.09898930e-01 -1.10432370e+01]
 [ 5.62310025e-01  1.96242277e-02  8.26693611e-01  3.28217662e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.94327356
Centerline is valid?  [True, True]
Translation: X:51.80, Y:-11.05, Z:32.86
[[ 8.03530170e-01  2.23229907e-01 -5.51822141e-01  5.18023247e+01]
 [-1.95298506e-01  9.74570929e-01  1.09863544e-01 -1.10457297e+01]
 [ 5.62314645e-01  1.94913672e-02  8.26693611e-01  3.28551119e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.00327356
Centerline is valid?  [True, True]
Translation: X:51.85, Y:-11.07, Z:32.89
[[ 8.01675653e-01  2.29726640e-01 -5.51853076e-01  5.18481361e+01]
 [-2.03287501e-01  9.72953418e-01  1.09707969e-01 -1.10661872e+01]
 [ 5.62130180e-01  2.42346251e-02  8.26693622e-01  3.28883294e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.06327356
Centerline is valid?  [True, True]
Translation: X:51.90, Y:-11.08, Z:32.92
[[ 8.00635504e-01  2.33331094e-01 -5.51850877e-01  5.18964583e+01]
 [-2.07655205e-01  9.72029347e-01  1.09719028e-01 -1.10771363e+01]
 [ 5.62016109e-01  2.67497578e-02  8.26693622e-01  3.29220452e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.12327356
Centerline is valid?  [True, True]
Translation: X:51.95, Y:-11.08, Z:32.96
[[ 7.99155980e-01  2.38346586e-01 -5.51851995e-01  5.19451486e+01]
 [-2.13749731e-01  9.70708000e-01  1.09713406e-01 -1.10839731e+01]
 [ 5.61836962e-01  3.02800908e-02  8.26693622e-01  3.29554524e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.18327356
Centerline is valid?  [True, True]
Translation: X:51.99, Y:-11.10, Z:32.99
[[ 7.98344434e-01  2.41044003e-01 -5.51855011e-01  5.19927761e+01]
 [-2.17037077e-01  9.69980002e-01  1.09698235e-01 -1.10956260e+01]
 [ 5.61730426e-01  3.21960232e-02  8.26693622e-01  3.29887844e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.24327356
Centerline is valid?  [True, True]
Translation: X:52.04, Y:-11.11, Z:33.02
[[ 7.97287028e-01  2.44502765e-01 -5.51862114e-01  5.20409032e+01]
 [-2.21264790e-01  9.69028395e-01  1.09662493e-01 -1.11073588e+01]
 [ 5.61582841e-01  3.46751709e-02  8.26693622e-01  3.30224496e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.30327356
Centerline is valid?  [True, True]
Translation: X:52.09, Y:-11.12, Z:33.06
[[ 7.97304909e-01  2.44439036e-01 -5.51864511e-01  5.20873355e+01]
 [-2.21195653e-01  9.69045544e-01  1.09650425e-01 -1.11192305e+01]
 [ 5.61584690e-01  3.46452088e-02  8.26693622e-01  3.30550141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.36327356
Centerline is valid?  [True, True]
Translation: X:52.13, Y:-11.13, Z:33.09
[[ 7.97815033e-01  2.42742019e-01 -5.51876331e-01  5.21345049e+01]
 [-2.19174286e-01  9.69511457e-01  1.09590909e-01 -1.11304803e+01]
 [ 5.61652744e-01  3.35238258e-02  8.26693624e-01  3.30879631e+01]
 [ 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 140.42327356
Centerline is valid?  [True, True]
Translation: X:52.18, Y:-11.14, Z:33.12
[[ 7.96866468e-01  2.45816862e-01 -5.51885769e-01  5.21822360e+01]
 [-2.22944214e-01  9.68656869e-01  1.09543364e-01 -1.11443913e+01]
 [ 5.61515547e-01  3.57483055e-02  8.26693625e-01  3.31216458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.48327356000001
Centerline is valid?  [True, True]
Translation: X:52.23, Y:-11.15, Z:33.15
[[ 7.97057229e-01  2.45194469e-01 -5.51887168e-01  5.22297421e+01]
 [-2.22192526e-01  9.68830365e-01  1.09536317e-01 -1.11542088e+01]
 [ 5.61542745e-01  3.53184907e-02  8.26693625e-01  3.31546572e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.54327356
Centerline is valid?  [True, True]
Translation: X:52.28, Y:-11.17, Z:33.19
[[ 7.97035658e-01  2.45243531e-01 -5.51896522e-01  5.22766422e+01]
 [-2.22284673e-01  9.68814557e-01  1.09489171e-01 -1.11663333e+01]
 [ 5.61536895e-01  3.54113647e-02  8.26693626e-01  3.31875481e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.60327356
Centerline is valid?  [True, True]
Translation: X:52.32, Y:-11.18, Z:33.22
[[ 7.98061986e-01  2.41861502e-01 -5.51905862e-01  5.23249791e+01]
 [-2.18206877e-01  9.69746458e-01  1.09442072e-01 -1.11772115e+01]
 [ 5.61678578e-01  3.30880969e-02  8.26693627e-01  3.32212329e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.66327356
Centerline is valid?  [True, True]
Translation: X:52.37, Y:-11.19, Z:33.26
[[ 7.99425076e-01  2.37315609e-01 -5.51906558e-01  5.23732700e+01]
 [-2.12686685e-01  9.70972490e-01  1.09438560e-01 -1.11901921e+01]
 [ 5.61857563e-01  2.98952473e-02  8.26693627e-01  3.32551887e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.72327356
Centerline is valid?  [True, True]
Translation: X:52.42, Y:-11.21, Z:33.29
[[ 8.01518237e-01  2.30142038e-01 -5.51908651e-01  5.24207822e+01]
 [-2.03984033e-01  9.72839157e-01  1.09428006e-01 -1.12050187e+01]
 [ 5.62102331e-01  2.48720100e-02  8.26693627e-01  3.32888652e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.78327356
Centerline is valid?  [True, True]
Translation: X:52.47, Y:-11.22, Z:33.32
[[ 8.03157619e-01  2.24350732e-01 -5.51909945e-01  5.24684597e+01]
 [-1.96961306e-01  9.74285987e-01  1.09421476e-01 -1.12174115e+01]
 [ 5.62266914e-01  2.08222114e-02  8.26693627e-01  3.33223320e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.84327356
Centerline is valid?  [True, True]
Translation: X:52.52, Y:-11.23, Z:33.36
[[ 8.04436633e-01  2.19712080e-01 -5.51913313e-01  5.25163946e+01]
 [-1.91347192e-01  9.75406023e-01  1.09404490e-01 -1.12310702e+01]
 [ 5.62377057e-01  1.75980829e-02  8.26693627e-01  3.33561323e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.90327356
Centerline is valid?  [True, True]
Translation: X:52.56, Y:-11.24, Z:33.39
[[ 8.06222462e-01  2.13060534e-01 -5.51915347e-01  5.25635060e+01]
 [-1.83291556e-01  9.76952972e-01  1.09394225e-01 -1.12427954e+01]
 [ 5.62502931e-01  1.29653414e-02  8.26693627e-01  3.33891305e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.96327356
Centerline is valid?  [True, True]
Translation: X:52.61, Y:-11.25, Z:33.42
[[ 8.06757650e-01  2.11002143e-01 -5.51924080e-01  5.26114451e+01]
 [-1.80827650e-01  9.77416956e-01  1.09350154e-01 -1.12540718e+01]
 [ 5.62533070e-01  1.15840611e-02  8.26693628e-01  3.34226029e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.02327356
Centerline is valid?  [True, True]
Translation: X:52.66, Y:-11.26, Z:33.46
[[ 8.07031603e-01  2.09942604e-01 -5.51927617e-01  5.26591748e+01]
 [-1.79556250e-01  9.77653314e-01  1.09332296e-01 -1.12645283e+01]
 [ 5.62547371e-01  1.08674351e-02  8.26693628e-01  3.34558417e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.08327356
Centerline is valid?  [True, True]
Translation: X:52.71, Y:-11.27, Z:33.49
[[ 8.06734760e-01  2.11055740e-01 -5.51937046e-01  5.27072918e+01]
 [-1.80937356e-01  9.77403976e-01  1.09284682e-01 -1.12738647e+01]
 [ 5.62530622e-01  1.17022783e-02  8.26693629e-01  3.34891741e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.14327356
Centerline is valid?  [True, True]
Translation: X:52.75, Y:-11.28, Z:33.52
[[ 8.05190845e-01  2.16853325e-01 -5.51944144e-01  5.27547066e+01]
 [-1.87987950e-01  9.76076445e-01  1.09248819e-01 -1.12819489e+01]
 [ 5.62430648e-01  1.57926997e-02  8.26693630e-01  3.35218788e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.20327356
Centerline is valid?  [True, True]
Translation: X:52.80, Y:-11.29, Z:33.56
[[ 8.03241621e-01  2.23872660e-01 -5.51981821e-01  5.28038932e+01]
 [-1.96630663e-01  9.74393501e-01  1.09058181e-01 -1.12894039e+01]
 [ 5.62262644e-01  2.09364813e-02  8.26693645e-01  3.35555969e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.26327356
Centerline is valid?  [True, True]
Translation: X:52.85, Y:-11.30, Z:33.59
[[ 8.02319079e-01  2.27153196e-01 -5.51983261e-01  5.28520656e+01]
 [-2.00615837e-01  9.73581630e-01  1.09050888e-01 -1.12970907e+01]
 [ 5.62172021e-01  2.32429755e-02  8.26693645e-01  3.35887715e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.32327356
Centerline is valid?  [True, True]
Translation: X:52.90, Y:-11.30, Z:33.62
[[ 8.00655328e-01  2.32872147e-01 -5.52015950e-01  5.29010595e+01]
 [-2.07671403e-01  9.72119643e-01  1.08885210e-01 -1.13041751e+01]
 [ 5.61981880e-01  2.74584032e-02  8.26693657e-01  3.36223275e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.38327356
Centerline is valid?  [True, True]
Translation: X:52.95, Y:-11.31, Z:33.66
[[ 8.00022399e-01  2.35032395e-01 -5.52018056e-01  5.29495948e+01]
 [-2.10301902e-01  9.71555169e-01  1.08874530e-01 -1.13119540e+01]
 [ 5.61905037e-01  2.89883844e-02  8.26693657e-01  3.36557550e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.44327356
Centerline is valid?  [True, True]
Translation: X:53.00, Y:-11.32, Z:33.69
[[ 7.99249362e-01  2.37631493e-01 -5.52025118e-01  5.29975207e+01]
 [-2.13483329e-01  9.70865080e-01  1.08838714e-01 -1.13203752e+01]
 [ 5.61805416e-01  3.08588872e-02  8.26693658e-01  3.36888465e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.50327356
Centerline is valid?  [True, True]
Translation: X:53.05, Y:-11.33, Z:33.72
[[ 7.98674533e-01  2.39534750e-01 -5.52034504e-01  5.30461357e+01]
 [-2.15828273e-01  9.70351820e-01  1.08791091e-01 -1.13307218e+01]
 [ 5.61726933e-01  3.22559796e-02  8.26693658e-01  3.37226451e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.56327356
Centerline is valid?  [True, True]
Translation: X:53.10, Y:-11.34, Z:33.76
[[ 7.99575625e-01  2.36502012e-01 -5.52037696e-01  5.30953970e+01]
 [-2.12155331e-01  9.71163291e-01  1.08774892e-01 -1.13401705e+01]
 [ 5.61844226e-01  3.01439877e-02  8.26693659e-01  3.37567744e+01]
 [ 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 141.62327356
Centerline is valid?  [True, True]
Translation: X:53.14, Y:-11.35, Z:33.79
[[ 8.00712986e-01  2.32621776e-01 -5.52037882e-01  5.31439499e+01]
 [-2.07443937e-01  9.72180663e-01  1.08773945e-01 -1.13504872e+01]
 [ 5.61983743e-01  2.74202013e-02  8.26693659e-01  3.37905533e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.68327356
Centerline is valid?  [True, True]
Translation: X:53.19, Y:-11.36, Z:33.82
[[ 8.01562206e-01  2.29672784e-01 -5.52040255e-01  5.31919872e+01]
 [-2.03872219e-01  9.72937288e-01  1.08761906e-01 -1.13614987e+01]
 [ 5.62080198e-01  2.53662388e-02  8.26693659e-01  3.38240732e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.74327356
Centerline is valid?  [True, True]
Translation: X:53.24, Y:-11.37, Z:33.86
[[ 8.02235601e-01  2.27298119e-01 -5.52044930e-01  5.32401807e+01]
 [-2.01006480e-01  9.73536032e-01  1.08738169e-01 -1.13741732e+01]
 [ 5.62151612e-01  2.37309774e-02  8.26693659e-01  3.38579095e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.80327356
Centerline is valid?  [True, True]
Translation: X:53.29, Y:-11.38, Z:33.89
[[ 8.02697617e-01  2.25658656e-01 -5.52045927e-01  5.32875292e+01]
 [-1.99020577e-01  9.73944517e-01  1.08733106e-01 -1.13849180e+01]
 [ 5.62198671e-01  2.25886942e-02  8.26693659e-01  3.38909381e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.86327356
Centerline is valid?  [True, True]
Translation: X:53.33, Y:-11.40, Z:33.92
[[ 8.03628462e-01  2.22297627e-01 -5.52055305e-01  5.33332552e+01]
 [-1.94975837e-01  9.74767608e-01  1.08685476e-01 -1.13973422e+01]
 [ 5.62286153e-01  2.02947033e-02  8.26693660e-01  3.39230801e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.92327356
Centerline is valid?  [True, True]
Translation: X:53.38, Y:-11.41, Z:33.96
[[ 8.04595582e-01  2.18730486e-01 -5.52071484e-01  5.33808025e+01]
 [-1.90706144e-01  9.75621086e-01  1.08603241e-01 -1.14086403e+01]
 [ 5.62367421e-01  1.79017361e-02  8.26693663e-01  3.39562703e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.98327356000001
Centerline is valid?  [True, True]
Translation: X:53.43, Y:-11.42, Z:33.99
[[ 8.05744471e-01  2.14436330e-01 -5.52080527e-01  5.34286623e+01]
 [-1.85531762e-01  9.76623411e-01  1.08557258e-01 -1.14204189e+01]
 [ 5.62453387e-01  1.49590629e-02  8.26693664e-01  3.39897526e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.04327356
Centerline is valid?  [True, True]
Translation: X:53.48, Y:-11.43, Z:34.02
[[ 8.06478872e-01  2.11649110e-01 -5.52083765e-01  5.34755104e+01]
 [-1.82165154e-01  9.77258796e-01  1.08540788e-01 -1.14321165e+01]
 [ 5.62501277e-01  1.30345715e-02  8.26693664e-01  3.40225652e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.10327356
Centerline is valid?  [True, True]
Translation: X:53.52, Y:-11.44, Z:34.06
[[ 8.07095299e-01  2.09255537e-01 -5.52095371e-01  5.35237586e+01]
 [-1.79305428e-01  9.77794088e-01  1.08481725e-01 -1.14415371e+01]
 [ 5.62535992e-01  1.14386066e-02  8.26693665e-01  3.40559895e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.16327356
Centerline is valid?  [True, True]
Translation: X:53.58, Y:-11.43, Z:34.09
[[ 8.07438469e-01  2.07882871e-01 -5.52112154e-01  5.35753333e+01]
 [-1.77700975e-01  9.78096424e-01  1.08396255e-01 -1.14282259e+01]
 [ 5.62552648e-01  1.05875621e-02  8.26693668e-01  3.40886396e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.22327356
Centerline is valid?  [True, True]
Translation: X:53.62, Y:-11.46, Z:34.12
[[ 8.08418564e-01  2.03991261e-01 -5.52129506e-01  5.36194250e+01]
 [-1.73048096e-01  9.78940128e-01  1.08307811e-01 -1.14598681e+01]
 [ 5.62595576e-01  7.98691486e-03  8.26693672e-01  3.41221848e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.28327356
Centerline is valid?  [True, True]
Translation: X:53.67, Y:-11.47, Z:34.16
[[ 8.09025706e-01  2.01557306e-01 -5.52134095e-01  5.36691964e+01]
 [-1.70117045e-01  9.79456317e-01  1.08284410e-01 -1.14656719e+01]
 [ 5.62616742e-01  6.32254912e-03  8.26693672e-01  3.41561731e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.34327356
Centerline is valid?  [True, True]
Translation: X:53.72, Y:-11.47, Z:34.19
[[ 8.08696268e-01  2.02871783e-01 -5.52135296e-01  5.37170534e+01]
 [-1.71712710e-01  9.79178512e-01  1.08278286e-01 -1.14739687e+01]
 [ 5.62605627e-01  7.24440183e-03  8.26693672e-01  3.41892192e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.40327356
Centerline is valid?  [True, True]
Translation: X:53.77, Y:-11.46, Z:34.22
[[ 8.05029491e-01  2.16962513e-01 -5.52136565e-01  5.37706627e+01]
 [-1.88789628e-01  9.76030578e-01  1.08271817e-01 -1.14609204e+01]
 [ 5.62393096e-01  1.70756509e-02  8.26693672e-01  3.42233115e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.46327356
Centerline is valid?  [True, True]
Translation: X:53.82, Y:-11.48, Z:34.26
[[ 8.07183955e-01  2.08804991e-01 -5.52136341e-01  5.38172691e+01]
 [-1.78902339e-01  9.77891057e-01  1.08272960e-01 -1.14841502e+01]
 [ 5.62537124e-01  1.13822867e-02  8.26693672e-01  3.42574823e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.52327356
Centerline is valid?  [True, True]
Translation: X:53.87, Y:-11.49, Z:34.29
[[ 8.05154635e-01  2.16497025e-01 -5.52136806e-01  5.38676102e+01]
 [-1.88226116e-01  9.76139544e-01  1.08270589e-01 -1.14884227e+01]
 [ 5.62402830e-01  1.67519993e-02  8.26693672e-01  3.42916626e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.58327356
Centerline is valid?  [True, True]
Translation: X:53.92, Y:-11.49, Z:34.33
[[ 8.02731125e-01  2.25315265e-01 -5.52137457e-01  5.39170262e+01]
 [-1.98923771e-01  9.74016187e-01  1.08267265e-01 -1.14925317e+01]
 [ 5.62185088e-01  2.29237619e-02  8.26693672e-01  3.43252032e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.64327356
Centerline is valid?  [True, True]
Translation: X:53.97, Y:-11.50, Z:34.36
[[ 8.01767067e-01  2.28714669e-01 -5.52140535e-01  5.39664370e+01]
 [-2.03059989e-01  9.73164035e-01  1.08251568e-01 -1.14968726e+01]
 [ 5.62082032e-01  2.53251089e-02  8.26693672e-01  3.43587641e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.70327356
Centerline is valid?  [True, True]
Translation: X:54.02, Y:-11.50, Z:34.39
[[ 8.00256712e-01  2.33933501e-01 -5.52145191e-01  5.40159460e+01]
 [-2.09412396e-01  9.71819525e-01  1.08227815e-01 -1.15007008e+01]
 [ 5.61903589e-01  2.90160123e-02  8.26693672e-01  3.43923194e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.76327356
Centerline is valid?  [True, True]
Translation: X:54.06, Y:-11.51, Z:34.43
[[ 7.99715332e-01  2.35772775e-01 -5.52147250e-01  5.40646841e+01]
 [-2.11653412e-01  9.71335085e-01  1.08217310e-01 -1.15087447e+01]
 [ 5.61834691e-01  3.03208070e-02  8.26693672e-01  3.44259189e+01]
 [ 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 : 0.994040 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.999292 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 142.82327356
Centerline is valid?  [True, True]
Translation: X:54.11, Y:-11.51, Z:34.46
[[ 7.99771301e-01  2.35572207e-01 -5.52151792e-01  5.41131319e+01]
 [-2.11425756e-01  9.71387245e-01  1.08194133e-01 -1.15127588e+01]
 [ 5.61840738e-01  3.02085472e-02  8.26693673e-01  3.44587906e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.88327356
Centerline is valid?  [True, True]
Translation: X:54.16, Y:-11.52, Z:34.49
[[ 7.99370582e-01  2.36907662e-01 -5.52160694e-01  5.41615107e+01]
 [-2.13079172e-01  9.71030962e-01  1.08148685e-01 -1.15202267e+01]
 [ 5.61786382e-01  3.12030656e-02  8.26693674e-01  3.44920569e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.94327356
Centerline is valid?  [True, True]
Translation: X:54.21, Y:-11.53, Z:34.53
[[ 8.00172699e-01  2.34173880e-01 -5.52165053e-01  5.42106728e+01]
 [-2.09774081e-01  9.71752804e-01  1.08126423e-01 -1.15259213e+01]
 [ 5.61888323e-01  2.93101045e-02  8.26693674e-01  3.45256265e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.00327356
Centerline is valid?  [True, True]
Translation: X:54.26, Y:-11.53, Z:34.56
[[ 8.02287177e-01  2.26816273e-01 -5.52168149e-01  5.42591294e+01]
 [-2.00852796e-01  9.73637638e-01  1.08110615e-01 -1.15346101e+01]
 [ 5.62132939e-01  2.41687567e-02  8.26693674e-01  3.45591200e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.06327356
Centerline is valid?  [True, True]
Translation: X:54.31, Y:-11.55, Z:34.59
[[ 8.03327213e-01  2.23095898e-01 -5.52171721e-01  5.43075840e+01]
 [-1.96351154e-01  9.74557471e-01  1.08092368e-01 -1.15454411e+01]
 [ 5.62238040e-01  2.15860139e-02  8.26693674e-01  3.45928910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.12327356
Centerline is valid?  [True, True]
Translation: X:54.36, Y:-11.56, Z:34.63
[[ 8.05321123e-01  2.15786237e-01 -5.52172246e-01  5.43555774e+01]
 [-1.87488335e-01  9.76301564e-01  1.08089685e-01 -1.15562073e+01]
 [ 5.62410894e-01  1.64789482e-02  8.26693674e-01  3.46263535e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.18327356
Centerline is valid?  [True, True]
Translation: X:54.40, Y:-11.57, Z:34.66
[[ 8.08496180e-01  2.03554955e-01 -5.52176881e-01  5.44043434e+01]
 [-1.72684873e-01  9.79030987e-01  1.08066002e-01 -1.15650020e+01]
 [ 5.62595647e-01  7.98164450e-03  8.26693674e-01  3.46600634e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.24327356
Centerline is valid?  [True, True]
Translation: X:54.45, Y:-11.58, Z:34.69
[[ 8.09188313e-01  2.00776101e-01 -5.52180434e-01  5.44515343e+01]
 [-1.69332705e-01  9.79618343e-01  1.08047845e-01 -1.15768511e+01]
 [ 5.62619507e-01  6.07115310e-03  8.26693674e-01  3.46931234e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.30327356
Centerline is valid?  [True, True]
Translation: X:54.50, Y:-11.58, Z:34.73
[[ 8.09850700e-01  1.97996216e-01 -5.52213131e-01  5.44995871e+01]
 [-1.66081840e-01  9.80193152e-01  1.07880521e-01 -1.15848104e+01]
 [ 5.62635464e-01  4.34545674e-03  8.26693686e-01  3.47261738e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.36327356
Centerline is valid?  [True, True]
Translation: X:54.55, Y:-11.59, Z:34.76
[[ 8.09033162e-01  2.01222240e-01 -5.52245373e-01  5.45478569e+01]
 [-1.70099791e-01  9.79522069e-01  1.07715259e-01 -1.15938939e+01]
 [ 5.62611237e-01  6.79160573e-03  8.26693698e-01  3.47595173e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.42327356
Centerline is valid?  [True, True]
Translation: X:54.60, Y:-11.60, Z:34.79
[[ 8.07605353e-01  2.06791330e-01 -5.52277954e-01  5.45957336e+01]
 [-1.76958545e-01  9.78324641e-01  1.07547992e-01 -1.15980112e+01]
 [ 5.62547124e-01  1.08739695e-02  8.26693710e-01  3.47919512e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.48327356000001
Centerline is valid?  [True, True]
Translation: X:54.65, Y:-11.60, Z:34.83
[[ 8.06005181e-01  2.12913306e-01 -5.52289392e-01  5.46456373e+01]
 [-1.84416993e-01  9.76952628e-01  1.07489232e-01 -1.16006543e+01]
 [ 5.62446460e-01  1.52146715e-02  8.26693712e-01  3.48256041e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.54327356
Centerline is valid?  [True, True]
Translation: X:54.69, Y:-11.61, Z:34.86
[[ 8.04359171e-01  2.19038069e-01 -5.52293988e-01  5.46949518e+01]
 [-1.91859099e-01  9.75521004e-01  1.07465611e-01 -1.16079684e+01]
 [ 5.62313445e-01  1.95216777e-02  8.26693712e-01  3.48594889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.60327356
Centerline is valid?  [True, True]
Translation: X:54.74, Y:-11.61, Z:34.89
[[ 8.03061815e-01  2.23745997e-01 -5.52294713e-01  5.47446654e+01]
 [-1.97572664e-01  9.74380308e-01  1.07461886e-01 -1.16130319e+01]
 [ 5.62189259e-01  2.28198005e-02  8.26693712e-01  3.48933578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.66327356
Centerline is valid?  [True, True]
Translation: X:54.79, Y:-11.62, Z:34.93
[[ 8.02689399e-01  2.25075692e-01 -5.52295809e-01  5.47924816e+01]
 [-1.99189998e-01  9.74051590e-01  1.07456250e-01 -1.16220850e+01]
 [ 5.62150401e-01  2.37578086e-02  8.26693712e-01  3.49264767e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.72327356
Centerline is valid?  [True, True]
Translation: X:54.84, Y:-11.63, Z:34.96
[[ 8.02578731e-01  2.25390564e-01 -5.52328231e-01  5.48398376e+01]
 [-1.99686706e-01  9.73968278e-01  1.07289385e-01 -1.16316654e+01]
 [ 5.62132191e-01  2.41844265e-02  8.26693724e-01  3.49592775e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.78327356
Centerline is valid?  [True, True]
Translation: X:54.89, Y:-11.64, Z:34.99
[[ 8.02654531e-01  2.25091479e-01 -5.52340049e-01  5.48874104e+01]
 [-1.99365563e-01  9.74040768e-01  1.07228518e-01 -1.16398253e+01]
 [ 5.62137951e-01  2.40501287e-02  8.26693725e-01  3.49920908e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.84327356
Centerline is valid?  [True, True]
Translation: X:54.94, Y:-11.65, Z:35.03
[[ 8.02752878e-01  2.24711569e-01 -5.52351815e-01  5.49354424e+01]
 [-1.98946188e-01  9.74133184e-01  1.07167877e-01 -1.16491703e+01]
 [ 5.62146094e-01  2.38589668e-02  8.26693727e-01  3.50253649e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.90327356
Centerline is valid?  [True, True]
Translation: X:54.98, Y:-11.66, Z:35.06
[[ 8.03207249e-01  2.23001724e-01 -5.52384238e-01  5.49832859e+01]
 [-1.96986355e-01  9.74549773e-01  1.07000540e-01 -1.16593328e+01]
 [ 5.62187239e-01  2.28685484e-02  8.26693739e-01  3.50585664e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.96327356
Centerline is valid?  [True, True]
Translation: X:55.03, Y:-11.67, Z:35.09
[[ 8.03960146e-01  2.20190745e-01 -5.52416617e-01  5.50325779e+01]
 [-1.93691022e-01  9.75228417e-01  1.06833155e-01 -1.16674785e+01]
 [ 5.62256055e-01  2.11085404e-02  8.26693751e-01  3.50924749e+01]
 [ 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 144.02327356
Centerline is valid?  [True, True]
Translation: X:55.08, Y:-11.68, Z:35.13
[[ 8.05344909e-01  2.15064993e-01 -5.52418887e-01  5.50810674e+01]
 [-1.87482858e-01  9.76442196e-01  1.06821419e-01 -1.16763026e+01]
 [ 5.62378659e-01  1.75409859e-02  8.26693751e-01  3.51260113e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.08327356
Centerline is valid?  [True, True]
Translation: X:55.13, Y:-11.69, Z:35.16
[[ 8.05927283e-01  2.12860251e-01 -5.52423504e-01  5.51285272e+01]
 [-1.84826345e-01  9.76951129e-01  1.06797534e-01 -1.16867932e+01]
 [ 5.62423716e-01  1.60313709e-02  8.26693751e-01  3.51590690e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.14327356
Centerline is valid?  [True, True]
Translation: X:55.18, Y:-11.70, Z:35.19
[[ 8.07119586e-01  2.08268713e-01 -5.52432907e-01  5.51764217e+01]
 [-1.79294919e-01  9.77986712e-01  1.06748878e-01 -1.16962303e+01]
 [ 5.62504494e-01  1.28893034e-02  8.26693752e-01  3.51922689e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.20327356
Centerline is valid?  [True, True]
Translation: X:55.22, Y:-11.70, Z:35.23
[[ 8.08162975e-01  2.04157259e-01 -5.52442232e-01  5.52247339e+01]
 [-1.74347006e-01  9.78886154e-01  1.06700603e-01 -1.17047031e+01]
 [ 5.62561754e-01  1.00851728e-02  8.26693753e-01  3.52256236e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.26327356
Centerline is valid?  [True, True]
Translation: X:55.27, Y:-11.71, Z:35.26
[[ 8.09125986e-01  2.00224133e-01 -5.52472112e-01  5.52734870e+01]
 [-1.69689619e-01  9.79721107e-01  1.06545701e-01 -1.17133667e+01]
 [ 5.62601610e-01  7.53988646e-03  8.26693764e-01  3.52592455e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.32327356
Centerline is valid?  [True, True]
Translation: X:55.32, Y:-11.72, Z:35.29
[[ 8.09712217e-01  1.97833759e-01 -5.52474369e-01  5.53215923e+01]
 [-1.66803565e-01  9.80217873e-01  1.06533996e-01 -1.17185959e+01]
 [ 5.62621272e-01  5.89281638e-03  8.26693764e-01  3.52920622e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.38327356
Centerline is valid?  [True, True]
Translation: X:55.37, Y:-11.73, Z:35.33
[[ 8.09207786e-01  1.99785696e-01 -5.52511026e-01  5.53696335e+01]
 [-1.69296713e-01  9.79811034e-01  1.06343599e-01 -1.17269455e+01]
 [ 5.62602330e-01  7.48423224e-03  8.26693779e-01  3.53251517e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.44327356
Centerline is valid?  [True, True]
Translation: X:55.42, Y:-11.73, Z:35.36
[[ 8.08074193e-01  2.04234734e-01 -5.52543458e-01  5.54177563e+01]
 [-1.74800156e-01  9.78862505e-01  1.06174868e-01 -1.17343425e+01]
 [ 5.62548669e-01  1.07875114e-02  8.26693791e-01  3.53581843e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.50327356
Centerline is valid?  [True, True]
Translation: X:55.47, Y:-11.74, Z:35.39
[[ 8.05159810e-01  2.15413604e-01 -5.52552856e-01  5.54662228e+01]
 [-1.88382217e-01  9.76344932e-01  1.06125939e-01 -1.17407228e+01]
 [ 5.62343151e-01  1.86427916e-02  8.26693792e-01  3.53913742e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.56327356
Centerline is valid?  [True, True]
Translation: X:55.52, Y:-11.75, Z:35.43
[[ 8.03918111e-01  2.20002651e-01 -5.52552716e-01  5.55156368e+01]
 [-1.93947625e-01  9.75254556e-01  1.06126668e-01 -1.17486647e+01]
 [ 5.62227702e-01  2.18491365e-02  8.26693792e-01  3.54254219e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.62327356
Centerline is valid?  [True, True]
Translation: X:55.56, Y:-11.76, Z:35.46
[[ 8.02394020e-01  2.25495185e-01 -5.52553851e-01  5.55641899e+01]
 [-2.00616533e-01  9.73905227e-01  1.06120758e-01 -1.17559106e+01]
 [ 5.62064804e-01  2.57007766e-02  8.26693793e-01  3.54588017e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.68327356
Centerline is valid?  [True, True]
Translation: X:55.61, Y:-11.76, Z:35.49
[[ 8.00072781e-01  2.33521219e-01 -5.52586088e-01  5.56134281e+01]
 [-2.10477504e-01  9.71840137e-01  1.05952670e-01 -1.17645916e+01]
 [ 5.61767537e-01  3.15370931e-02  8.26693805e-01  3.54927469e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.74327356
Centerline is valid?  [True, True]
Translation: X:55.66, Y:-11.77, Z:35.53
[[ 7.99603058e-01  2.35124522e-01 -5.52586110e-01  5.56614989e+01]
 [-2.12425243e-01  9.71416271e-01  1.05952560e-01 -1.17723768e+01]
 [ 5.61703183e-01  3.26632474e-02  8.26693805e-01  3.55258766e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.80327356
Centerline is valid?  [True, True]
Translation: X:55.71, Y:-11.78, Z:35.56
[[ 7.99688936e-01  2.34816392e-01 -5.52592859e-01  5.57104422e+01]
 [-2.12075156e-01  9.71496600e-01  1.05917348e-01 -1.17804910e+01]
 [ 5.61713213e-01  3.24902860e-02  8.26693805e-01  3.55596151e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.86327356
Centerline is valid?  [True, True]
Translation: X:55.76, Y:-11.79, Z:35.59
[[ 8.00512657e-01  2.31981576e-01 -5.52597533e-01  5.57587026e+01]
 [-2.08648546e-01  9.72240951e-01  1.05892956e-01 -1.17929067e+01]
 [ 5.61823166e-01  3.05300205e-02  8.26693805e-01  3.55934533e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.92327356
Centerline is valid?  [True, True]
Translation: X:55.81, Y:-11.80, Z:35.63
[[ 8.02135852e-01  2.26294174e-01 -5.52602047e-01  5.58071701e+01]
 [-2.01759098e-01  9.73696532e-01  1.05869399e-01 -1.18037644e+01]
 [ 5.62024325e-01  2.65708498e-02  8.26693806e-01  3.56272307e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.98327356000001
Centerline is valid?  [True, True]
Translation: X:55.86, Y:-11.82, Z:35.66
[[ 8.04431436e-01  2.17987456e-01 -5.52604319e-01  5.58554037e+01]
 [-1.91687777e-01  9.75730484e-01  1.05857537e-01 -1.18181629e+01]
 [ 5.62268495e-01  2.07723629e-02  8.26693806e-01  3.56613105e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.04327356
Centerline is valid?  [True, True]
Translation: X:55.90, Y:-11.83, Z:35.69
[[ 8.07285750e-01  2.07162615e-01 -5.52605980e-01  5.59033336e+01]
 [-1.78570341e-01  9.78217078e-01  1.05848867e-01 -1.18308439e+01]
 [ 5.62496535e-01  1.32287565e-02  8.26693806e-01  3.56949689e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.10327356
Centerline is valid?  [True, True]
Translation: X:55.95, Y:-11.84, Z:35.73
[[ 8.10063466e-01  1.96011250e-01 -5.52609057e-01  5.59520487e+01]
 [-1.65075681e-01  9.80586273e-01  1.05832798e-01 -1.18413797e+01]
 [ 5.62625275e-01  5.49103346e-03  8.26693806e-01  3.57288738e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.16327356
Centerline is valid?  [True, True]
Translation: X:56.00, Y:-11.85, Z:35.76
[[ 8.10937907e-01  1.92357116e-01 -5.52610578e-01  5.60008183e+01]
 [-1.60658478e-01  9.81320515e-01  1.05824855e-01 -1.18475132e+01]
 [ 5.62644261e-01  2.96418818e-03  8.26693806e-01  3.57622556e+01]
 [ 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 145.22327356
Centerline is valid?  [True, True]
Translation: X:56.05, Y:-11.86, Z:35.80
[[ 8.11000535e-01  1.92072835e-01 -5.52617551e-01  5.60486774e+01]
 [-1.60339289e-01  9.81376645e-01  1.05788435e-01 -1.18556314e+01]
 [ 5.62645043e-01  2.81182786e-03  8.26693806e-01  3.57952691e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.28327356
Centerline is valid?  [True, True]
Translation: X:56.10, Y:-11.86, Z:35.83
[[ 8.10290913e-01  1.94953964e-01 -5.52649607e-01  5.60959797e+01]
 [-1.63940497e-01  9.80799557e-01  1.05620750e-01 -1.18635587e+01]
 [ 5.62629673e-01  5.01811746e-03  8.26693818e-01  3.58278228e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.34327356
Centerline is valid?  [True, True]
Translation: X:56.14, Y:-11.89, Z:35.86
[[ 8.08676762e-01  2.01445100e-01 -5.52685957e-01  5.61406678e+01]
 [-1.71930022e-01  9.79451137e-01  1.05430250e-01 -1.18882733e+01]
 [ 5.62567296e-01  9.76431540e-03  8.26693834e-01  3.58607594e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.40327356
Centerline is valid?  [True, True]
Translation: X:56.19, Y:-11.87, Z:35.89
[[ 8.08918638e-01  2.00385079e-01 -5.52717339e-01  5.61940738e+01]
 [-1.70758736e-01  9.79673734e-01  1.05265514e-01 -1.18738452e+01]
 [ 5.62576298e-01  9.23007819e-03  8.26693846e-01  3.58945464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.46327356
Centerline is valid?  [True, True]
Translation: X:56.24, Y:-11.88, Z:35.93
[[ 8.07909033e-01  2.04411332e-01 -5.52719641e-01  5.62428297e+01]
 [-1.75644049e-01  9.78810954e-01  1.05253428e-01 -1.18786030e+01]
 [ 5.62523032e-01  1.20467205e-02  8.26693846e-01  3.59277442e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.52327356
Centerline is valid?  [True, True]
Translation: X:56.29, Y:-11.89, Z:35.96
[[ 8.06837185e-01  2.08515753e-01 -5.52752149e-01  5.62918512e+01]
 [-1.80734659e-01  9.77902171e-01  1.05082475e-01 -1.18853280e+01]
 [ 5.62448878e-01  1.51170231e-02  8.26693858e-01  3.59612967e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.58327356
Centerline is valid?  [True, True]
Translation: X:56.34, Y:-11.89, Z:35.99
[[ 8.05323183e-01  2.14280714e-01 -5.52755232e-01  5.63404291e+01]
 [-1.87734864e-01  9.76584202e-01  1.05066254e-01 -1.18916755e+01]
 [ 5.62325699e-01  1.91591384e-02  8.26693858e-01  3.59945768e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.64327356
Centerline is valid?  [True, True]
Translation: X:56.39, Y:-11.90, Z:36.03
[[ 8.04086657e-01  2.18793036e-01 -5.52787713e-01  5.63895703e+01]
 [-1.93325359e-01  9.75511311e-01  1.04895130e-01 -1.18988523e+01]
 [ 5.62200990e-01  2.25231085e-02  8.26693871e-01  3.60282683e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.70327356
Centerline is valid?  [True, True]
Translation: X:56.44, Y:-11.91, Z:36.06
[[ 8.02968538e-01  2.22855880e-01 -5.52790000e-01  5.64393008e+01]
 [-1.98263572e-01  9.74520958e-01  1.04883075e-01 -1.19052529e+01]
 [ 5.62079250e-01  2.53803105e-02  8.26693871e-01  3.60623284e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.76327356
Centerline is valid?  [True, True]
Translation: X:56.49, Y:-11.91, Z:36.10
[[ 8.02579731e-01  2.24252358e-01 -5.52789883e-01  5.64874928e+01]
 [-1.99958091e-01  9.74174611e-01  1.04883690e-01 -1.19134881e+01]
 [ 5.62034285e-01  2.63572861e-02  8.26693871e-01  3.60955983e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.82327356
Centerline is valid?  [True, True]
Translation: X:56.54, Y:-11.92, Z:36.13
[[ 8.02305553e-01  2.25153930e-01 -5.52821406e-01  5.65353032e+01]
 [-2.01166824e-01  9.73943629e-01  1.04717320e-01 -1.19219188e+01]
 [ 5.61994402e-01  2.71940396e-02  8.26693883e-01  3.61285626e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.88327356
Centerline is valid?  [True, True]
Translation: X:56.59, Y:-11.93, Z:36.16
[[ 8.01485221e-01  2.27981714e-01 -5.52852403e-01  5.65852744e+01]
 [-2.04712713e-01  9.73222112e-01  1.04553461e-01 -1.19279797e+01]
 [ 5.61884460e-01  2.93778615e-02  8.26693894e-01  3.61626736e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.94327356
Centerline is valid?  [True, True]
Translation: X:56.63, Y:-11.94, Z:36.20
[[ 8.02948342e-01  2.22773834e-01 -5.52852403e-01  5.66332988e+01]
 [-1.98390442e-01  9.74530557e-01  1.04553461e-01 -1.19382423e+01]
 [ 5.62063335e-01  2.57296045e-02  8.26693894e-01  3.61960879e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.00327356
Centerline is valid?  [True, True]
Translation: X:56.68, Y:-11.94, Z:36.23
[[ 8.02518397e-01  2.24306987e-01 -5.52856761e-01  5.66812455e+01]
 [-2.00267189e-01  9.74149088e-01  1.04530409e-01 -1.19441131e+01]
 [ 5.62011811e-01  2.68314929e-02  8.26693895e-01  3.62288846e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.06327356
Centerline is valid?  [True, True]
Translation: X:56.73, Y:-11.95, Z:36.26
[[ 8.03356322e-01  2.21260320e-01 -5.52867517e-01  5.67294754e+01]
 [-1.96608554e-01  9.74900182e-01  1.04473494e-01 -1.19525543e+01]
 [ 5.62106482e-01  2.47690409e-02  8.26693896e-01  3.62621807e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.12327356
Centerline is valid?  [True, True]
Translation: X:56.78, Y:-11.96, Z:36.30
[[ 8.02108716e-01  2.25730893e-01 -5.52871750e-01  5.67785387e+01]
 [-2.02050265e-01  9.73789331e-01  1.04451089e-01 -1.19634972e+01]
 [ 5.61958449e-01  2.79267547e-02  8.26693896e-01  3.62963657e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.18327356
Centerline is valid?  [True, True]
Translation: X:56.83, Y:-11.98, Z:36.33
[[ 8.05992913e-01  2.11441322e-01 -5.52872491e-01  5.68257450e+01]
 [-1.84716261e-01  9.77226019e-01  1.04447165e-01 -1.19843639e+01]
 [ 5.62365831e-01  1.79408649e-02  8.26693896e-01  3.63305707e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.24327356
Centerline is valid?  [True, True]
Translation: X:56.88, Y:-11.98, Z:36.36
[[ 8.07235152e-01  2.06642080e-01 -5.52874723e-01  5.68753484e+01]
 [-1.78906775e-01  9.78307530e-01  1.04435349e-01 -1.19829295e+01]
 [ 5.62462243e-01  1.46091490e-02  8.26693896e-01  3.63635577e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.30327356
Centerline is valid?  [True, True]
Translation: X:56.92, Y:-12.02, Z:36.40
[[ 8.07841059e-01  2.04174361e-01 -5.52906550e-01  5.69198713e+01]
 [-1.76031832e-01  9.78846906e-01  1.04266624e-01 -1.20167552e+01]
 [ 5.62499437e-01  1.30982928e-02  8.26693908e-01  3.63975262e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.36327356
Centerline is valid?  [True, True]
Translation: X:56.97, Y:-12.03, Z:36.43
[[ 8.07804182e-01  2.04313990e-01 -5.52908850e-01  5.69677763e+01]
 [-1.76209364e-01  9.78816262e-01  1.04254426e-01 -1.20276310e+01]
 [ 5.62496812e-01  1.32105553e-02  8.26693908e-01  3.64309317e+01]
 [ 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 146.42327356
Centerline is valid?  [True, True]
Translation: X:57.02, Y:-12.03, Z:36.46
[[ 8.07519373e-01  2.05418374e-01 -5.52915684e-01  5.70157682e+01]
 [-1.77572420e-01  9.78573762e-01  1.04218172e-01 -1.20346029e+01]
 [ 5.62477108e-01  1.40243835e-02  8.26693909e-01  3.64638916e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.48327356000001
Centerline is valid?  [True, True]
Translation: X:57.06, Y:-12.04, Z:36.50
[[ 8.07363481e-01  2.05945386e-01 -5.52947292e-01  5.70628321e+01]
 [-1.78326010e-01  9.78454588e-01  1.04050243e-01 -1.20410276e+01]
 [ 5.62462482e-01  1.45985178e-02  8.26693921e-01  3.64960995e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.54327356
Centerline is valid?  [True, True]
Translation: X:57.11, Y:-12.05, Z:36.53
[[ 8.06896349e-01  2.07716410e-01 -5.52966703e-01  5.71108025e+01]
 [-1.80543200e-01  9.78058881e-01  1.03947001e-01 -1.20491419e+01]
 [ 5.62425492e-01  1.59599220e-02  8.26693926e-01  3.65291577e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.60327356
Centerline is valid?  [True, True]
Translation: X:57.16, Y:-12.06, Z:36.56
[[ 8.05854272e-01  2.11699679e-01 -5.52975713e-01  5.71593659e+01]
 [-1.85405152e-01  9.77153988e-01  1.03899051e-01 -1.20558484e+01]
 [ 5.62337819e-01  1.87970514e-02  8.26693927e-01  3.65624618e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.66327356
Centerline is valid?  [True, True]
Translation: X:57.21, Y:-12.06, Z:36.60
[[ 8.04287774e-01  2.17558143e-01 -5.52982487e-01  5.72077574e+01]
 [-1.92535587e-01  9.75777909e-01  1.03862985e-01 -1.20649837e+01]
 [ 5.62184333e-01  2.29330793e-02  8.26693927e-01  3.65959621e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.72327356
Centerline is valid?  [True, True]
Translation: X:57.26, Y:-12.07, Z:36.63
[[ 8.04208747e-01  2.17847720e-01 -5.52983419e-01  5.72562691e+01]
 [-1.92890317e-01  9.75708377e-01  1.03858024e-01 -1.20735130e+01]
 [ 5.62175788e-01  2.31416159e-02  8.26693927e-01  3.66294813e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.78327356
Centerline is valid?  [True, True]
Translation: X:57.30, Y:-12.08, Z:36.66
[[ 8.04466838e-01  2.16881225e-01 -5.52987921e-01  5.73037232e+01]
 [-1.91734218e-01  9.75938768e-01  1.03834049e-01 -1.20829186e+01]
 [ 5.62202006e-01  2.24956575e-02  8.26693927e-01  3.66623941e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.84327356
Centerline is valid?  [True, True]
Translation: X:57.35, Y:-12.09, Z:36.70
[[ 8.05001895e-01  2.14869582e-01 -5.52994586e-01  5.73514746e+01]
 [-1.89318374e-01  9.76414060e-01  1.03798540e-01 -1.20922209e+01]
 [ 5.62254838e-01  2.11340149e-02  8.26693928e-01  3.66954874e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.90327356
Centerline is valid?  [True, True]
Translation: X:57.40, Y:-12.10, Z:36.73
[[ 8.04893595e-01  2.15195637e-01 -5.53025441e-01  5.73996516e+01]
 [-1.89826786e-01  9.76332832e-01  1.03633933e-01 -1.21021506e+01]
 [ 5.62238465e-01  2.15647532e-02  8.26693940e-01  3.67288831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.96327356
Centerline is valid?  [True, True]
Translation: X:57.45, Y:-12.10, Z:36.76
[[ 8.04749401e-01  2.15658777e-01 -5.53054874e-01  5.74504331e+01]
 [-1.90496494e-01  9.76219067e-01  1.03476660e-01 -1.20955068e+01]
 [ 5.62218363e-01  2.20822348e-02  8.26693950e-01  3.67619498e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.02327356
Centerline is valid?  [True, True]
Translation: X:57.50, Y:-12.10, Z:36.80
[[ 8.04594470e-01  2.16219029e-01 -5.53061544e-01  5.74985301e+01]
 [-1.91200607e-01  9.76085184e-01  1.03441001e-01 -1.21032938e+01]
 [ 5.62201092e-01  2.25176449e-02  8.26693951e-01  3.67950852e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.08327356
Centerline is valid?  [True, True]
Translation: X:57.54, Y:-12.13, Z:36.83
[[ 8.03567699e-01  2.19926758e-01 -5.53092374e-01  5.75433324e+01]
 [-1.95812731e-01  9.75187908e-01  1.03275931e-01 -1.21322418e+01]
 [ 5.62082136e-01  2.53133258e-02  8.26693962e-01  3.68286016e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.14327356
Centerline is valid?  [True, True]
Translation: X:57.60, Y:-12.13, Z:36.86
[[ 8.04844860e-01  2.15194654e-01 -5.53096747e-01  5.75950883e+01]
 [-1.90087279e-01  9.76322562e-01  1.03252509e-01 -1.21268431e+01]
 [ 5.62220221e-01  2.20344041e-02  8.26693963e-01  3.68625433e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.20327356
Centerline is valid?  [True, True]
Translation: X:57.64, Y:-12.16, Z:36.90
[[ 8.04582655e-01  2.16167420e-01 -5.53098904e-01  5.76387158e+01]
 [-1.91275282e-01  9.76091734e-01  1.03240951e-01 -1.21569566e+01]
 [ 5.62192599e-01  2.27282706e-02  8.26693963e-01  3.68954876e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.26327356
Centerline is valid?  [True, True]
Translation: X:57.69, Y:-12.17, Z:36.93
[[ 8.05592365e-01  2.12295928e-01 -5.53128720e-01  5.76863336e+01]
 [-1.86689015e-01  9.76996171e-01  1.03081003e-01 -1.21701194e+01]
 [ 5.62288319e-01  2.02217871e-02  8.26693974e-01  3.69289117e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.32327356
Centerline is valid?  [True, True]
Translation: X:57.73, Y:-12.18, Z:36.96
[[ 8.07047671e-01  2.06683433e-01 -5.53132909e-01  5.77335192e+01]
 [-1.79899475e-01  9.78271496e-01  1.03058521e-01 -1.21827568e+01]
 [ 5.62414647e-01  1.63351805e-02  8.26693974e-01  3.69620476e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.38327356
Centerline is valid?  [True, True]
Translation: X:57.78, Y:-12.20, Z:37.00
[[ 8.07464234e-01  2.05025810e-01 -5.53141870e-01  5.77810123e+01]
 [-1.77923254e-01  9.78637917e-01  1.03010404e-01 -1.21953247e+01]
 [ 5.62445399e-01  1.52395842e-02  8.26693975e-01  3.69953675e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.44327356
Centerline is valid?  [True, True]
Translation: X:57.83, Y:-12.21, Z:37.03
[[ 8.07390219e-01  2.05239128e-01 -5.53170801e-01  5.78275676e+01]
 [-1.78288283e-01  9.78587844e-01  1.02854851e-01 -1.22055212e+01]
 [ 5.62436061e-01  1.55798720e-02  8.26693985e-01  3.70277103e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.50327356
Centerline is valid?  [True, True]
Translation: X:57.88, Y:-12.22, Z:37.06
[[ 8.07261631e-01  2.05701071e-01 -5.53186883e-01  5.78755038e+01]
 [-1.78907452e-01  9.78483930e-01  1.02768292e-01 -1.22154572e+01]
 [ 5.62424023e-01  1.60083564e-02  8.26693988e-01  3.70609789e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.56327356
Centerline is valid?  [True, True]
Translation: X:57.92, Y:-12.22, Z:37.09
[[ 8.07187146e-01  2.05911252e-01 -5.53217378e-01  5.79238732e+01]
 [-1.79274771e-01  9.78433949e-01  1.02603915e-01 -1.22243122e+01]
 [ 5.62413964e-01  1.63573569e-02  8.26694000e-01  3.70943638e+01]
 [ 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 147.62327356
Centerline is valid?  [True, True]
Translation: X:57.97, Y:-12.23, Z:37.13
[[ 8.06791038e-01  2.07446217e-01 -5.53221735e-01  5.79717737e+01]
 [-1.81151608e-01  9.78090667e-01  1.02580416e-01 -1.22347753e+01]
 [ 5.62380935e-01  1.74560470e-02  8.26694000e-01  3.71277052e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.68327356
Centerline is valid?  [True, True]
Translation: X:58.02, Y:-12.22, Z:37.16
[[ 8.05505337e-01  2.12302803e-01 -5.53252811e-01  5.80244229e+01]
 [-1.87155732e-01  9.76977172e-01  1.02412586e-01 -1.22238659e+01]
 [ 5.62257845e-01  2.10505506e-02  8.26694012e-01  3.71615038e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.74327356
Centerline is valid?  [True, True]
Translation: X:58.07, Y:-12.24, Z:37.20
[[ 8.06983836e-01  2.06609674e-01 -5.53253587e-01  5.80721027e+01]
 [-1.80255306e-01  9.78274269e-01  1.02408392e-01 -1.22390284e+01]
 [ 5.62392313e-01  1.70849773e-02  8.26694012e-01  3.71952891e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.80327356
Centerline is valid?  [True, True]
Translation: X:58.12, Y:-12.25, Z:37.23
[[ 8.06874316e-01  2.07034777e-01 -5.53254407e-01  5.81195102e+01]
 [-1.80773685e-01  9.78179075e-01  1.02403962e-01 -1.22500970e+01]
 [ 5.62383066e-01  1.73867105e-02  8.26694012e-01  3.72283849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.86327356
Centerline is valid?  [True, True]
Translation: X:58.17, Y:-12.26, Z:37.26
[[ 8.05582134e-01  2.11984309e-01 -5.53263119e-01  5.81691565e+01]
 [-1.86807651e-01  9.77049626e-01  1.02356875e-01 -1.22575647e+01]
 [ 5.62263575e-01  2.08969139e-02  8.26694013e-01  3.72625122e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.92327356
Centerline is valid?  [True, True]
Translation: X:58.22, Y:-12.27, Z:37.30
[[ 8.07984703e-01  2.02634253e-01 -5.53263119e-01  5.82164950e+01]
 [-1.75472164e-01  9.79148911e-01  1.02356875e-01 -1.22749077e+01]
 [ 5.62467989e-01  1.43794877e-02  8.26694013e-01  3.72963407e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.98327356000001
Centerline is valid?  [True, True]
Translation: X:58.26, Y:-12.30, Z:37.33
[[ 8.07356787e-01  2.05116382e-01 -5.53265116e-01  5.82608352e+01]
 [-1.78487833e-01  9.78604810e-01  1.02346079e-01 -1.23018007e+01]
 [ 5.62420761e-01  1.61212905e-02  8.26694013e-01  3.73293394e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.04327356
Centerline is valid?  [True, True]
Translation: X:58.31, Y:-12.31, Z:37.36
[[ 8.08674556e-01  1.99771879e-01 -5.53296177e-01  5.83085264e+01]
 [-1.72126228e-01  9.79761314e-01  1.02177929e-01 -1.23123391e+01]
 [ 5.62510466e-01  1.26080926e-02  8.26694025e-01  3.73624735e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.10327356
Centerline is valid?  [True, True]
Translation: X:58.36, Y:-12.31, Z:37.40
[[ 8.10360496e-01  1.92793692e-01 -5.53305033e-01  5.83589389e+01]
 [-1.63707052e-01  9.81208170e-01  1.02129955e-01 -1.23061236e+01]
 [ 5.62597430e-01  7.81785422e-03  8.26694026e-01  3.73954215e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.16327356
Centerline is valid?  [True, True]
Translation: X:58.40, Y:-12.33, Z:37.43
[[ 8.09644934e-01  1.95775756e-01 -5.53305462e-01  5.84037920e+01]
 [-1.67319885e-01  9.80598799e-01  1.02127627e-01 -1.23310460e+01]
 [ 5.62564785e-01  9.89189026e-03  8.26694026e-01  3.74285193e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.22327356
Centerline is valid?  [True, True]
Translation: X:58.45, Y:-12.34, Z:37.46
[[ 8.10218297e-01  1.93300885e-01 -5.53336316e-01  5.84524970e+01]
 [-1.64437072e-01  9.81103746e-01  1.01960230e-01 -1.23378995e+01]
 [ 5.62589335e-01  8.37895924e-03  8.26694038e-01  3.74618769e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.28327356
Centerline is valid?  [True, True]
Translation: X:58.50, Y:-12.35, Z:37.49
[[ 8.09464124e-01  1.96354540e-01 -5.53364912e-01  5.85004528e+01]
 [-1.68241465e-01  9.80474673e-01  1.01804834e-01 -1.23459222e+01]
 [ 5.62550123e-01  1.06915625e-02  8.26694049e-01  3.74948840e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.34327356
Centerline is valid?  [True, True]
Translation: X:58.55, Y:-12.35, Z:37.53
[[ 8.08710299e-01  1.99434283e-01 -5.53365719e-01  5.85502892e+01]
 [-1.71975349e-01  9.79827101e-01  1.01800450e-01 -1.23520721e+01]
 [ 5.62505227e-01  1.28381902e-02  8.26694049e-01  3.75289981e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.40327356
Centerline is valid?  [True, True]
Translation: X:58.60, Y:-12.36, Z:37.56
[[ 8.07952780e-01  2.02481325e-01 -5.53365719e-01  5.85985127e+01]
 [-1.75667616e-01  9.79171873e-01  1.01800450e-01 -1.23580165e+01]
 [ 5.62452837e-01  1.49584803e-02  8.26694049e-01  3.75620096e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.46327356
Centerline is valid?  [True, True]
Translation: X:58.65, Y:-12.37, Z:37.60
[[ 8.07395862e-01  2.04607230e-01 -5.53396606e-01  5.86465268e+01]
 [-1.78359416e-01  9.78702607e-01  1.01632308e-01 -1.23657438e+01]
 [ 5.62405406e-01  1.66459906e-02  8.26694061e-01  3.75950143e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.52327356
Centerline is valid?  [True, True]
Translation: X:58.70, Y:-12.37, Z:37.63
[[ 8.06486008e-01  2.08082508e-01 -5.53427493e-01  5.86964524e+01]
 [-1.82688126e-01  9.77921330e-01  1.01463888e-01 -1.23705060e+01]
 [ 5.62321410e-01  1.92754257e-02  8.26694073e-01  3.76289350e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.58327356
Centerline is valid?  [True, True]
Translation: X:58.75, Y:-12.37, Z:37.66
[[ 8.05712625e-01  2.11054257e-01 -5.53428646e-01  5.87451445e+01]
 [-1.86296369e-01  9.77241024e-01  1.01457599e-01 -1.23717689e+01]
 [ 5.62246234e-01  2.13560792e-02  8.26694073e-01  3.76616836e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.64327356
Centerline is valid?  [True, True]
Translation: X:58.79, Y:-12.38, Z:37.70
[[ 8.03649851e-01  2.18750441e-01 -5.53439393e-01  5.87947213e+01]
 [-1.95674479e-01  9.75412606e-01  1.01398947e-01 -1.23800506e+01]
 [ 5.62012824e-01  2.68047161e-02  8.26694074e-01  3.76958600e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.70327356
Centerline is valid?  [True, True]
Translation: X:58.84, Y:-12.38, Z:37.73
[[ 8.03980741e-01  2.17531480e-01 -5.53439268e-01  5.88436736e+01]
 [-1.94194604e-01  9.75708241e-01  1.01399629e-01 -1.23808862e+01]
 [ 5.62052865e-01  2.59515708e-02  8.26694074e-01  3.77287344e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.76327356
Centerline is valid?  [True, True]
Translation: X:58.89, Y:-12.39, Z:37.76
[[ 8.04490838e-01  2.15594617e-01 -5.53455918e-01  5.88927274e+01]
 [-1.91906678e-01  9.76170261e-01  1.01308682e-01 -1.23920949e+01]
 [ 5.62108814e-01  2.47099804e-02  8.26694078e-01  3.77629043e+01]
 [ 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 148.82327356
Centerline is valid?  [True, True]
Translation: X:58.94, Y:-12.40, Z:37.80
[[ 8.06728455e-01  2.07062114e-01 -5.53456846e-01  5.89409649e+01]
 [-1.81560711e-01  9.78147886e-01  1.01303611e-01 -1.24041828e+01]
 [ 5.62338783e-01  1.87615129e-02  8.26694078e-01  3.77966772e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.88327356
Centerline is valid?  [True, True]
Translation: X:58.99, Y:-12.41, Z:37.83
[[ 8.08549532e-01  1.99826837e-01 -5.53459023e-01  5.89898628e+01]
 [-1.72798957e-01  9.79734918e-01  1.01291714e-01 -1.24122615e+01]
 [ 5.62483933e-01  1.37377739e-02  8.26694078e-01  3.78303976e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.94327356
Centerline is valid?  [True, True]
Translation: X:59.04, Y:-12.43, Z:37.86
[[ 8.11372925e-01  1.88031974e-01 -5.53459984e-01  5.90377860e+01]
 [-1.58517828e-01  9.82147214e-01  1.01286465e-01 -1.24253693e+01]
 [ 5.62624275e-01  5.55217903e-03  8.26694078e-01  3.78640849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.00327356
Centerline is valid?  [True, True]
Translation: X:59.09, Y:-12.43, Z:37.90
[[ 8.13535275e-01  1.78439037e-01 -5.53461712e-01  5.90868468e+01]
 [-1.46917054e-01  9.83950377e-01  1.01277019e-01 -1.24327681e+01]
 [ 5.62650634e-01 -1.07946367e-03  8.26694078e-01  3.78978322e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.06327356
Centerline is valid?  [True, True]
Translation: X:59.14, Y:-12.44, Z:37.93
[[ 8.14268134e-01  1.75057442e-01 -5.53463909e-01  5.91355934e+01]
 [-1.42835853e-01  9.84552343e-01  1.01265015e-01 -1.24415999e+01]
 [ 5.62641382e-01 -3.40238515e-03  8.26694078e-01  3.79315435e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.12327356
Centerline is valid?  [True, True]
Translation: X:59.18, Y:-12.45, Z:37.96
[[ 8.14407472e-01  1.74399896e-01 -5.53466481e-01  5.91841807e+01]
 [-1.42050375e-01  9.84667424e-01  1.01250954e-01 -1.24490238e+01]
 [ 5.62638570e-01 -3.83941251e-03  8.26694078e-01  3.79649746e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.18327356
Centerline is valid?  [True, True]
Translation: X:59.24, Y:-12.44, Z:38.00
[[ 8.14356998e-01  1.74621613e-01 -5.53470842e-01  5.92363418e+01]
 [-1.42334650e-01  9.84628823e-01  1.01227112e-01 -1.24406673e+01]
 [ 5.62639785e-01 -3.65692837e-03  8.26694078e-01  3.79988615e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.24327356
Centerline is valid?  [True, True]
Translation: X:59.28, Y:-12.46, Z:38.03
[[ 8.12929516e-01  1.81141864e-01 -5.53473781e-01  5.92822077e+01]
 [-1.50231357e-01  9.83456590e-01  1.01211037e-01 -1.24601281e+01]
 [ 5.62650994e-01  8.71677601e-04  8.26694078e-01  3.80319438e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.30327356
Centerline is valid?  [True, True]
Translation: X:59.33, Y:-12.46, Z:38.07
[[ 8.11540369e-01  1.87176947e-01 -5.53504309e-01  5.93316199e+01]
 [-1.57648323e-01  9.82312143e-01  1.01043856e-01 -1.24626105e+01]
 [ 5.62627084e-01  5.25785835e-03  8.26694090e-01  3.80652493e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.36327356
Centerline is valid?  [True, True]
Translation: X:59.38, Y:-12.47, Z:38.10
[[ 8.08633428e-01  1.99276837e-01 -5.53534752e-01  5.93815507e+01]
 [-1.72416312e-01  9.79845128e-01  1.00876855e-01 -1.24675302e+01]
 [ 5.62480750e-01  1.38660240e-02  8.26694102e-01  3.80992023e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.42327356
Centerline is valid?  [True, True]
Translation: X:59.43, Y:-12.48, Z:38.13
[[ 8.07674175e-01  2.03129774e-01 -5.53534752e-01  5.94296013e+01]
 [-1.77085815e-01  9.79011989e-01  1.00876855e-01 -1.24760429e+01]
 [ 5.62408251e-01  1.65475221e-02  8.26694102e-01  3.81324146e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.48327356000001
Centerline is valid?  [True, True]
Translation: X:59.48, Y:-12.48, Z:38.17
[[ 8.06249242e-01  2.08696137e-01 -5.53541401e-01  5.94787560e+01]
 [-1.83859679e-01  9.77766251e-01  1.00840356e-01 -1.24818385e+01]
 [ 5.62279093e-01  2.04714834e-02  8.26694103e-01  3.81660175e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.54327356
Centerline is valid?  [True, True]
Translation: X:59.53, Y:-12.49, Z:38.20
[[ 8.03383719e-01  2.19462716e-01 -5.53543780e-01  5.95288132e+01]
 [-1.96931850e-01  9.75218797e-01  1.00827298e-01 -1.24869740e+01]
 [ 5.61954132e-01  2.80073906e-02  8.26694103e-01  3.82001554e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.60327356
Centerline is valid?  [True, True]
Translation: X:59.58, Y:-12.50, Z:38.23
[[ 8.01814895e-01  2.25125018e-01 -5.53544579e-01  5.95779103e+01]
 [-2.03810004e-01  9.73805023e-01  1.00822911e-01 -1.24950654e+01]
 [ 5.61742251e-01  3.19766109e-02  8.26694103e-01  3.82340150e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.66327356
Centerline is valid?  [True, True]
Translation: X:59.63, Y:-12.51, Z:38.27
[[ 8.00321707e-01  2.30374193e-01 -5.53545750e-01  5.96255296e+01]
 [-2.10191055e-01  9.72448331e-01  1.00816483e-01 -1.25051011e+01]
 [ 5.61520156e-01  3.56647453e-02  8.26694103e-01  3.82671213e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.72327356
Centerline is valid?  [True, True]
Translation: X:59.67, Y:-12.51, Z:38.30
[[ 8.00168863e-01  2.30904839e-01 -5.53545613e-01  5.96734738e+01]
 [-2.10835327e-01  9.72308773e-01  1.00817233e-01 -1.25141654e+01]
 [ 5.61496443e-01  3.60361599e-02  8.26694103e-01  3.83003300e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.78327356
Centerline is valid?  [True, True]
Translation: X:59.72, Y:-12.53, Z:38.33
[[ 8.00446675e-01  2.29924278e-01 -5.53552117e-01  5.97202446e+01]
 [-2.09668473e-01  9.72564763e-01  1.00781510e-01 -1.25255069e+01]
 [ 5.61537400e-01  3.53922031e-02  8.26694103e-01  3.83330136e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.84327356
Centerline is valid?  [True, True]
Translation: X:59.77, Y:-12.54, Z:38.37
[[ 8.01676797e-01  2.25571661e-01 -5.53562769e-01  5.97681304e+01]
 [-2.04421231e-01  9.73687240e-01  1.00722977e-01 -1.25387182e+01]
 [ 5.61717254e-01  3.24127088e-02  8.26694105e-01  3.83666606e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.90327356
Centerline is valid?  [True, True]
Translation: X:59.82, Y:-12.55, Z:38.40
[[ 8.03017505e-01  2.20743102e-01 -5.53566049e-01  5.98159289e+01]
 [-1.98570295e-01  9.74899149e-01  1.00704947e-01 -1.25501803e+01]
 [ 5.61900992e-01  2.90539383e-02  8.26694105e-01  3.84000549e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.96327356
Centerline is valid?  [True, True]
Translation: X:59.86, Y:-12.56, Z:38.43
[[ 8.04068776e-01  2.16873611e-01 -5.53569545e-01  5.98645275e+01]
 [-1.93886568e-01  9.75843422e-01  1.00685726e-01 -1.25617965e+01]
 [ 5.62033276e-01  2.63714502e-02  8.26694105e-01  3.84340030e+01]
 [ 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 150.02327356
Centerline is valid?  [True, True]
Translation: X:59.91, Y:-12.57, Z:38.47
[[ 8.04441890e-01  2.15480166e-01 -5.53571625e-01  5.99116515e+01]
 [-1.92203396e-01  9.76177516e-01  1.00674289e-01 -1.25744897e+01]
 [ 5.62077486e-01  2.54117316e-02  8.26694105e-01  3.84670985e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.08327356
Centerline is valid?  [True, True]
Translation: X:59.96, Y:-12.57, Z:38.50
[[ 8.05864943e-01  2.10072197e-01 -5.53580497e-01  5.99631904e+01]
 [-1.85675948e-01  9.77445116e-01  1.00625484e-01 -1.25652640e+01]
 [ 5.62233169e-01  2.16960335e-02  8.26694106e-01  3.85004638e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.14327356
Centerline is valid?  [True, True]
Translation: X:60.01, Y:-12.58, Z:38.53
[[ 8.06364128e-01  2.08138554e-01 -5.53583991e-01  6.00108931e+01]
 [-1.83343986e-01  9.77887194e-01  1.00606258e-01 -1.25778401e+01]
 [ 5.62282737e-01  2.03710182e-02  8.26694106e-01  3.85339289e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.20327356
Centerline is valid?  [True, True]
Translation: X:60.06, Y:-12.59, Z:38.57
[[ 8.07254241e-01  2.04581939e-01 -5.53612518e-01  6.00583305e+01]
 [-1.79139184e-01  9.78682347e-01  1.00449076e-01 -1.25889638e+01]
 [ 5.62360865e-01  1.80857517e-02  8.26694117e-01  3.85669743e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.26327356
Centerline is valid?  [True, True]
Translation: X:60.10, Y:-12.62, Z:38.60
[[ 8.07991623e-01  2.01639247e-01 -5.53616429e-01  6.01026884e+01]
 [-1.75586800e-01  9.79328132e-01  1.00427516e-01 -1.26182639e+01]
 [ 5.62422272e-01  1.60631456e-02  8.26694117e-01  3.86002289e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.32327356
Centerline is valid?  [True, True]
Translation: X:60.15, Y:-12.63, Z:38.63
[[ 8.07738679e-01  2.02568908e-01 -5.53646154e-01  6.01499100e+01]
 [-1.76826010e-01  9.79121958e-01  1.00263422e-01 -1.26294289e+01]
 [ 5.62397358e-01  1.69123962e-02  8.26694129e-01  3.86331263e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.38327356
Centerline is valid?  [True, True]
Translation: X:60.20, Y:-12.64, Z:38.67
[[ 8.06042063e-01  2.09140401e-01 -5.53675433e-01  6.01993456e+01]
 [-1.84905137e-01  9.77645015e-01  1.00101520e-01 -1.26390012e+01]
 [ 5.62233299e-01  2.16913966e-02  8.26694140e-01  3.86673137e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.44327356
Centerline is valid?  [True, True]
Translation: X:60.25, Y:-12.65, Z:38.70
[[ 8.04629864e-01  2.14509580e-01 -5.53675376e-01  6.02487581e+01]
 [-1.91418706e-01  9.76390548e-01  1.00101831e-01 -1.26475749e+01]
 [ 5.62076206e-01  2.54389014e-02  8.26694140e-01  3.87014458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.50327356
Centerline is valid?  [True, True]
Translation: X:60.30, Y:-12.66, Z:38.73
[[ 8.02769016e-01  2.21372073e-01 -5.53675277e-01  6.02966256e+01]
 [-1.99748236e-01  9.74720552e-01  1.00102384e-01 -1.26576566e+01]
 [ 5.61838544e-01  3.02365673e-02  8.26694140e-01  3.87347259e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.56327356
Centerline is valid?  [True, True]
Translation: X:60.35, Y:-12.67, Z:38.77
[[ 8.01721864e-01  2.25124359e-01 -5.53679578e-01  6.03451229e+01]
 [-2.04321386e-01  9.73774639e-01  1.00078585e-01 -1.26675270e+01]
 [ 5.61689259e-01  3.28933888e-02  8.26694140e-01  3.87683901e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.62327356
Centerline is valid?  [True, True]
Translation: X:60.39, Y:-12.68, Z:38.80
[[ 8.00830227e-01  2.28272516e-01 -5.53680961e-01  6.03929324e+01]
 [-2.08150951e-01  9.72964023e-01  1.00070936e-01 -1.26792840e+01]
 [ 5.61555099e-01  3.51093881e-02  8.26694140e-01  3.88018299e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.68327356
Centerline is valid?  [True, True]
Translation: X:60.44, Y:-12.69, Z:38.84
[[ 8.00485524e-01  2.29473167e-01 -5.53683114e-01  6.04412010e+01]
 [-2.09617960e-01  9.72650247e-01  1.00059021e-01 -1.26911276e+01]
 [ 5.61500878e-01  3.59661272e-02  8.26694140e-01  3.88355855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.74327356
Centerline is valid?  [True, True]
Translation: X:60.49, Y:-12.70, Z:38.87
[[ 8.01099791e-01  2.27309024e-01 -5.53687396e-01  6.04896011e+01]
 [-2.07004933e-01  9.73212152e-01  1.00035320e-01 -1.27036561e+01]
 [ 5.61594233e-01  3.44777484e-02  8.26694140e-01  3.88695059e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.80327356
Centerline is valid?  [True, True]
Translation: X:60.54, Y:-12.69, Z:38.90
[[ 8.01208820e-01  2.26922061e-01 -5.53688364e-01  6.05398174e+01]
 [-2.06538527e-01  9.73311791e-01  1.00029966e-01 -1.26932886e+01]
 [ 5.61610419e-01  3.42130885e-02  8.26694140e-01  3.89018817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.86327356
Centerline is valid?  [True, True]
Translation: X:60.58, Y:-12.73, Z:38.94
[[ 8.04298105e-01  2.15689966e-01 -5.53698832e-01  6.05841222e+01]
 [-1.92940319e-01  9.76104315e-01  9.99719905e-02 -1.27271957e+01]
 [ 5.62030775e-01  2.64235466e-02  8.26694142e-01  3.89356277e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.92327356
Centerline is valid?  [True, True]
Translation: X:60.63, Y:-12.72, Z:38.97
[[ 8.07677083e-01  2.02664556e-01 -5.53701009e-01  6.06345167e+01]
 [-1.77149793e-01  9.79094461e-01  9.99599329e-02 -1.27245784e+01]
 [ 5.62383926e-01  1.73526720e-02  8.26694142e-01  3.89690581e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.98327356000001
Centerline is valid?  [True, True]
Translation: X:60.68, Y:-12.73, Z:39.00
[[ 8.09727400e-01  1.94305853e-01 -5.53702784e-01  6.06827121e+01]
 [-1.67027464e-01  9.80872981e-01  9.99500979e-02 -1.27348916e+01]
 [ 5.62532990e-01  1.15512390e-02  8.26694142e-01  3.90025802e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.04327356
Centerline is valid?  [True, True]
Translation: X:60.73, Y:-12.75, Z:39.04
[[ 8.10773314e-01  1.89883840e-01 -5.53706385e-01  6.07307292e+01]
 [-1.61685443e-01  9.81769720e-01  9.99301497e-02 -1.27453103e+01]
 [ 5.62587283e-01  8.50556355e-03  8.26694142e-01  3.90359905e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.10327356
Centerline is valid?  [True, True]
Translation: X:60.78, Y:-12.76, Z:39.07
[[ 8.11841691e-01  1.85244043e-01 -5.53712664e-01  6.07792101e+01]
 [-1.56091939e-01  9.82678089e-01  9.98953472e-02 -1.27561932e+01]
 [ 5.62626320e-01  5.33087555e-03  8.26694143e-01  3.90697597e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.16327356
Centerline is valid?  [True, True]
Translation: X:60.83, Y:-12.76, Z:39.10
[[ 8.11349202e-01  1.87383079e-01 -5.53714777e-01  6.08278932e+01]
 [-1.58689324e-01  9.82263182e-01  9.98836314e-02 -1.27618745e+01]
 [ 5.62610141e-01  6.82811913e-03  8.26694143e-01  3.91030478e+01]
 [ 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 151.22327356
Centerline is valid?  [True, True]
Translation: X:60.87, Y:-12.78, Z:39.14
[[ 8.10278005e-01  1.91876501e-01 -5.53744493e-01  6.08748177e+01]
 [-1.64243049e-01  9.81366603e-01  9.97186622e-02 -1.27847378e+01]
 [ 5.62560020e-01  1.01488450e-02  8.26694154e-01  3.91371525e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.28327356
Centerline is valid?  [True, True]
Translation: X:60.92, Y:-12.79, Z:39.17
[[ 8.08808820e-01  1.97976479e-01 -5.53745073e-01  6.09232988e+01]
 [-1.71635164e-01  9.80101118e-01  9.97154406e-02 -1.27907221e+01]
 [ 5.62467477e-01  1.43913988e-02  8.26694154e-01  3.91703468e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.34327356
Centerline is valid?  [True, True]
Translation: X:60.97, Y:-12.79, Z:39.20
[[ 8.07874526e-01  2.01737572e-01 -5.53751480e-01  6.09720721e+01]
 [-1.76217905e-01  9.79291161e-01  9.96798496e-02 -1.27945398e+01]
 [ 5.62393101e-01  1.70521145e-02  8.26694155e-01  3.92034586e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.40327356
Centerline is valid?  [True, True]
Translation: X:61.02, Y:-12.80, Z:39.24
[[ 8.06290436e-01  2.07898336e-01 -5.53781559e-01  6.10214239e+01]
 [-1.83802622e-01  9.77913011e-01  9.95125085e-02 -1.28032890e+01]
 [ 5.62238677e-01  2.15505185e-02  8.26694167e-01  3.92374841e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.46327356
Centerline is valid?  [True, True]
Translation: X:61.07, Y:-12.81, Z:39.27
[[ 8.06087934e-01  2.08682687e-01 -5.53781346e-01  6.10695204e+01]
 [-1.84753143e-01  9.77733758e-01  9.95136949e-02 -1.28052455e+01]
 [ 5.62217501e-01  2.20960556e-02  8.26694167e-01  3.92699389e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.52327356
Centerline is valid?  [True, True]
Translation: X:61.12, Y:-12.81, Z:39.30
[[ 8.06302920e-01  2.07822182e-01 -5.53791967e-01  6.11177484e+01]
 [-1.83749997e-01  9.77928795e-01  9.94545610e-02 -1.28109885e+01]
 [ 5.62237975e-01  2.15687696e-02  8.26694168e-01  3.93029068e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.58327356
Centerline is valid?  [True, True]
Translation: X:61.17, Y:-12.82, Z:39.34
[[ 8.07219468e-01  2.04210140e-01 -5.53800459e-01  6.11675037e+01]
 [-1.79402215e-01  9.78740539e-01  9.94072520e-02 -1.28181564e+01]
 [ 5.62326929e-01  1.91095602e-02  8.26694169e-01  3.93370756e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.64327356
Centerline is valid?  [True, True]
Translation: X:61.22, Y:-12.83, Z:39.37
[[ 8.07019617e-01  2.04997093e-01 -5.53800983e-01  6.12158986e+01]
 [-1.80358415e-01  9.78565082e-01  9.94043340e-02 -1.28294019e+01]
 [ 5.62307904e-01  1.96614202e-02  8.26694169e-01  3.93708459e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.70327356
Centerline is valid?  [True, True]
Translation: X:61.26, Y:-12.84, Z:39.40
[[ 8.08987996e-01  1.97073852e-01 -5.53805307e-01  6.12646636e+01]
 [-1.70770722e-01  9.80286146e-01  9.93802376e-02 -1.28363016e+01]
 [ 5.62472917e-01  1.41763127e-02  8.26694170e-01  3.94043309e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.76327356
Centerline is valid?  [True, True]
Translation: X:61.31, Y:-12.85, Z:39.44
[[ 8.10009325e-01  1.92820755e-01 -5.53809579e-01  6.13133460e+01]
 [-1.65634271e-01  9.81169501e-01  9.93564255e-02 -1.28468240e+01]
 [ 5.62539050e-01  1.12502146e-02  8.26694170e-01  3.94381962e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.82327356
Centerline is valid?  [True, True]
Translation: X:61.36, Y:-12.86, Z:39.47
[[ 8.10974072e-01  1.88715662e-01 -5.53811749e-01  6.13611124e+01]
 [-1.60670874e-01  9.81995710e-01  9.93443306e-02 -1.28607757e+01]
 [ 5.62588593e-01  8.41574122e-03  8.26694170e-01  3.94718659e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.88327356
Centerline is valid?  [True, True]
Translation: X:61.41, Y:-12.85, Z:39.51
[[ 8.07710141e-01  2.02223820e-01 -5.53813918e-01  6.14130581e+01]
 [-1.77045419e-01  9.79177219e-01  9.93322408e-02 -1.28546318e+01]
 [ 5.62369317e-01  1.78185590e-02  8.26694170e-01  3.95059205e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.94327356
Centerline is valid?  [True, True]
Translation: X:61.46, Y:-12.86, Z:39.54
[[ 8.12426263e-01  1.82355730e-01 -5.53814007e-01  6.14616791e+01]
 [-1.52980397e-01  9.83224391e-01  9.93317409e-02 -1.28592905e+01]
 [ 5.62637152e-01  4.02297165e-03  8.26694170e-01  3.95390519e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.00327356
Centerline is valid?  [True, True]
Translation: X:61.51, Y:-12.87, Z:39.57
[[ 8.07682184e-01  2.02321027e-01 -5.53819187e-01  6.15107045e+01]
 [-1.77183391e-01  9.79155243e-01  9.93028537e-02 -1.28686909e+01]
 [ 5.62366016e-01  1.79224159e-02  8.26694170e-01  3.95730100e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.06327356
Centerline is valid?  [True, True]
Translation: X:61.56, Y:-12.87, Z:39.61
[[ 8.07182967e-01  2.04300914e-01 -5.53820183e-01  6.15592700e+01]
 [-1.79587623e-01  9.78717698e-01  9.92973018e-02 -1.28738288e+01]
 [ 5.62320143e-01  1.93081595e-02  8.26694170e-01  3.96061595e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.12327356
Centerline is valid?  [True, True]
Translation: X:61.61, Y:-12.88, Z:39.64
[[ 8.11861579e-01  1.84816293e-01 -5.53826430e-01  6.16096652e+01]
 [-1.56005825e-01  9.82755895e-01  9.92624461e-02 -1.28767698e+01]
 [ 5.62621506e-01  5.81278307e-03  8.26694171e-01  3.96402568e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.18327356
Centerline is valid?  [True, True]
Translation: X:61.66, Y:-12.90, Z:39.67
[[ 8.08463402e-01  1.99147617e-01 -5.53829535e-01  6.16563153e+01]
 [-1.73376300e-01  9.79842367e-01  9.92451214e-02 -1.28984885e+01]
 [ 5.62430072e-01  1.57848668e-02  8.26694171e-01  3.96741081e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.24327356
Centerline is valid?  [True, True]
Translation: X:61.71, Y:-12.90, Z:39.71
[[ 8.08644883e-01  1.98402933e-01 -5.53831860e-01  6.17058778e+01]
 [-1.72482668e-01  9.80001383e-01  9.92321418e-02 -1.28986992e+01]
 [ 5.62443937e-01  1.52828335e-02  8.26694171e-01  3.97073306e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.30327356
Centerline is valid?  [True, True]
Translation: X:61.76, Y:-12.90, Z:39.74
[[ 8.07489884e-01  2.03030992e-01 -5.53839781e-01  6.17551346e+01]
 [-1.78122853e-01  9.78996428e-01  9.91879174e-02 -1.29047751e+01]
 [ 5.62345389e-01  1.85582820e-02  8.26694172e-01  3.97410374e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.36327356
Centerline is valid?  [True, True]
Translation: X:61.80, Y:-12.91, Z:39.77
[[ 8.06348559e-01  2.07512240e-01 -5.53841739e-01  6.18040326e+01]
 [-1.83564440e-01  9.77991831e-01  9.91769848e-02 -1.29093047e+01]
 [ 5.62233135e-01  2.16944298e-02  8.26694172e-01  3.97743346e+01]
 [ 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 152.42327356
Centerline is valid?  [True, True]
Translation: X:61.86, Y:-12.90, Z:39.81
[[ 8.04382528e-01  2.14935695e-01 -5.53869476e-01  6.18559223e+01]
 [-1.92677523e-01  9.76253061e-01  9.90218809e-02 -1.28963441e+01]
 [ 5.62000108e-01  2.70667277e-02  8.26694182e-01  3.98074729e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.48327356000001
Centerline is valid?  [True, True]
Translation: X:61.90, Y:-12.90, Z:39.84
[[ 8.05706281e-01  2.09915990e-01 -5.53870623e-01  6.19042918e+01]
 [-1.86590996e-01  9.77435286e-01  9.90154657e-02 -1.29012148e+01]
 [ 5.62157620e-01  2.35698887e-02  8.26694182e-01  3.98404601e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.54327356
Centerline is valid?  [True, True]
Translation: X:61.95, Y:-12.91, Z:39.87
[[ 8.05690041e-01  2.09908972e-01 -5.53896905e-01  6.19528059e+01]
 [-1.86683497e-01  9.77432524e-01  9.88682575e-02 -1.29093716e+01]
 [ 5.62150184e-01  2.37462408e-02  8.26694191e-01  3.98738748e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.60327356
Centerline is valid?  [True, True]
Translation: X:62.00, Y:-12.93, Z:39.91
[[ 8.07306839e-01  2.03536752e-01 -5.53920986e-01  6.19996565e+01]
 [-1.79047642e-01  9.78873689e-01  9.87331888e-02 -1.29316480e+01]
 [ 5.62314511e-01  1.94702678e-02  8.26694199e-01  3.99078667e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.66327356
Centerline is valid?  [True, True]
Translation: X:62.05, Y:-12.94, Z:39.94
[[ 8.07225565e-01  2.03850160e-01 -5.53924182e-01  6.20473423e+01]
 [-1.79439950e-01  9.78803659e-01  9.87152567e-02 -1.29415501e+01]
 [ 5.62306136e-01  1.97106483e-02  8.26694199e-01  3.99409926e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.72327356
Centerline is valid?  [True, True]
Translation: X:62.09, Y:-12.95, Z:39.97
[[ 8.07682240e-01  2.01951145e-01 -5.53954091e-01  6.20949767e+01]
 [-1.77252627e-01  9.79219056e-01  9.85471760e-02 -1.29463321e+01]
 [ 5.62344117e-01  1.85950138e-02  8.26694211e-01  3.99734032e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.78327356
Centerline is valid?  [True, True]
Translation: X:62.14, Y:-12.95, Z:40.01
[[ 8.07810184e-01  2.01409896e-01 -5.53964585e-01  6.21432800e+01]
 [-1.76636869e-01  9.79336254e-01  9.84881583e-02 -1.29486501e+01]
 [ 5.62354091e-01  1.82908325e-02  8.26694213e-01  4.00060200e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.84327356
Centerline is valid?  [True, True]
Translation: X:62.19, Y:-12.95, Z:40.04
[[ 8.07889299e-01  2.01065399e-01 -5.53974354e-01  6.21929533e+01]
 [-1.76256887e-01  9.79410240e-01  9.84331805e-02 -1.29535011e+01]
 [ 5.62359662e-01  1.81186821e-02  8.26694214e-01  4.00398590e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.90327356
Centerline is valid?  [True, True]
Translation: X:62.24, Y:-12.96, Z:40.07
[[ 8.07451662e-01  2.02800612e-01 -5.53979896e-01  6.22412744e+01]
 [-1.78382034e-01  9.79028549e-01  9.84019812e-02 -1.29622209e+01]
 [ 5.62318116e-01  1.93652172e-02  8.26694215e-01  4.00732636e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.96327356
Centerline is valid?  [True, True]
Translation: X:62.29, Y:-12.97, Z:40.11
[[ 8.06643150e-01  2.05984487e-01 -5.53983050e-01  6.22899841e+01]
 [-1.82255159e-01  9.78316718e-01  9.83842230e-02 -1.29703362e+01]
 [ 5.62236504e-01  2.16053095e-02  8.26694215e-01  4.01068627e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.02327356
Centerline is valid?  [True, True]
Translation: X:62.34, Y:-12.98, Z:40.14
[[ 8.06631984e-01  2.06016761e-01 -5.53987307e-01  6.23391961e+01]
 [-1.82310740e-01  9.78308773e-01  9.83602505e-02 -1.29785496e+01]
 [ 5.62234503e-01  2.16573118e-02  8.26694215e-01  4.01408073e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.08327356
Centerline is valid?  [True, True]
Translation: X:62.39, Y:-12.99, Z:40.17
[[ 8.06457338e-01  2.06693727e-01 -5.53989409e-01  6.23881706e+01]
 [-1.83139933e-01  9.78155078e-01  9.83484069e-02 -1.29858620e+01]
 [ 5.62215552e-01  2.21437891e-02  8.26694215e-01  4.01744910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.14327356
Centerline is valid?  [True, True]
Translation: X:62.44, Y:-12.99, Z:40.21
[[ 8.06584299e-01  2.06186459e-01 -5.53993603e-01  6.24370650e+01]
 [-1.82540884e-01  9.78269423e-01  9.83247769e-02 -1.29935280e+01]
 [ 5.62228240e-01  2.18192609e-02  8.26694215e-01  4.02081578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.20327356
Centerline is valid?  [True, True]
Translation: X:62.48, Y:-13.00, Z:40.24
[[ 8.05997983e-01  2.08455681e-01 -5.53997726e-01  6.24845782e+01]
 [-1.85309328e-01  9.77751123e-01  9.83015440e-02 -1.30034951e+01]
 [ 5.62163414e-01  2.34301003e-02  8.26694215e-01  4.02411730e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.26327356
Centerline is valid?  [True, True]
Translation: X:62.53, Y:-13.01, Z:40.27
[[ 8.06122821e-01  2.07950670e-01 -5.54005881e-01  6.25333579e+01]
 [-1.84728258e-01  9.77865693e-01  9.82555672e-02 -1.30130168e+01]
 [ 5.62175656e-01  2.31344860e-02  8.26694216e-01  4.02749736e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.32327356
Centerline is valid?  [True, True]
Translation: X:62.58, Y:-13.02, Z:40.31
[[ 8.04887188e-01  2.12677707e-01 -5.54007948e-01  6.25831639e+01]
 [-1.90471549e-01  9.76764415e-01  9.82439091e-02 -1.30173798e+01]
 [ 5.62029539e-01  2.64474884e-02  8.26694216e-01  4.03088643e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.38327356
Centerline is valid?  [True, True]
Translation: X:62.63, Y:-13.03, Z:40.34
[[ 8.06548942e-01  2.06280965e-01 -5.54009898e-01  6.26303066e+01]
 [-1.82718505e-01  9.78245492e-01  9.82329150e-02 -1.30331314e+01]
 [ 5.62221265e-01  2.19982066e-02  8.26694216e-01  4.03423239e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.44327356
Centerline is valid?  [True, True]
Translation: X:62.68, Y:-13.04, Z:40.38
[[ 8.06991361e-01  2.04534409e-01 -5.54013193e-01  6.26773748e+01]
 [-1.80613047e-01  9.78638275e-01  9.82143272e-02 -1.30449793e+01]
 [ 5.62266725e-01  2.08038971e-02  8.26694217e-01  4.03752660e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.50327356
Centerline is valid?  [True, True]
Translation: X:62.73, Y:-13.05, Z:40.41
[[ 8.07619399e-01  2.02024229e-01 -5.54019059e-01  6.27253912e+01]
 [-1.77591955e-01  9.79194334e-01  9.81812302e-02 -1.30549419e+01]
 [ 5.62327311e-01  1.90962616e-02  8.26694217e-01  4.04086128e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.56327356
Centerline is valid?  [True, True]
Translation: X:62.77, Y:-13.07, Z:40.44
[[ 8.08464153e-01  1.98540492e-01 -5.54046376e-01  6.27730032e+01]
 [-1.73474421e-01  9.79947630e-01  9.80268738e-02 -1.30668028e+01]
 [ 5.62398737e-01  1.68616606e-02  8.26694227e-01  4.04418578e+01]
 [ 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 153.62327356
Centerline is valid?  [True, True]
Translation: X:62.82, Y:-13.08, Z:40.47
[[ 8.08665867e-01  1.97633687e-01 -5.54076206e-01  6.28206176e+01]
 [-1.72490900e-01  9.80138101e-01  9.78580244e-02 -1.30768681e+01]
 [ 5.62411242e-01  1.64386594e-02  8.26694239e-01  4.04748838e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.68327356
Centerline is valid?  [True, True]
Translation: X:62.87, Y:-13.08, Z:40.51
[[ 8.08569832e-01  1.97943604e-01 -5.54105727e-01  6.28689360e+01]
 [-1.72981147e-01  9.80068398e-01  9.76906232e-02 -1.30835836e+01]
 [ 5.62398746e-01  1.68601533e-02  8.26694251e-01  4.05079858e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.74327356
Centerline is valid?  [True, True]
Translation: X:62.92, Y:-13.10, Z:40.54
[[ 8.07719480e-01  2.01303712e-01 -5.54135414e-01  6.29162644e+01]
 [-1.77170063e-01  9.79336628e-01  9.75219876e-02 -1.31008128e+01]
 [ 5.62316645e-01  1.94057969e-02  8.26694263e-01  4.05416647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.80327356
Centerline is valid?  [True, True]
Translation: X:62.96, Y:-13.11, Z:40.57
[[ 8.07404874e-01  2.02556361e-01 -5.54137430e-01  6.29625593e+01]
 [-1.78696796e-01  9.79060341e-01  9.75105319e-02 -1.31116754e+01]
 [ 5.62285359e-01  2.02921047e-02  8.26694264e-01  4.05739722e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.86327356
Centerline is valid?  [True, True]
Translation: X:63.01, Y:-13.12, Z:40.61
[[ 8.08529804e-01  1.97983348e-01 -5.54149934e-01  6.30112261e+01]
 [-1.73201313e-01  9.80054521e-01  9.74394259e-02 -1.31219209e+01]
 [ 5.62388532e-01  1.71968161e-02  8.26694266e-01  4.06077683e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.92327356
Centerline is valid?  [True, True]
Translation: X:63.06, Y:-13.14, Z:40.64
[[ 8.07755843e-01  2.01114292e-01 -5.54151188e-01  6.30595659e+01]
 [-1.77001857e-01  9.79375970e-01  9.74322915e-02 -1.31356798e+01]
 [ 5.62317384e-01  1.93842867e-02  8.26694266e-01  4.06417897e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.98327356000001
Centerline is valid?  [True, True]
Translation: X:63.11, Y:-13.14, Z:40.68
[[ 8.06301041e-01  2.06868290e-01 -5.54151732e-01  6.31076284e+01]
 [-1.83982201e-01  9.78089004e-01  9.74291993e-02 -1.31443469e+01]
 [ 5.62164728e-01  2.33967907e-02  8.26694266e-01  4.06750270e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.04327356
Centerline is valid?  [True, True]
Translation: X:63.16, Y:-13.15, Z:40.71
[[ 8.06062060e-01  2.07786392e-01 -5.54155908e-01  6.31557207e+01]
 [-1.85112254e-01  9.77878128e-01  9.74054448e-02 -1.31540901e+01]
 [ 5.62136467e-01  2.40662159e-02  8.26694266e-01  4.07084011e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.10327356
Centerline is valid?  [True, True]
Translation: X:63.20, Y:-13.16, Z:40.74
[[ 8.06083109e-01  2.07624856e-01 -5.54185836e-01  6.32027300e+01]
 [-1.85033297e-01  9.77910041e-01  9.72349210e-02 -1.31626006e+01]
 [ 5.62132280e-01  2.41634050e-02  8.26694278e-01  4.07408323e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.16327356
Centerline is valid?  [True, True]
Translation: X:63.25, Y:-13.17, Z:40.77
[[ 8.04182830e-01  2.14840411e-01 -5.54196332e-01  6.32524379e+01]
 [-1.93830756e-01  9.76210348e-01  9.71750671e-02 -1.31655750e+01]
 [ 5.61889325e-01  2.92737737e-02  8.26694280e-01  4.07744758e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.22327356
Centerline is valid?  [True, True]
Translation: X:63.30, Y:-13.18, Z:40.81
[[ 8.01520329e-01  2.24565291e-01 -5.54198152e-01  6.32997390e+01]
 [-2.05648005e-01  9.73790492e-01  9.71646829e-02 -1.31825114e+01]
 [ 5.61492707e-01  3.60902760e-02  8.26694280e-01  4.08081711e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.28327356
Centerline is valid?  [True, True]
Translation: X:63.35, Y:-13.19, Z:40.84
[[ 8.06288893e-01  2.06786480e-01 -5.54199939e-01  6.33480952e+01]
 [-1.84071430e-01  9.78099542e-01  9.71544896e-02 -1.31897557e+01]
 [ 5.62152942e-01  2.36777894e-02  8.26694280e-01  4.08414345e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.34327356
Centerline is valid?  [True, True]
Translation: X:63.40, Y:-13.21, Z:40.88
[[ 8.03431390e-01  2.17620420e-01 -5.54201546e-01  6.33954121e+01]
 [-1.97226307e-01  9.75532967e-01  9.71453222e-02 -1.32098180e+01]
 [ 5.61782685e-01  3.12535229e-02  8.26694280e-01  4.08755080e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.40327356
Centerline is valid?  [True, True]
Translation: X:63.44, Y:-13.22, Z:40.91
[[ 8.04505338e-01  2.13612822e-01 -5.54202783e-01  6.34429103e+01]
 [-1.92365928e-01  9.76503716e-01  9.71382678e-02 -1.32223681e+01]
 [ 5.61931056e-01  2.84614775e-02  8.26694280e-01  4.09088212e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.46327356
Centerline is valid?  [True, True]
Translation: X:63.49, Y:-13.23, Z:40.94
[[ 8.04775379e-01  2.12585132e-01 -5.54205874e-01  6.34903291e+01]
 [-1.91130696e-01  9.76747992e-01  9.71206277e-02 -1.32332446e+01]
 [ 5.61965876e-01  2.77654644e-02  8.26694280e-01  4.09418789e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.52327356
Centerline is valid?  [True, True]
Translation: X:63.54, Y:-13.24, Z:40.97
[[ 8.05490195e-01  2.09838306e-01 -5.54214246e-01  6.35372480e+01]
 [-1.87830104e-01  9.77392816e-01  9.70728320e-02 -1.32435004e+01]
 [ 5.62054622e-01  2.59069049e-02  8.26694281e-01  4.09745131e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.58327356
Centerline is valid?  [True, True]
Translation: X:63.59, Y:-13.26, Z:41.01
[[ 8.10378596e-01  1.90057040e-01 -5.54224551e-01  6.35854314e+01]
 [-1.63887496e-01  9.81697091e-01  9.70139695e-02 -1.32590948e+01]
 [ 5.62518817e-01  1.22124297e-02  8.26694283e-01  4.10086155e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.64327356
Centerline is valid?  [True, True]
Translation: X:63.63, Y:-13.28, Z:41.04
[[ 8.09151060e-01  1.95215174e-01 -5.54225223e-01  6.36328934e+01]
 [-1.70140063e-01  9.80633160e-01  9.70101294e-02 -1.32750877e+01]
 [ 5.62429481e-01  1.58000655e-02  8.26694283e-01  4.10423092e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.70327356
Centerline is valid?  [True, True]
Translation: X:63.68, Y:-13.28, Z:41.08
[[ 8.10211634e-01  1.90753298e-01 -5.54229453e-01  6.36817873e+01]
 [-1.64750124e-01  9.81555460e-01  9.69859585e-02 -1.32760252e+01]
 [ 5.62507337e-01  1.27302189e-02  8.26694283e-01  4.10751856e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.76327356
Centerline is valid?  [True, True]
Translation: X:63.73, Y:-13.29, Z:41.11
[[ 8.10206804e-01  1.90755678e-01 -5.54235696e-01  6.37297265e+01]
 [-1.64777405e-01  9.81554406e-01  9.69502731e-02 -1.32877163e+01]
 [ 5.62506304e-01  1.27757487e-02  8.26694283e-01  4.11086776e+01]
 [ 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 154.82327356
Centerline is valid?  [True, True]
Translation: X:63.78, Y:-13.30, Z:41.14
[[ 8.09866165e-01  1.92121875e-01 -5.54261652e-01  6.37771383e+01]
 [-1.66534250e-01  9.81272529e-01  9.68016890e-02 -1.32998610e+01]
 [ 5.62479455e-01  1.39071359e-02  8.26694293e-01  4.11418088e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.88327356
Centerline is valid?  [True, True]
Translation: X:63.83, Y:-13.30, Z:41.17
[[ 8.10310007e-01  1.90214888e-01 -5.54270682e-01  6.38256788e+01]
 [-1.64259200e-01  9.81661021e-01  9.67499638e-02 -1.33019965e+01]
 [ 5.62509207e-01  1.26465947e-02  8.26694294e-01  4.11745760e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.94327356
Centerline is valid?  [True, True]
Translation: X:63.87, Y:-13.31, Z:41.21
[[ 8.10130798e-01  1.90946922e-01 -5.54280943e-01  6.38740289e+01]
 [-1.65186275e-01  9.81511241e-01  9.66911498e-02 -1.33100759e+01]
 [ 5.62495853e-01  1.32271257e-02  8.26694295e-01  4.12079079e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.00327356
Centerline is valid?  [True, True]
Translation: X:63.92, Y:-13.32, Z:41.24
[[ 8.09887226e-01  1.91933742e-01 -5.54296058e-01  6.39214005e+01]
 [-1.66441212e-01  9.81307753e-01  9.66044363e-02 -1.33184210e+01]
 [ 5.62476670e-01  1.40190086e-02  8.26694299e-01  4.12406001e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.06327356
Centerline is valid?  [True, True]
Translation: X:63.97, Y:-13.32, Z:41.27
[[ 8.09465405e-01  1.93609593e-01 -5.54329400e-01  6.39700791e+01]
 [-1.68603045e-01  9.80957484e-01  9.64127959e-02 -1.33247179e+01]
 [ 5.62440016e-01  1.54188020e-02  8.26694314e-01  4.12738748e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.12327356
Centerline is valid?  [True, True]
Translation: X:64.02, Y:-13.34, Z:41.31
[[ 8.08623832e-01  1.97077492e-01 -5.54335603e-01  6.40182523e+01]
 [-1.72830687e-01  9.80224977e-01  9.63771191e-02 -1.33395480e+01]
 [ 5.62367364e-01  1.78733675e-02  8.26694315e-01  4.13078875e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.18327356
Centerline is valid?  [True, True]
Translation: X:64.07, Y:-13.34, Z:41.34
[[ 8.09079873e-01  1.95196818e-01 -5.54335603e-01  6.40673573e+01]
 [-1.70551085e-01  9.80624178e-01  9.63771191e-02 -1.33409484e+01]
 [ 5.62407402e-01  1.65657514e-02  8.26694315e-01  4.13409778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.24327356
Centerline is valid?  [True, True]
Translation: X:64.11, Y:-13.36, Z:41.38
[[ 8.07789489e-01  2.00458566e-01 -5.54339702e-01  6.41149764e+01]
 [-1.76946008e-01  9.79492780e-01  9.63535403e-02 -1.33596300e+01]
 [ 5.62286628e-01  2.02548204e-02  8.26694315e-01  4.13750739e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.30327356
Centerline is valid?  [True, True]
Translation: X:64.16, Y:-13.37, Z:41.41
[[ 8.09098920e-01  1.95106210e-01 -5.54339702e-01  6.41635095e+01]
 [-1.70457407e-01  9.80642783e-01  9.63535403e-02 -1.33681226e+01]
 [ 5.62408402e-01  1.65317625e-02  8.26694315e-01  4.14086076e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.36327356
Centerline is valid?  [True, True]
Translation: X:64.21, Y:-13.38, Z:41.44
[[ 8.09218996e-01  1.94595556e-01 -5.54343924e-01  6.42113799e+01]
 [-1.69855130e-01  9.80749669e-01  9.63292408e-02 -1.33774057e+01]
 [ 5.62417862e-01  1.62067076e-02  8.26694315e-01  4.14417761e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.42327356
Centerline is valid?  [True, True]
Translation: X:64.26, Y:-13.39, Z:41.48
[[ 8.09288171e-01  1.94283372e-01 -5.54352441e-01  6.42601895e+01]
 [-1.69510333e-01  9.80814135e-01  9.62802108e-02 -1.33873372e+01]
 [ 5.62422354e-01  1.60500313e-02  8.26694316e-01  4.14756366e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.48327356000001
Centerline is valid?  [True, True]
Translation: X:64.31, Y:-13.40, Z:41.51
[[ 8.09832823e-01  1.91992704e-01 -5.54355121e-01  6.43091496e+01]
 [-1.66744987e-01  9.81289561e-01  9.62647774e-02 -1.33972333e+01]
 [ 5.62465028e-01  1.44775610e-02  8.26694316e-01  4.15096118e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.54327356
Centerline is valid?  [True, True]
Translation: X:64.36, Y:-13.39, Z:41.54
[[ 8.09861875e-01  1.91864088e-01 -5.54357208e-01  6.43601146e+01]
 [-1.66597367e-01  9.81315813e-01  9.62527539e-02 -1.33894024e+01]
 [ 5.62466941e-01  1.44030154e-02  8.26694316e-01  4.15428691e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.60327356
Centerline is valid?  [True, True]
Translation: X:64.40, Y:-13.42, Z:41.58
[[ 8.09564029e-01  1.93033496e-01 -5.54386285e-01  6.44046271e+01]
 [-1.68129174e-01  9.81070969e-01  9.60850393e-02 -1.34152173e+01]
 [ 5.62439920e-01  1.54215165e-02  8.26694328e-01  4.15756331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.66327356
Centerline is valid?  [True, True]
Translation: X:64.45, Y:-13.42, Z:41.61
[[ 8.08594068e-01  1.97013775e-01 -5.54401664e-01  6.44523753e+01]
 [-1.73014296e-01  9.80229961e-01  9.59962330e-02 -1.34241998e+01]
 [ 5.62353702e-01  1.82974290e-02  8.26694332e-01  4.16086492e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.72327356
Centerline is valid?  [True, True]
Translation: X:64.50, Y:-13.43, Z:41.64
[[ 8.08561931e-01  1.97063462e-01 -5.54430875e-01  6.45010271e+01]
 [-1.73190251e-01  9.80215420e-01  9.58272756e-02 -1.34323200e+01]
 [ 5.62345748e-01  1.85397354e-02  8.26694344e-01  4.16421280e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.78327356
Centerline is valid?  [True, True]
Translation: X:64.55, Y:-13.44, Z:41.68
[[ 8.09050068e-01  1.95037867e-01 -5.54435043e-01  6.45494529e+01]
 [-1.70751354e-01  9.80645569e-01  9.58031518e-02 -1.34400663e+01]
 [ 5.62389511e-01  1.71609880e-02  8.26694344e-01  4.16754901e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.84327356
Centerline is valid?  [True, True]
Translation: X:64.60, Y:-13.45, Z:41.71
[[ 8.09519152e-01  1.93042177e-01 -5.54448790e-01  6.45980724e+01]
 [-1.68387071e-01  9.81062077e-01  9.57235374e-02 -1.34505344e+01]
 [ 5.62427362e-01  1.58719713e-02  8.26694347e-01  4.17092674e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.90327356
Centerline is valid?  [True, True]
Translation: X:64.65, Y:-13.44, Z:41.74
[[ 8.09010337e-01  1.95157765e-01 -5.54450829e-01  6.46501908e+01]
 [-1.70959278e-01  9.80618270e-01  9.57117269e-02 -1.34408292e+01]
 [ 5.62383499e-01  1.73567371e-02  8.26694347e-01  4.17430924e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.96327356
Centerline is valid?  [True, True]
Translation: X:64.70, Y:-13.47, Z:41.78
[[ 8.10002490e-01  1.90992052e-01 -5.54452886e-01  6.46954120e+01]
 [-1.65918951e-01  9.81484818e-01  9.56998109e-02 -1.34676022e+01]
 [ 5.62464993e-01  1.44771562e-02  8.26694347e-01  4.17765147e+01]
 [ 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 156.02327356
Centerline is valid?  [True, True]
Translation: X:64.74, Y:-13.47, Z:41.81
[[ 8.10664956e-01  1.88081717e-01 -5.54479573e-01  6.47436362e+01]
 [-1.62498747e-01  9.82071950e-01  9.55449794e-02 -1.34745635e+01]
 [ 5.62509099e-01  1.26472690e-02  8.26694357e-01  4.18095801e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.08327356
Centerline is valid?  [True, True]
Translation: X:64.79, Y:-13.48, Z:41.84
[[ 8.10834448e-01  1.87264890e-01 -5.54508214e-01  6.47922834e+01]
 [-1.61623023e-01  9.82232629e-01  9.53785158e-02 -1.34849403e+01]
 [ 5.62517108e-01  1.22851078e-02  8.26694369e-01  4.18433175e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.14327356
Centerline is valid?  [True, True]
Translation: X:64.84, Y:-13.49, Z:41.88
[[ 8.11193512e-01  1.85688209e-01 -5.54513278e-01  6.48405596e+01]
 [-1.59733303e-01  9.82544568e-01  9.53490636e-02 -1.34931744e+01]
 [ 5.62539206e-01  1.12276959e-02  8.26694369e-01  4.18766330e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.20327356
Centerline is valid?  [True, True]
Translation: X:64.89, Y:-13.50, Z:41.91
[[ 8.12192446e-01  1.81250264e-01 -5.54519407e-01  6.48900833e+01]
 [-1.54383229e-01  9.83402854e-01  9.53134084e-02 -1.34988841e+01]
 [ 5.62591548e-01  8.19566657e-03  8.26694370e-01  4.19104907e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.26327356
Centerline is valid?  [True, True]
Translation: X:64.94, Y:-13.51, Z:41.94
[[ 8.11443745e-01  1.84567340e-01 -5.54521366e-01  6.49381302e+01]
 [-1.58407875e-01  9.82763691e-01  9.53020097e-02 -1.35072891e+01]
 [ 5.62553103e-01  1.05083317e-02  8.26694370e-01  4.19436819e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.32327356
Centerline is valid?  [True, True]
Translation: X:64.99, Y:-13.51, Z:41.98
[[ 8.11010519e-01  1.86376601e-01 -5.54549998e-01  6.49858945e+01]
 [-1.60713319e-01  9.82405482e-01  9.51351588e-02 -1.35121778e+01]
 [ 5.62523926e-01  1.19679561e-02  8.26694382e-01  4.19761948e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.38327356
Centerline is valid?  [True, True]
Translation: X:65.04, Y:-13.50, Z:42.01
[[ 8.09317221e-01  1.93504358e-01 -5.54582454e-01  6.50379343e+01]
 [-1.69479676e-01  9.80949522e-01  9.49456422e-02 -1.35033521e+01]
 [ 5.62389789e-01  1.71493115e-02  8.26694397e-01  4.20099901e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.44327356
Centerline is valid?  [True, True]
Translation: X:65.08, Y:-13.53, Z:42.04
[[ 8.08870786e-01  1.95361807e-01 -5.54582560e-01  6.50814546e+01]
 [-1.71731626e-01  9.80557846e-01  9.49450285e-02 -1.35309591e+01]
 [ 5.62348913e-01  1.84411049e-02  8.26694397e-01  4.20423557e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.50327356
Centerline is valid?  [True, True]
Translation: X:65.13, Y:-13.52, Z:42.08
[[ 8.07613157e-01  2.00448252e-01 -5.54600295e-01  6.51345184e+01]
 [-1.77970076e-01  9.79454834e-01  9.48413380e-02 -1.35175319e+01]
 [ 5.62216720e-01  2.21071443e-02  8.26694402e-01  4.20763580e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.56327356
Centerline is valid?  [True, True]
Translation: X:65.18, Y:-13.54, Z:42.11
[[ 8.07514497e-01  2.00845340e-01 -5.54600295e-01  6.51784576e+01]
 [-1.78451664e-01  9.79367206e-01  9.48413380e-02 -1.35435138e+01]
 [ 5.62205782e-01  2.23835898e-02  8.26694402e-01  4.21088160e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.62327356
Centerline is valid?  [True, True]
Translation: X:65.23, Y:-13.53, Z:42.14
[[ 8.06944308e-01  2.03098133e-01 -5.54609801e-01  6.52299265e+01]
 [-1.81222298e-01  9.78863702e-01  9.47857178e-02 -1.35342542e+01]
 [ 5.62138205e-01  2.40208674e-02  8.26694403e-01  4.21422539e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.68327356
Centerline is valid?  [True, True]
Translation: X:65.27, Y:-13.56, Z:42.18
[[ 8.07522969e-01  2.00774672e-01 -5.54613546e-01  6.52749274e+01]
 [-1.78419121e-01  9.79380641e-01  9.47638031e-02 -1.35607259e+01]
 [ 5.62203941e-01  2.24297136e-02  8.26694403e-01  4.21754673e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.74327356
Centerline is valid?  [True, True]
Translation: X:65.33, Y:-13.55, Z:42.21
[[ 8.04724059e-01  2.11645466e-01 -5.54639870e-01  6.53253539e+01]
 [-1.91715380e-01  9.76879855e-01  9.46095225e-02 -1.35542642e+01]
 [ 5.61840192e-01  3.01984345e-02  8.26694413e-01  4.22084769e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.80327356
Centerline is valid?  [True, True]
Translation: X:65.37, Y:-13.58, Z:42.24
[[ 8.07967948e-01  1.98897866e-01 -5.54641717e-01  6.53715319e+01]
 [-1.76256240e-01  9.79788153e-01  9.45986904e-02 -1.35788935e+01]
 [ 5.62246862e-01  2.13263540e-02  8.26694413e-01  4.22422712e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.86327356
Centerline is valid?  [True, True]
Translation: X:65.42, Y:-13.59, Z:42.28
[[ 8.08897460e-01  1.95079521e-01 -5.54643020e-01  6.54196226e+01]
 [-1.71631850e-01  9.80609525e-01  9.45910550e-02 -1.35862352e+01]
 [ 5.62341006e-01  1.86799437e-02  8.26694413e-01  4.22753720e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.92327356
Centerline is valid?  [True, True]
Translation: X:65.47, Y:-13.60, Z:42.31
[[ 8.08874109e-01  1.95097277e-01 -5.54670829e-01  6.54676162e+01]
 [-1.71765226e-01  9.80601911e-01  9.44277488e-02 -1.35972873e+01]
 [ 5.62333871e-01  1.88929993e-02  8.26694425e-01  4.23087480e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.98327356000001
Centerline is valid?  [True, True]
Translation: X:65.52, Y:-13.61, Z:42.34
[[ 8.09187232e-01  1.93721922e-01 -5.54696170e-01  6.55155740e+01]
 [-1.70200039e-01  9.80889125e-01  9.42786899e-02 -1.36090126e+01]
 [ 5.62359290e-01  1.81201975e-02  8.26694434e-01  4.23421834e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.04327356
Centerline is valid?  [True, True]
Translation: X:65.56, Y:-13.62, Z:42.38
[[ 8.09596884e-01  1.91991628e-01 -5.54700010e-01  6.55642138e+01]
 [-1.68118207e-01  9.81250252e-01  9.42560951e-02 -1.36176753e+01]
 [ 5.62395905e-01  1.69457302e-02  8.26694434e-01  4.23757954e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.10327356
Centerline is valid?  [True, True]
Translation: X:65.61, Y:-13.63, Z:42.41
[[ 8.10055002e-01  1.90038634e-01 -5.54703715e-01  6.56120480e+01]
 [-1.65766246e-01  9.81652409e-01  9.42342824e-02 -1.36276595e+01]
 [ 5.62434393e-01  1.56162005e-02  8.26694435e-01  4.24090179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.16327356
Centerline is valid?  [True, True]
Translation: X:65.66, Y:-13.64, Z:42.44
[[ 8.09856773e-01  1.90869329e-01 -5.54707948e-01  6.56602298e+01]
 [-1.66789996e-01  9.81481377e-01  9.42093642e-02 -1.36372455e+01]
 [ 5.62417198e-01  1.62236450e-02  8.26694435e-01  4.24424264e+01]
 [ 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 157.22327356
Centerline is valid?  [True, True]
Translation: X:65.71, Y:-13.64, Z:42.48
[[ 8.09560054e-01  1.92041296e-01 -5.54736568e-01  6.57082050e+01]
 [-1.68325933e-01  9.81235318e-01  9.40405840e-02 -1.36433918e+01]
 [ 5.62386788e-01  1.72450503e-02  8.26694447e-01  4.24752257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.28327356
Centerline is valid?  [True, True]
Translation: X:65.76, Y:-13.65, Z:42.51
[[ 8.08689573e-01  1.95645775e-01 -5.54746704e-01  6.57570304e+01]
 [-1.72736404e-01  9.80474248e-01  9.39807584e-02 -1.36521110e+01]
 [ 5.62301796e-01  1.98236914e-02  8.26694449e-01  4.25089481e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.34327356
Centerline is valid?  [True, True]
Translation: X:65.81, Y:-13.66, Z:42.54
[[ 8.08123364e-01  1.97966170e-01 -5.54748613e-01  6.58058010e+01]
 [-1.75557693e-01  9.79974097e-01  9.39694919e-02 -1.36589974e+01]
 [ 5.62242051e-01  2.14514447e-02  8.26694449e-01  4.25424519e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.40327356
Centerline is valid?  [True, True]
Translation: X:65.85, Y:-13.67, Z:42.58
[[ 8.08241681e-01  1.97471193e-01 -5.54752660e-01  6.58538590e+01]
 [-1.74973848e-01  9.80080802e-01  9.39455943e-02 -1.36680510e+01]
 [ 5.62253980e-01  2.11364623e-02  8.26694449e-01  4.25757171e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.46327356
Centerline is valid?  [True, True]
Translation: X:65.90, Y:-13.66, Z:42.61
[[ 8.08808564e-01  1.95054871e-01 -5.54781311e-01  6.59045818e+01]
 [-1.72160166e-01  9.80595183e-01  9.37761413e-02 -1.36638952e+01]
 [ 5.62307375e-01  1.96642963e-02  8.26694461e-01  4.26091922e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.52327356
Centerline is valid?  [True, True]
Translation: X:65.95, Y:-13.67, Z:42.64
[[ 8.09809483e-01  1.90844898e-01 -5.54785387e-01  6.59527074e+01]
 [-1.67073393e-01  9.81476968e-01  9.37520253e-02 -1.36734362e+01]
 [ 5.62401175e-01  1.67685978e-02  8.26694461e-01  4.26425579e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.58327356
Centerline is valid?  [True, True]
Translation: X:66.00, Y:-13.68, Z:42.68
[[ 8.10681394e-01  1.87023009e-01 -5.54813547e-01  6.60014152e+01]
 [-1.62556175e-01  9.82251146e-01  9.35851302e-02 -1.36826922e+01]
 [ 5.62468814e-01  1.43206443e-02  8.26694473e-01  4.26762057e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.64327356
Centerline is valid?  [True, True]
Translation: X:66.05, Y:-13.69, Z:42.71
[[ 8.11434278e-01  1.83723074e-01 -5.54815505e-01  6.60498328e+01]
 [-1.58566318e-01  9.82904227e-01  9.35735205e-02 -1.36913005e+01]
 [ 5.62522120e-01  1.20462899e-02  8.26694473e-01  4.27096681e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.70327356
Centerline is valid?  [True, True]
Translation: X:66.10, Y:-13.70, Z:42.74
[[ 8.11532984e-01  1.83205247e-01 -5.54842368e-01  6.60982809e+01]
 [-1.58048082e-01  9.83002862e-01  9.34140099e-02 -1.36990224e+01]
 [ 5.62525572e-01  1.18832218e-02  8.26694484e-01  4.27429716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.76327356
Centerline is valid?  [True, True]
Translation: X:66.15, Y:-13.70, Z:42.78
[[ 8.11651047e-01  1.82593952e-01 -5.54871180e-01  6.61467100e+01]
 [-1.57424770e-01  9.83119148e-01  9.32426008e-02 -1.37046510e+01]
 [ 5.62530017e-01  1.16700132e-02  8.26694496e-01  4.27760201e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.82327356
Centerline is valid?  [True, True]
Translation: X:66.19, Y:-13.72, Z:42.81
[[ 8.11752253e-01  1.82056824e-01 -5.54899624e-01  6.61936677e+01]
 [-1.56890016e-01  9.83220690e-01  9.30730720e-02 -1.37192732e+01]
 [ 5.62533379e-01  1.15059350e-02  8.26694509e-01  4.28090955e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.88327356
Centerline is valid?  [True, True]
Translation: X:66.24, Y:-13.72, Z:42.84
[[ 8.09347295e-01  1.92385981e-01 -5.54927554e-01  6.62448299e+01]
 [-1.69520407e-01  9.81137734e-01  9.29062940e-02 -1.37170433e+01]
 [ 5.62334231e-01  1.88780870e-02  8.26694521e-01  4.28430980e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.94327356
Centerline is valid?  [True, True]
Translation: X:66.29, Y:-13.72, Z:42.88
[[ 8.08718177e-01  1.95008301e-01 -5.54929430e-01  6.62930638e+01]
 [-1.72707350e-01  9.80582824e-01  9.28950866e-02 -1.37215794e+01]
 [ 5.62269581e-01  2.07144460e-02  8.26694521e-01  4.28759795e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.00327356
Centerline is valid?  [True, True]
Translation: X:66.34, Y:-13.73, Z:42.91
[[ 8.08303447e-01  1.96691985e-01 -5.54939457e-01  6.63412923e+01]
 [-1.74790059e-01  9.80219398e-01  9.28351586e-02 -1.37281317e+01]
 [ 5.62222352e-01  2.19589216e-02  8.26694522e-01  4.29090585e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.06327356
Centerline is valid?  [True, True]
Translation: X:66.39, Y:-13.73, Z:42.94
[[ 8.07220529e-01  2.01013052e-01 -5.54967359e-01  6.63908391e+01]
 [-1.80145685e-01  9.79265109e-01  9.26681046e-02 -1.37349064e+01]
 [ 5.62087670e-01  2.51713785e-02  8.26694534e-01  4.29429922e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.12327356
Centerline is valid?  [True, True]
Translation: X:66.44, Y:-13.74, Z:42.98
[[ 8.06307693e-01  2.04643923e-01 -5.54967359e-01  6.64406352e+01]
 [-1.84551056e-01  9.78444444e-01  9.26681046e-02 -1.37392363e+01]
 [ 5.61968694e-01  2.77008064e-02  8.26694534e-01  4.29769061e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.18327356
Centerline is valid?  [True, True]
Translation: X:66.49, Y:-13.75, Z:43.01
[[ 8.06060072e-01  2.05611573e-01 -5.54969405e-01  6.64900597e+01]
 [-1.85733748e-01  9.78221789e-01  9.26558500e-02 -1.37464753e+01]
 [ 5.61934280e-01  2.83903666e-02  8.26694534e-01  4.30108903e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.24327356
Centerline is valid?  [True, True]
Translation: X:66.54, Y:-13.76, Z:43.04
[[ 8.06330309e-01  2.04549239e-01 -5.54969405e-01  6.65381380e+01]
 [-1.84444572e-01  9.78465683e-01  9.26558500e-02 -1.37562640e+01]
 [ 5.61971202e-01  2.76498742e-02  8.26694534e-01  4.30442630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.30327356
Centerline is valid?  [True, True]
Translation: X:66.59, Y:-13.77, Z:43.08
[[ 8.06916895e-01  2.02151085e-01 -5.54995552e-01  6.65867689e+01]
 [-1.81642372e-01  9.79004587e-01  9.24990131e-02 -1.37658223e+01]
 [ 5.62041967e-01  2.61716919e-02  8.26694544e-01  4.30778997e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.36327356
Centerline is valid?  [True, True]
Translation: X:66.64, Y:-13.78, Z:43.11
[[ 8.08944938e-01  1.93867478e-01 -5.54998639e-01  6.66356962e+01]
 [-1.71608191e-01  9.80814961e-01  9.24804899e-02 -1.37780964e+01]
 [ 5.62279928e-01  2.04306882e-02  8.26694545e-01  4.31121104e+01]
 [ 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 158.42327356
Centerline is valid?  [True, True]
Translation: X:66.68, Y:-13.79, Z:43.15
[[ 8.10051136e-01  1.89189575e-01 -5.54999515e-01  6.66837507e+01]
 [-1.65941072e-01  9.81790147e-01  9.24752284e-02 -1.37890961e+01]
 [ 5.62388405e-01  1.71875508e-02  8.26694545e-01  4.31455993e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.48327356000001
Centerline is valid?  [True, True]
Translation: X:66.73, Y:-13.81, Z:43.18
[[ 8.11065979e-01  1.84778241e-01 -5.55003585e-01  6.67307092e+01]
 [-1.60612135e-01  9.82678275e-01  9.24507986e-02 -1.38078392e+01]
 [ 5.62472861e-01  1.41566130e-02  8.26694545e-01  4.31792083e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.54327356
Centerline is valid?  [True, True]
Translation: X:66.78, Y:-13.82, Z:43.21
[[ 8.11372542e-01  1.83415122e-01 -5.55007650e-01  6.67765334e+01]
 [-1.58977370e-01  9.82946366e-01  9.24263920e-02 -1.38245661e+01]
 [ 5.62495150e-01  1.32414196e-02  8.26694545e-01  4.32118297e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.60327356
Centerline is valid?  [True, True]
Translation: X:66.83, Y:-13.83, Z:43.25
[[ 8.13026811e-01  1.75905771e-01 -5.55017625e-01  6.68265668e+01]
 [-1.49923691e-01  9.84373570e-01  9.23664555e-02 -1.38278030e+01]
 [ 5.62592474e-01  8.11388645e-03  8.26694547e-01  4.32457493e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.66327356
Centerline is valid?  [True, True]
Translation: X:66.88, Y:-13.83, Z:43.28
[[ 8.12857466e-01  1.76684415e-01 -5.55018339e-01  6.68764344e+01]
 [-1.50869394e-01  9.84229474e-01  9.23621651e-02 -1.38297313e+01]
 [ 5.62584363e-01  8.65800475e-03  8.26694547e-01  4.32794420e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.72327356
Centerline is valid?  [True, True]
Translation: X:66.92, Y:-13.84, Z:43.31
[[ 8.07885283e-01  1.98170569e-01 -5.55022337e-01  6.69245171e+01]
 [-1.76924043e-01  9.79883438e-01  9.23381353e-02 -1.38448902e+01]
 [ 5.62155897e-01  2.35981753e-02  8.26694547e-01  4.33134039e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.78327356
Centerline is valid?  [True, True]
Translation: X:66.97, Y:-13.86, Z:43.35
[[ 8.07769193e-01  1.98638234e-01 -5.55024129e-01  6.69722314e+01]
 [-1.77498669e-01  9.79780526e-01  9.23273676e-02 -1.38551051e+01]
 [ 5.62141578e-01  2.39368411e-02  8.26694547e-01  4.33465731e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.84327356
Centerline is valid?  [True, True]
Translation: X:67.02, Y:-13.86, Z:43.38
[[ 8.07728448e-01  1.98725252e-01 -5.55052275e-01  6.70202338e+01]
 [-1.77720451e-01  9.79756278e-01  9.21578955e-02 -1.38643534e+01]
 [ 5.62130052e-01  2.42055866e-02  8.26694559e-01  4.33797407e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.90327356
Centerline is valid?  [True, True]
Translation: X:67.07, Y:-13.88, Z:43.41
[[ 8.12599262e-01  1.77673987e-01 -5.55080530e-01  6.70682747e+01]
 [-1.52323508e-01  9.84040577e-01  9.19874505e-02 -1.38800493e+01]
 [ 5.62565542e-01  9.80287911e-03  8.26694571e-01  4.34136505e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.96327356
Centerline is valid?  [True, True]
Translation: X:67.12, Y:-13.89, Z:43.45
[[ 8.12407123e-01  1.78545848e-01 -5.55082018e-01  6.71166692e+01]
 [-1.53385483e-01  9.83876443e-01  9.19784696e-02 -1.38869353e+01]
 [ 5.62554495e-01  1.04175598e-02  8.26694572e-01  4.34469060e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.02327356
Centerline is valid?  [True, True]
Translation: X:67.17, Y:-13.89, Z:43.48
[[ 8.10898528e-01  1.85194321e-01 -5.55109576e-01  6.71652560e+01]
 [-1.61553251e-01  9.82583901e-01  9.18119001e-02 -1.38926743e+01]
 [ 5.62444775e-01  1.52296222e-02  8.26694583e-01  4.34800757e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.08327356
Centerline is valid?  [True, True]
Translation: X:67.22, Y:-13.90, Z:43.51
[[ 8.08727256e-01  1.94440221e-01 -5.55115507e-01  6.72151678e+01]
 [-1.72785398e-01  9.80674445e-01  9.17760273e-02 -1.38988363e+01]
 [ 5.62232543e-01  2.16940788e-02  8.26694584e-01  4.35142551e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.14327356
Centerline is valid?  [True, True]
Translation: X:67.26, Y:-13.91, Z:43.55
[[ 8.07862894e-01  1.97999221e-01 -5.55116072e-01  6.72629957e+01]
 [-1.77104049e-01  9.79904049e-01  9.17726064e-02 -1.39075574e+01]
 [ 5.62131391e-01  2.41736207e-02  8.26694584e-01  4.35473372e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.20327356
Centerline is valid?  [True, True]
Translation: X:67.31, Y:-13.92, Z:43.58
[[ 8.06894315e-01  2.01899184e-01 -5.55120063e-01  6.73113459e+01]
 [-1.81851848e-01  9.79036324e-01  9.17484635e-02 -1.39157108e+01]
 [ 5.62006646e-01  2.69182959e-02  8.26694584e-01  4.35806956e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.26327356
Centerline is valid?  [True, True]
Translation: X:67.36, Y:-13.93, Z:43.61
[[ 8.06549403e-01  2.03249674e-01 -5.55128481e-01  6.73598066e+01]
 [-1.83525524e-01  9.78728742e-01  9.16975032e-02 -1.39262943e+01]
 [ 5.61957688e-01  2.79216790e-02  8.26694585e-01  4.36143829e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.32327356
Centerline is valid?  [True, True]
Translation: X:67.41, Y:-13.94, Z:43.65
[[ 8.05979678e-01  2.05486588e-01 -5.55132436e-01  6.74090069e+01]
 [-1.86256656e-01  9.78214913e-01  9.16735567e-02 -1.39356147e+01]
 [ 5.61876514e-01  2.95100876e-02  8.26694585e-01  4.36484415e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.38327356
Centerline is valid?  [True, True]
Translation: X:67.46, Y:-13.95, Z:43.68
[[ 8.06223010e-01  2.04529794e-01 -5.55132436e-01  6.74561664e+01]
 [-1.85095443e-01  9.78435300e-01  9.16735567e-02 -1.39479315e+01]
 [ 5.61911145e-01  2.88431531e-02  8.26694585e-01  4.36814754e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.44327356
Centerline is valid?  [True, True]
Translation: X:67.50, Y:-13.96, Z:43.71
[[ 8.06597002e-01  2.03039407e-01 -5.55136267e-01  6.75039316e+01]
 [-1.83302744e-01  9.78774906e-01  9.16503497e-02 -1.39564566e+01]
 [ 5.61962081e-01  2.78331038e-02  8.26694586e-01  4.37144824e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.50327356
Centerline is valid?  [True, True]
Translation: X:67.55, Y:-13.97, Z:43.75
[[ 8.07479009e-01  1.99481353e-01 -5.55143981e-01  6.75513413e+01]
 [-1.79017862e-01  9.79572042e-01  9.16036047e-02 -1.39670260e+01]
 [ 5.62076734e-01  2.54127010e-02  8.26694587e-01  4.37474639e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.56327356
Centerline is valid?  [True, True]
Translation: X:67.60, Y:-13.98, Z:43.78
[[ 8.07730078e-01  1.98446520e-01 -5.55149620e-01  6.75990681e+01]
 [-1.77785981e-01  9.79799564e-01  9.15694217e-02 -1.39792246e+01]
 [ 5.62106989e-01  2.47344435e-02  8.26694587e-01  4.37808456e+01]
 [ 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 159.62327356
Centerline is valid?  [True, True]
Translation: X:67.65, Y:-13.99, Z:43.81
[[ 8.08727844e-01  1.94266526e-01 -5.55175460e-01  6.76477508e+01]
 [-1.72823900e-01  9.80701610e-01  9.14125317e-02 -1.39883584e+01]
 [ 5.62219863e-01  2.20197288e-02  8.26694598e-01  4.38144591e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.68327356
Centerline is valid?  [True, True]
Translation: X:67.70, Y:-14.00, Z:43.85
[[ 8.10036781e-01  1.88721857e-01 -5.55179677e-01  6.76957107e+01]
 [-1.66119182e-01  9.81861929e-01  9.13869174e-02 -1.39988471e+01]
 [ 5.62356497e-01  1.81992295e-02  8.26694598e-01  4.38478122e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.74327356
Centerline is valid?  [True, True]
Translation: X:67.74, Y:-14.01, Z:43.88
[[ 8.10700918e-01  1.85836721e-01 -5.55183515e-01  6.77448219e+01]
 [-1.62638406e-01  9.82446662e-01  9.13635927e-02 -1.40090467e+01]
 [ 5.62416901e-01  1.62256137e-02  8.26694598e-01  4.38819075e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.80327356
Centerline is valid?  [True, True]
Translation: X:67.79, Y:-14.02, Z:43.92
[[ 8.12680462e-01  1.76976899e-01 -5.55184333e-01  6.77935799e+01]
 [-1.51908765e-01  9.84163263e-01  9.13586245e-02 -1.40194479e+01]
 [ 5.62560391e-01  1.00919970e-02  8.26694598e-01  4.39157986e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.86327356
Centerline is valid?  [True, True]
Translation: X:67.84, Y:-14.02, Z:43.95
[[ 8.14659339e-01  1.67615815e-01 -5.55189246e-01  6.78430973e+01]
 [-1.40596893e-01  9.85845613e-01  9.13287566e-02 -1.40245919e+01]
 [ 5.62639026e-01  3.65605878e-03  8.26694598e-01  4.39496042e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.92327356
Centerline is valid?  [True, True]
Translation: X:67.89, Y:-14.03, Z:43.98
[[ 8.15932811e-01  1.61295902e-01 -5.55191211e-01  6.78915458e+01]
 [-1.32958959e-01  9.86905849e-01  9.13168128e-02 -1.40323256e+01]
 [ 5.62650481e-01 -6.90738365e-04  8.26694599e-01  4.39829886e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.98327356000001
Centerline is valid?  [True, True]
Translation: X:67.94, Y:-14.03, Z:44.02
[[ 8.14815265e-01  1.66759414e-01 -5.55218320e-01  6.79418575e+01]
 [-1.39681182e-01  9.85992154e-01  9.11517380e-02 -1.40264645e+01]
 [ 5.62641317e-01  3.28172358e-03  8.26694610e-01  4.40160368e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.04327356
Centerline is valid?  [True, True]
Translation: X:67.99, Y:-14.04, Z:44.05
[[ 8.16302578e-01  1.59225367e-01 -5.55245337e-01  6.79901572e+01]
 [-1.30679135e-01  9.87240774e-01  9.09869128e-02 -1.40389583e+01]
 [ 5.62648261e-01 -1.71387081e-03  8.26694622e-01  4.40497595e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.10327356
Centerline is valid?  [True, True]
Translation: X:68.04, Y:-14.04, Z:44.08
[[ 8.13577734e-01  1.72602853e-01 -5.55247265e-01  6.80395757e+01]
 [-1.46874309e-01  9.84962670e-01  9.09751437e-02 -1.40351979e+01]
 [ 5.62600398e-01  7.53620703e-03  8.26694622e-01  4.40825308e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.16327356
Centerline is valid?  [True, True]
Translation: X:68.09, Y:-14.04, Z:44.12
[[ 8.11832847e-01  1.80536272e-01 -5.55278384e-01  6.80897867e+01]
 [-1.56611968e-01  9.83478926e-01  9.07848759e-02 -1.40374205e+01]
 [ 5.62494551e-01  1.32610964e-02  8.26694637e-01  4.41163956e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.22327356
Centerline is valid?  [True, True]
Translation: X:68.14, Y:-14.04, Z:44.15
[[ 8.10462301e-01  1.86591015e-01 -5.55278896e-01  6.81391637e+01]
 [-1.63950740e-01  9.82282459e-01  9.07817443e-02 -1.40403813e+01]
 [ 5.62379777e-01  1.74632044e-02  8.26694637e-01  4.41498849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.28327356
Centerline is valid?  [True, True]
Translation: X:68.19, Y:-14.05, Z:44.18
[[ 8.10881672e-01  1.84748171e-01 -5.55282836e-01  6.81879051e+01]
 [-1.61733862e-01  9.82652130e-01  9.07576397e-02 -1.40466923e+01]
 [ 5.62417169e-01  1.62143309e-02  8.26694637e-01  4.41833039e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.34327356
Centerline is valid?  [True, True]
Translation: X:68.24, Y:-14.04, Z:44.22
[[ 8.07967172e-01  1.97092881e-01 -5.55286814e-01  6.82387676e+01]
 [-1.76717500e-01  9.80070607e-01  9.07332910e-02 -1.40429532e+01]
 [ 5.62103171e-01  2.48193773e-02  8.26694638e-01  4.42170445e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.40327356
Centerline is valid?  [True, True]
Translation: X:68.29, Y:-14.05, Z:44.25
[[ 8.07776798e-01  1.97865302e-01 -5.55289084e-01  6.82883022e+01]
 [-1.77664012e-01  9.79900755e-01  9.07193988e-02 -1.40480801e+01]
 [ 5.62078414e-01  2.53738610e-02  8.26694638e-01  4.42508721e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.46327356
Centerline is valid?  [True, True]
Translation: X:68.34, Y:-14.06, Z:44.28
[[ 8.10139267e-01  1.87952707e-01 -5.55291048e-01  6.83370391e+01]
 [-1.65652118e-01  9.82003843e-01  9.07073782e-02 -1.40588818e+01]
 [ 5.62346640e-01  1.84995292e-02  8.26694638e-01  4.42847877e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.52327356
Centerline is valid?  [True, True]
Translation: X:68.39, Y:-14.06, Z:44.32
[[ 8.10285643e-01  1.87312730e-01 -5.55293723e-01  6.83854863e+01]
 [-1.64887606e-01  9.82134013e-01  9.06909997e-02 -1.40643015e+01]
 [ 5.62360431e-01  1.80754377e-02  8.26694638e-01  4.43179158e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.58327356
Centerline is valid?  [True, True]
Translation: X:68.43, Y:-14.07, Z:44.35
[[ 8.09945176e-01  1.88698072e-01 -5.55321393e-01  6.84329475e+01]
 [-1.66683053e-01  9.81846553e-01  9.05213043e-02 -1.40693706e+01]
 [ 5.62321591e-01  1.92453715e-02  8.26694650e-01  4.43502641e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.64327356
Centerline is valid?  [True, True]
Translation: X:68.48, Y:-14.07, Z:44.38
[[ 8.07798330e-01  1.97659441e-01 -5.55331075e-01  6.84828310e+01]
 [-1.77590949e-01  9.79937807e-01  9.04618704e-02 -1.40695581e+01]
 [ 5.62070559e-01  2.55468246e-02  8.26694652e-01  4.43837631e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.70327356
Centerline is valid?  [True, True]
Translation: X:68.53, Y:-14.08, Z:44.42
[[ 8.09680154e-01  1.89798270e-01 -5.55332931e-01  6.85312923e+01]
 [-1.68065328e-01  9.81617419e-01  9.04504749e-02 -1.40811008e+01]
 [ 5.62291822e-01  2.00962567e-02  8.26694652e-01  4.44175742e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.76327356
Centerline is valid?  [True, True]
Translation: X:68.58, Y:-14.08, Z:44.45
[[ 8.08014345e-01  1.96759587e-01 -5.55336370e-01  6.85805908e+01]
 [-1.76521675e-01  9.80133985e-01  9.04293607e-02 -1.40824398e+01]
 [ 5.62096893e-01  2.49606855e-02  8.26694652e-01  4.44508263e+01]
 [ 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 160.82327356
Centerline is valid?  [True, True]
Translation: X:68.63, Y:-14.09, Z:44.48
[[ 8.09971718e-01  1.88515380e-01 -5.55344729e-01  6.86286444e+01]
 [-1.66559723e-01  9.81880683e-01  9.03779993e-02 -1.40947645e+01]
 [ 5.62319905e-01  1.92944407e-02  8.26694653e-01  4.44844286e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.88327356
Centerline is valid?  [True, True]
Translation: X:68.68, Y:-14.10, Z:44.52
[[ 8.10107064e-01  1.87923363e-01 -5.55347958e-01  6.86768789e+01]
 [-1.65855661e-01  9.82001682e-01  9.03581534e-02 -1.41019028e+01]
 [ 5.62333037e-01  1.89078246e-02  8.26694653e-01  4.45176012e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.94327356
Centerline is valid?  [True, True]
Translation: X:68.73, Y:-14.11, Z:44.55
[[ 8.10675110e-01  1.85376904e-01 -5.55374890e-01  6.87260088e+01]
 [-1.62882646e-01  9.82514418e-01  9.01923648e-02 -1.41074854e+01]
 [ 5.62383418e-01  1.73442261e-02  8.26694665e-01  4.45511315e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.00327356
Centerline is valid?  [True, True]
Translation: X:68.78, Y:-14.11, Z:44.58
[[ 8.10802252e-01  1.84808282e-01 -5.55378796e-01  6.87752459e+01]
 [-1.62209969e-01  9.82627906e-01  9.01683094e-02 -1.41148091e+01]
 [ 5.62394554e-01  1.69793090e-02  8.26694665e-01  4.45849959e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.06327356
Centerline is valid?  [True, True]
Translation: X:68.82, Y:-14.12, Z:44.62
[[ 8.11506742e-01  1.81684082e-01 -5.55380683e-01  6.88224095e+01]
 [-1.58432093e-01  9.83245159e-01  9.01566874e-02 -1.41201264e+01]
 [ 5.62455403e-01  1.48273644e-02  8.26694665e-01  4.46172549e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.12327356
Centerline is valid?  [True, True]
Translation: X:68.87, Y:-14.13, Z:44.65
[[ 8.11885013e-01  1.79944781e-01 -5.55394096e-01  6.88708289e+01]
 [-1.56381382e-01  9.83580978e-01  9.00739920e-02 -1.41250261e+01]
 [ 5.62483413e-01  1.37235722e-02  8.26694668e-01  4.46502766e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.18327356
Centerline is valid?  [True, True]
Translation: X:68.92, Y:-14.13, Z:44.68
[[ 8.12348012e-01  1.77756661e-01 -5.55421711e-01  6.89188742e+01]
 [-1.53847293e-01  9.83996129e-01  8.99034422e-02 -1.41294941e+01]
 [ 5.62513749e-01  1.24172440e-02  8.26694680e-01  4.46829572e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.24327356
Centerline is valid?  [True, True]
Translation: X:68.97, Y:-14.13, Z:44.72
[[ 8.12595150e-01  1.76593189e-01 -5.55431335e-01  6.89678846e+01]
 [-1.52478691e-01  9.84214567e-01  8.98439480e-02 -1.41345414e+01]
 [ 5.62529440e-01  1.16846866e-02  8.26694682e-01  4.47164049e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.30327356
Centerline is valid?  [True, True]
Translation: X:69.02, Y:-14.14, Z:44.75
[[ 8.12644247e-01  1.76285950e-01 -5.55457101e-01  6.90170035e+01]
 [-1.52215561e-01  9.84269846e-01  8.96844145e-02 -1.41392430e+01]
 [ 5.62529777e-01  1.16676907e-02  8.26694693e-01  4.47498397e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.36327356
Centerline is valid?  [True, True]
Translation: X:69.07, Y:-14.14, Z:44.78
[[ 8.12483921e-01  1.77011148e-01 -5.55461008e-01  6.90669435e+01]
 [-1.53110478e-01  9.84133237e-01  8.96602129e-02 -1.41432603e+01]
 [ 5.62518497e-01  1.21994191e-02  8.26694693e-01  4.47838186e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.42327356
Centerline is valid?  [True, True]
Translation: X:69.11, Y:-14.15, Z:44.82
[[ 8.11869792e-01  1.79800928e-01 -5.55462931e-01  6.91146026e+01]
 [-1.56498149e-01  9.83601297e-01  8.96482976e-02 -1.41462061e+01]
 [ 5.62472906e-01  1.41461757e-02  8.26694693e-01  4.48161548e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.48327356000001
Centerline is valid?  [True, True]
Translation: X:69.16, Y:-14.15, Z:44.85
[[ 8.11153070e-01  1.82978493e-01 -5.55472384e-01  6.91627027e+01]
 [-1.60388417e-01  9.82979777e-01  8.95896957e-02 -1.41519399e+01]
 [ 5.62411107e-01  1.64203796e-02  8.26694694e-01  4.48490677e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.54327356
Centerline is valid?  [True, True]
Translation: X:69.21, Y:-14.16, Z:44.88
[[ 8.09527526e-01  1.89962689e-01 -5.55499200e-01  6.92110713e+01]
 [-1.68968458e-01  9.81556498e-01  8.94231601e-02 -1.41608879e+01]
 [ 5.62240913e-01  2.14713339e-02  8.26694706e-01  4.48824580e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.60327356
Centerline is valid?  [True, True]
Translation: X:69.26, Y:-14.16, Z:44.92
[[ 8.09128959e-01  1.91649681e-01 -5.55500430e-01  6.92599126e+01]
 [-1.71019313e-01  9.81201946e-01  8.94155228e-02 -1.41648945e+01]
 [ 5.62194559e-01  2.26526128e-02  8.26694706e-01  4.49157068e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.66327356
Centerline is valid?  [True, True]
Translation: X:69.31, Y:-14.17, Z:44.95
[[ 8.08435362e-01  1.94477464e-01 -5.55527480e-01  6.93085985e+01]
 [-1.74564274e-01  9.80592807e-01  8.92471952e-02 -1.41697641e+01]
 [ 5.62102819e-01  2.48246629e-02  8.26694718e-01  4.49488696e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.72327356
Centerline is valid?  [True, True]
Translation: X:69.36, Y:-14.18, Z:44.98
[[ 8.07870279e-01  1.96735541e-01 -5.55554443e-01  6.93559336e+01]
 [-1.77418787e-01  9.80095654e-01  8.90790891e-02 -1.41814746e+01]
 [ 5.62021518e-01  2.66014466e-02  8.26694730e-01  4.49818629e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.78327356
Centerline is valid?  [True, True]
Translation: X:69.40, Y:-14.19, Z:45.01
[[ 8.08006154e-01  1.96173571e-01 -5.55555564e-01  6.94033265e+01]
 [-1.76741826e-01  9.80218592e-01  8.90720968e-02 -1.41931811e+01]
 [ 5.62039484e-01  2.62191023e-02  8.26694730e-01  4.50149699e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.84327356
Centerline is valid?  [True, True]
Translation: X:69.45, Y:-14.21, Z:45.05
[[ 8.08331628e-01  1.94749599e-01 -5.55583093e-01  6.94508227e+01]
 [-1.75132415e-01  9.80523028e-01  8.89001074e-02 -1.42057104e+01]
 [ 5.62075277e-01  2.54398402e-02  8.26694743e-01  4.50481551e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.90327356
Centerline is valid?  [True, True]
Translation: X:69.50, Y:-14.22, Z:45.08
[[ 8.08448554e-01  1.94246564e-01 -5.55589063e-01  6.94983545e+01]
 [-1.74547833e-01  9.80630644e-01  8.88627821e-02 -1.42186395e+01]
 [ 5.62088951e-01  2.51358795e-02  8.26694743e-01  4.50814712e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.96327356
Centerline is valid?  [True, True]
Translation: X:69.54, Y:-14.23, Z:45.11
[[ 8.08664047e-01  1.93339746e-01 -5.55591758e-01  6.95447685e+01]
 [-1.73459475e-01  9.80825270e-01  8.88459319e-02 -1.42312330e+01]
 [ 5.62115886e-01  2.45261436e-02  8.26694743e-01  4.51140095e+01]
 [ 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 162.02327356
Centerline is valid?  [True, True]
Translation: X:69.59, Y:-14.24, Z:45.15
[[ 8.08916875e-01  1.92251672e-01 -5.55601282e-01  6.95928440e+01]
 [-1.72180665e-01  9.81055964e-01  8.87863389e-02 -1.42409133e+01]
 [ 5.62145274e-01  2.38430305e-02  8.26694745e-01  4.51473300e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.08327356
Centerline is valid?  [True, True]
Translation: X:69.64, Y:-14.25, Z:45.18
[[ 8.08666735e-01  1.93223289e-01 -5.55628358e-01  6.96400473e+01]
 [-1.73475462e-01  9.80843187e-01  8.86166271e-02 -1.42526505e+01]
 [ 5.62107085e-01  2.47265673e-02  8.26694757e-01  4.51802292e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.14327356
Centerline is valid?  [True, True]
Translation: X:69.69, Y:-14.26, Z:45.21
[[ 8.08872109e-01  1.92283882e-01 -5.55655307e-01  6.96875576e+01]
 [-1.72452127e-01  9.81038901e-01  8.84473736e-02 -1.42630127e+01]
 [ 5.62126477e-01  2.42813259e-02  8.26694769e-01  4.52131863e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.20327356
Centerline is valid?  [True, True]
Translation: X:69.74, Y:-14.27, Z:45.25
[[ 8.08933327e-01  1.91947663e-01 -5.55682434e-01  6.97354202e+01]
 [-1.72161386e-01  9.81105339e-01  8.82766694e-02 -1.42738708e+01]
 [ 5.62127504e-01  2.42571183e-02  8.26694782e-01  4.52464312e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.26327356
Centerline is valid?  [True, True]
Translation: X:69.78, Y:-14.29, Z:45.28
[[ 8.09239518e-01  1.90574535e-01 -5.55709231e-01  6.97825793e+01]
 [-1.70611907e-01  9.81391160e-01  8.81077086e-02 -1.42860198e+01]
 [ 5.62159213e-01  2.35103719e-02  8.26694794e-01  4.52793403e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.32327356
Centerline is valid?  [True, True]
Translation: X:69.83, Y:-14.29, Z:45.31
[[ 8.10125145e-01  1.86693966e-01 -5.55736100e-01  6.98315852e+01]
 [-1.66022782e-01  9.82193133e-01  8.79379639e-02 -1.42929275e+01]
 [ 5.62257668e-01  2.10240975e-02  8.26694806e-01  4.53129310e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.38327356
Centerline is valid?  [True, True]
Translation: X:69.88, Y:-14.30, Z:45.35
[[ 8.10450555e-01  1.85266172e-01 -5.55739457e-01  6.98782343e+01]
 [-1.64306354e-01  9.82483622e-01  8.79167444e-02 -1.43049540e+01]
 [ 5.62292913e-01  2.00593495e-02  8.26694806e-01  4.53455586e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.44327356
Centerline is valid?  [True, True]
Translation: X:69.93, Y:-14.31, Z:45.38
[[ 8.11874438e-01  1.78829359e-01 -5.55769698e-01  6.99281209e+01]
 [-1.56636101e-01  9.83752721e-01  8.77252246e-02 -1.43073701e+01]
 [ 5.62427798e-01  1.58317311e-02  8.26694822e-01  4.53792528e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.50327356
Centerline is valid?  [True, True]
Translation: X:69.98, Y:-14.32, Z:45.41
[[ 8.12371910e-01  1.76552749e-01 -5.55770641e-01  6.99765037e+01]
 [-1.53881845e-01  9.84187844e-01  8.77192457e-02 -1.43172561e+01]
 [ 5.62469783e-01  1.42623603e-02  8.26694822e-01  4.54128255e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.56327356
Centerline is valid?  [True, True]
Translation: X:70.03, Y:-14.33, Z:45.45
[[ 8.10102187e-01  1.86679853e-01 -5.55774306e-01  7.00259852e+01]
 [-1.66171408e-01  9.82189631e-01  8.76960211e-02 -1.43260975e+01]
 [ 5.62246841e-01  2.13110606e-02  8.26694822e-01  4.54470171e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.62327356
Centerline is valid?  [True, True]
Translation: X:70.07, Y:-14.34, Z:45.48
[[ 8.11624787e-01  1.79947748e-01 -5.55773347e-01  7.00738860e+01]
 [-1.58007136e-01  9.83535503e-01  8.77021025e-02 -1.43421847e+01]
 [ 5.62404614e-01  1.66349544e-02  8.26694822e-01  4.54809297e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.68327356
Centerline is valid?  [True, True]
Translation: X:70.12, Y:-14.34, Z:45.51
[[ 8.12828757e-01  1.74425848e-01 -5.55774267e-01  7.01228563e+01]
 [-1.51321014e-01  9.84586876e-01  8.76962670e-02 -1.43448808e+01]
 [ 5.62504545e-01  1.28182780e-02  8.26694822e-01  4.55141346e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.74327356
Centerline is valid?  [True, True]
Translation: X:70.17, Y:-14.35, Z:45.55
[[ 8.12662767e-01  1.75113336e-01 -5.55800815e-01  7.01702047e+01]
 [-1.52268985e-01  9.84455713e-01  8.75277407e-02 -1.43548459e+01]
 [ 5.62488563e-01  1.35006900e-02  8.26694834e-01  4.55469347e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.80327356
Centerline is valid?  [True, True]
Translation: X:70.22, Y:-14.36, Z:45.58
[[ 8.12568049e-01  1.75522816e-01 -5.55810136e-01  7.02178382e+01]
 [-1.52805517e-01  9.84377840e-01  8.74685205e-02 -1.43630069e+01]
 [ 5.62479902e-01  1.38567301e-02  8.26694835e-01  4.55797924e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.86327356
Centerline is valid?  [True, True]
Translation: X:70.27, Y:-14.37, Z:45.61
[[ 8.10398609e-01  1.85191418e-01 -5.55840115e-01  7.02662350e+01]
 [-1.64653420e-01  9.82482499e-01  8.72776601e-02 -1.43695710e+01]
 [ 5.62266259e-01  2.07912815e-02  8.26694851e-01  4.56129250e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.92327356
Centerline is valid?  [True, True]
Translation: X:70.31, Y:-14.38, Z:45.65
[[ 8.11300030e-01  1.81202812e-01 -5.55839728e-01  7.03144773e+01]
 [-1.59816889e-01  9.83280601e-01  8.72801280e-02 -1.43829603e+01]
 [ 5.62361826e-01  1.80222058e-02  8.26694851e-01  4.56467763e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.98327356000001
Centerline is valid?  [True, True]
Translation: X:70.36, Y:-14.39, Z:45.68
[[ 8.12452743e-01  1.75958801e-01 -5.55840841e-01  7.03637281e+01]
 [-1.53467340e-01  9.84292229e-01  8.72730388e-02 -1.43886833e+01]
 [ 5.62466279e-01  1.43981956e-02  8.26694851e-01  4.56804912e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.04327356
Centerline is valid?  [True, True]
Translation: X:70.41, Y:-14.40, Z:45.71
[[ 8.12805553e-01  1.74317724e-01 -5.55842122e-01  7.04111335e+01]
 [-1.51484864e-01  9.84600009e-01  8.72648769e-02 -1.43989696e+01]
 [ 5.62493973e-01  1.32722918e-02  8.26694851e-01  4.57134466e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.10327356
Centerline is valid?  [True, True]
Translation: X:70.46, Y:-14.41, Z:45.75
[[ 8.13571576e-01  1.70620013e-01 -5.55868782e-01  7.04567623e+01]
 [-1.47122391e-01  9.85276358e-01  8.70947797e-02 -1.44102420e+01]
 [ 5.62544481e-01  1.09229072e-02  8.26694863e-01  4.57452241e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.16327356
Centerline is valid?  [True, True]
Translation: X:70.51, Y:-14.41, Z:45.78
[[ 8.14497971e-01  1.66072783e-01 -5.55889275e-01  7.05056572e+01]
 [-1.41705757e-01  9.86081525e-01  8.69638138e-02 -1.44132918e+01]
 [ 5.62594467e-01  7.94086090e-03  8.26694870e-01  4.57783524e+01]
 [ 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 163.22327356
Centerline is valid?  [True, True]
Translation: X:70.55, Y:-14.42, Z:45.81
[[ 8.16676178e-01  1.54912485e-01 -5.55915589e-01  7.05540587e+01]
 [-1.28314652e-01  9.87928095e-01  8.67953304e-02 -1.44235913e+01]
 [ 5.62650309e-01  4.48436554e-04  8.26694882e-01  4.58118917e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.28327356
Centerline is valid?  [True, True]
Translation: X:70.60, Y:-14.43, Z:45.85
[[ 8.17802272e-01  1.48839317e-01 -5.55919330e-01  7.06025586e+01]
 [-1.20985901e-01  9.88854460e-01  8.67713624e-02 -1.44309311e+01]
 [ 5.62638299e-01 -3.70341619e-03  8.26694883e-01  4.58452635e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.34327356
Centerline is valid?  [True, True]
Translation: X:70.65, Y:-14.44, Z:45.88
[[ 8.18513122e-01  1.44780055e-01 -5.55945145e-01  7.06512094e+01]
 [-1.16190828e-01  9.89443856e-01  8.66057007e-02 -1.44384149e+01]
 [ 5.62615286e-01 -6.29217571e-03  8.26694894e-01  4.58786759e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.40327356
Centerline is valid?  [True, True]
Translation: X:70.70, Y:-14.44, Z:45.91
[[ 8.18593289e-01  1.44312082e-01 -5.55948784e-01  7.07000707e+01]
 [-1.15641003e-01  9.89510312e-01  8.65823359e-02 -1.44410555e+01]
 [ 5.62611932e-01 -6.58524388e-03  8.26694895e-01  4.59117989e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.46327356
Centerline is valid?  [True, True]
Translation: X:70.75, Y:-14.45, Z:45.94
[[ 8.17927277e-01  1.47942817e-01 -5.55974723e-01  7.07483262e+01]
 [-1.20143781e-01  9.88988287e-01  8.64155069e-02 -1.44450798e+01]
 [ 5.62637042e-01 -3.88469479e-03  8.26694906e-01  4.59445842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.52327356
Centerline is valid?  [True, True]
Translation: X:70.80, Y:-14.45, Z:45.98
[[ 8.15660175e-01  1.59922636e-01 -5.55988516e-01  7.07975701e+01]
 [-1.34695912e-01  9.87119402e-01  8.63266852e-02 -1.44471840e+01]
 [ 5.62632643e-01  4.47614093e-03  8.26694910e-01  4.59778758e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.58327356
Centerline is valid?  [True, True]
Translation: X:70.85, Y:-14.45, Z:46.01
[[ 8.15722716e-01  1.59513549e-01 -5.56014279e-01  7.08454248e+01]
 [-1.34314115e-01  9.87185945e-01  8.61604820e-02 -1.44523816e+01]
 [ 5.62633246e-01  4.39750354e-03  8.26694921e-01  4.60105170e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.64327356
Centerline is valid?  [True, True]
Translation: X:70.90, Y:-14.46, Z:46.04
[[ 8.13912921e-01  1.68459931e-01 -5.56027885e-01  7.08952282e+01]
 [-1.45204562e-01  9.85650619e-01  8.60725999e-02 -1.44563577e+01]
 [ 5.62549014e-01  1.06821845e-02  8.26694925e-01  4.60443829e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.70327356
Centerline is valid?  [True, True]
Translation: X:70.94, Y:-14.46, Z:46.08
[[ 8.12434491e-01  1.75448657e-01 -5.56028746e-01  7.09443462e+01]
 [-1.53673901e-01  9.84366190e-01  8.60670404e-02 -1.44567442e+01]
 [ 5.62436245e-01  1.55232742e-02  8.26694925e-01  4.60774567e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.76327356
Centerline is valid?  [True, True]
Translation: X:70.99, Y:-14.47, Z:46.11
[[ 8.12840405e-01  1.73473495e-01 -5.56055234e-01  7.09904341e+01]
 [-1.51398101e-01  9.84733749e-01  8.58956231e-02 -1.44735079e+01]
 [ 5.62466969e-01  1.43662735e-02  8.26694937e-01  4.61101120e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.82327356
Centerline is valid?  [True, True]
Translation: X:71.04, Y:-14.47, Z:46.14
[[ 8.12039385e-01  1.77156078e-01 -5.56064530e-01  7.10394890e+01]
 [-1.55901248e-01  9.84036119e-01  8.58354093e-02 -1.44747078e+01]
 [ 5.62393846e-01  1.69894209e-02  8.26694939e-01  4.61432016e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.88327356
Centerline is valid?  [True, True]
Translation: X:71.09, Y:-14.48, Z:46.18
[[ 8.08978648e-01  1.90569905e-01 -5.56090513e-01  7.10888217e+01]
 [-1.72279923e-01  9.81315866e-01  8.56667951e-02 -1.44811922e+01]
 [ 5.62025956e-01  2.65006226e-02  8.26694951e-01  4.61769724e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.94327356
Centerline is valid?  [True, True]
Translation: X:71.14, Y:-14.47, Z:46.21
[[ 8.09531795e-01  1.88204965e-01 -5.56090967e-01  7.11395364e+01]
 [-1.69413448e-01  9.81815048e-01  8.56638517e-02 -1.44733228e+01]
 [ 5.62100841e-01  2.48616765e-02  8.26694951e-01  4.62102696e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.00327356
Centerline is valid?  [True, True]
Translation: X:71.19, Y:-14.49, Z:46.24
[[ 8.10516444e-01  1.83839685e-01 -5.56116951e-01  7.11858753e+01]
 [-1.64235760e-01  9.82709133e-01  8.54948835e-02 -1.44914948e+01]
 [ 5.62218560e-01  2.20392809e-02  8.26694963e-01  4.62432386e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.06327356
Centerline is valid?  [True, True]
Translation: X:71.24, Y:-14.48, Z:46.28
[[ 8.08730128e-01  1.91529230e-01 -5.56122410e-01  7.12370205e+01]
 [-1.73585943e-01  9.81103775e-01  8.54593656e-02 -1.44847801e+01]
 [ 5.61981762e-01  2.74214694e-02  8.26694963e-01  4.62769324e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.12327356
Centerline is valid?  [True, True]
Translation: X:71.28, Y:-14.50, Z:46.31
[[ 8.08932837e-01  1.90668814e-01 -5.56123250e-01  7.12836758e+01]
 [-1.72545920e-01  9.81287693e-01  8.54539000e-02 -1.45040823e+01]
 [ 5.62010294e-01  2.68303320e-02  8.26694963e-01  4.63103104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.18327356
Centerline is valid?  [True, True]
Translation: X:71.33, Y:-14.51, Z:46.34
[[ 8.08948871e-01  1.90531309e-01 -5.56147053e-01  7.13320453e+01]
 [-1.72485532e-01  9.81311808e-01  8.52987483e-02 -1.45105934e+01]
 [ 5.62005752e-01  2.69249940e-02  8.26694973e-01  4.63434448e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.24327356
Centerline is valid?  [True, True]
Translation: X:71.38, Y:-14.50, Z:46.38
[[ 8.07388154e-01  1.97030003e-01 -5.56150652e-01  7.13832405e+01]
 [-1.80386914e-01  9.79892182e-01  8.52752797e-02 -1.45035979e+01]
 [ 5.61769464e-01  3.14720492e-02  8.26694974e-01  4.63771526e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.30327356
Centerline is valid?  [True, True]
Translation: X:71.43, Y:-14.53, Z:46.41
[[ 8.07761452e-01  1.95488771e-01 -5.56152476e-01  7.14287758e+01]
 [-1.78524662e-01  9.80234207e-01  8.52633806e-02 -1.45253364e+01]
 [ 5.61827715e-01  3.04144608e-02  8.26694974e-01  4.64100224e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.36327356
Centerline is valid?  [True, True]
Translation: X:71.48, Y:-14.53, Z:46.44
[[ 8.07775926e-01  1.95402428e-01 -5.56161797e-01  7.14773133e+01]
 [-1.78461646e-01  9.80250972e-01  8.52025419e-02 -1.45325841e+01]
 [ 5.61826926e-01  3.04289874e-02  8.26694975e-01  4.64433929e+01]
 [ 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 164.42327356
Centerline is valid?  [True, True]
Translation: X:71.53, Y:-14.52, Z:46.48
[[ 8.08122335e-01  1.93895827e-01 -5.56185851e-01  7.15277282e+01]
 [-1.76741385e-01  9.80576250e-01  8.50452808e-02 -1.45242394e+01]
 [ 5.61872561e-01  2.95740668e-02  8.26694986e-01  4.64763745e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.48327356000001
Centerline is valid?  [True, True]
Translation: X:71.57, Y:-14.55, Z:46.51
[[ 8.09782972e-01  1.86817375e-01 -5.56193138e-01  7.15739562e+01]
 [-1.68187312e-01  9.82083722e-01  8.49975991e-02 -1.45501694e+01]
 [ 5.62107256e-01  2.47150208e-02  8.26694987e-01  4.65101196e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.54327356
Centerline is valid?  [True, True]
Translation: X:71.63, Y:-14.54, Z:46.54
[[ 8.10251268e-01  1.84772392e-01 -5.56194252e-01  7.16251564e+01]
 [-1.65712391e-01  9.82504988e-01  8.49903095e-02 -1.45419099e+01]
 [ 5.62167490e-01  2.33047736e-02  8.26694987e-01  4.65437140e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.60327356
Centerline is valid?  [True, True]
Translation: X:71.67, Y:-14.55, Z:46.58
[[ 8.11033183e-01  1.81298179e-01 -5.56197938e-01  7.16740532e+01]
 [-1.61516641e-01  9.83205534e-01  8.49661856e-02 -1.45501493e+01]
 [ 5.62261105e-01  2.09248267e-02  8.26694987e-01  4.65774468e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.66327356
Centerline is valid?  [True, True]
Translation: X:71.72, Y:-14.56, Z:46.61
[[ 8.11178918e-01  1.80639326e-01 -5.56199782e-01  7.17219946e+01]
 [-1.60726209e-01  9.83336100e-01  8.49541104e-02 -1.45576473e+01]
 [ 5.62277378e-01  2.04828994e-02  8.26694987e-01  4.66104664e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.72327356
Centerline is valid?  [True, True]
Translation: X:71.77, Y:-14.57, Z:46.64
[[ 8.11158866e-01  1.80650881e-01 -5.56225272e-01  7.17710213e+01]
 [-1.60854685e-01  9.83329520e-01  8.47869423e-02 -1.45650659e+01]
 [ 5.62269566e-01  2.06957610e-02  8.26694999e-01  4.66441334e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.78327356
Centerline is valid?  [True, True]
Translation: X:71.82, Y:-14.57, Z:46.68
[[ 8.10915488e-01  1.81734640e-01 -5.56227104e-01  7.18190129e+01]
 [-1.62176760e-01  9.83113377e-01  8.47749210e-02 -1.45723151e+01]
 [ 5.62240846e-01  2.14618133e-02  8.26694999e-01  4.66771612e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.84327356
Centerline is valid?  [True, True]
Translation: X:71.86, Y:-14.60, Z:46.71
[[ 8.10744054e-01  1.82418225e-01 -5.56253242e-01  7.18634560e+01]
 [-1.63123205e-01  9.82971582e-01  8.46031246e-02 -1.45952245e+01]
 [ 5.62214281e-01  2.21463314e-02  8.26695011e-01  4.67093271e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.90327356
Centerline is valid?  [True, True]
Translation: X:71.91, Y:-14.59, Z:46.74
[[ 8.10546009e-01  1.83257267e-01 -5.56266070e-01  7.19134080e+01]
 [-1.64198351e-01  9.82799821e-01  8.45187116e-02 -1.45877796e+01]
 [ 5.62186862e-01  2.28316669e-02  8.26695014e-01  4.67421353e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.96327356
Centerline is valid?  [True, True]
Translation: X:71.96, Y:-14.62, Z:46.78
[[ 8.11058193e-01  1.80934428e-01 -5.56279912e-01  7.19584562e+01]
 [-1.61444558e-01  9.83263773e-01  8.44275265e-02 -1.46160717e+01]
 [ 5.62245731e-01  2.13327274e-02  8.26695018e-01  4.67752933e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.02327356
Centerline is valid?  [True, True]
Translation: X:72.01, Y:-14.61, Z:46.81
[[ 8.11281647e-01  1.79850920e-01 -5.56305434e-01  7.20089067e+01]
 [-1.60246392e-01  9.83474200e-01  8.42590775e-02 -1.46094587e+01]
 [ 5.62266114e-01  2.07880953e-02  8.26695030e-01  4.68084831e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.08327356
Centerline is valid?  [True, True]
Translation: X:72.06, Y:-14.64, Z:46.84
[[ 8.11442651e-01  1.79044273e-01 -5.56330812e-01  7.20550915e+01]
 [-1.59383482e-01  9.83628777e-01  8.40912327e-02 -1.46366724e+01]
 [ 5.62279050e-01  2.04347291e-02  8.26695042e-01  4.68422490e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.14327356
Centerline is valid?  [True, True]
Translation: X:72.10, Y:-14.65, Z:46.88
[[ 8.11097460e-01  1.80587828e-01 -5.56335282e-01  7.21035709e+01]
 [-1.61274942e-01  9.83322954e-01  8.40616480e-02 -1.46489839e+01]
 [ 5.62237764e-01  2.15407513e-02  8.26695042e-01  4.68761104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.20327356
Centerline is valid?  [True, True]
Translation: X:72.15, Y:-14.66, Z:46.91
[[ 8.09922496e-01  1.85785646e-01 -5.56335551e-01  7.21510628e+01]
 [-1.67578848e-01  9.82268429e-01  8.40598730e-02 -1.46591487e+01]
 [ 5.62087965e-01  2.51480888e-02  8.26695042e-01  4.69091034e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.26327356
Centerline is valid?  [True, True]
Translation: X:72.20, Y:-14.65, Z:46.94
[[ 8.08281035e-01  1.92728199e-01 -5.56361042e-01  7.22027848e+01]
 [-1.76116840e-01  9.80788041e-01  8.38908690e-02 -1.46531699e+01]
 [ 5.61840393e-01  3.01771500e-02  8.26695054e-01  4.69432163e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.32327356
Centerline is valid?  [True, True]
Translation: X:72.25, Y:-14.66, Z:46.98
[[ 8.07876276e-01  1.94414299e-01 -5.56362295e-01  7.22517732e+01]
 [-1.78168626e-01  9.80418103e-01  8.38825571e-02 -1.46619094e+01]
 [ 5.61775635e-01  3.13595778e-02  8.26695054e-01  4.69770679e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.38327356
Centerline is valid?  [True, True]
Translation: X:72.30, Y:-14.69, Z:47.01
[[ 8.09030735e-01  1.89547350e-01 -5.56364153e-01  7.22984667e+01]
 [-1.72271722e-01  9.81472485e-01  8.38702320e-02 -1.46856708e+01]
 [ 5.61953488e-01  2.79922154e-02  8.26695054e-01  4.70108968e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.44327356
Centerline is valid?  [True, True]
Translation: X:72.35, Y:-14.70, Z:47.04
[[ 8.08880406e-01  1.90184485e-01 -5.56365302e-01  7.23461904e+01]
 [-1.73049907e-01  9.81336228e-01  8.38626094e-02 -1.46970548e+01]
 [ 5.61930795e-01  2.84441423e-02  8.26695054e-01  4.70441656e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.50327356
Centerline is valid?  [True, True]
Translation: X:72.39, Y:-14.71, Z:47.08
[[ 8.08898882e-01  1.90089924e-01 -5.56370757e-01  7.23945246e+01]
 [-1.72960020e-01  9.81355167e-01  8.38264092e-02 -1.47059451e+01]
 [ 5.61931873e-01  2.84228083e-02  8.26695055e-01  4.70775769e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.56327356
Centerline is valid?  [True, True]
Translation: X:72.44, Y:-14.72, Z:47.11
[[ 8.09271763e-01  1.88480255e-01 -5.56376138e-01  7.24418035e+01]
 [-1.71031788e-01  9.81696108e-01  8.37906830e-02 -1.47182258e+01]
 [ 5.61985179e-01  2.73485718e-02  8.26695055e-01  4.71106216e+01]
 [ 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 165.62327356
Centerline is valid?  [True, True]
Translation: X:72.49, Y:-14.73, Z:47.14
[[ 8.09399974e-01  1.87907766e-01 -5.56383279e-01  7.24897771e+01]
 [-1.70369872e-01  9.81815246e-01  8.37432418e-02 -1.47288071e+01]
 [ 5.62001591e-01  2.70091700e-02  8.26695056e-01  4.71439549e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.68327356
Centerline is valid?  [True, True]
Translation: X:72.54, Y:-14.74, Z:47.18
[[ 8.09826746e-01  1.85990420e-01 -5.56406511e-01  7.25375275e+01]
 [-1.68150248e-01  9.82210992e-01  8.35886463e-02 -1.47394148e+01]
 [ 5.62055278e-01  2.58675712e-02  8.26695067e-01  4.71770809e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.74327356
Centerline is valid?  [True, True]
Translation: X:72.59, Y:-14.75, Z:47.21
[[ 8.09853709e-01  1.85799054e-01 -5.56431202e-01  7.25853817e+01]
 [-1.68031016e-01  9.82245393e-01  8.34240127e-02 -1.47500988e+01]
 [ 5.62052087e-01  2.59364541e-02  8.26695078e-01  4.72102776e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.80327356
Centerline is valid?  [True, True]
Translation: X:72.63, Y:-14.76, Z:47.24
[[ 8.10113723e-01  1.84585891e-01 -5.56456471e-01  7.26334952e+01]
 [-1.66675405e-01  9.82490654e-01  8.32551728e-02 -1.47588979e+01]
 [ 5.62081013e-01  2.53014496e-02  8.26695090e-01  4.72434553e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.86327356
Centerline is valid?  [True, True]
Translation: X:72.68, Y:-14.77, Z:47.28
[[ 8.09475682e-01  1.87289606e-01 -5.56481558e-01  7.26819593e+01]
 [-1.70069926e-01  9.81922979e-01  8.30872068e-02 -1.47692176e+01]
 [ 5.61983399e-01  2.73837043e-02  8.26695102e-01  4.72770216e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.92327356
Centerline is valid?  [True, True]
Translation: X:72.73, Y:-14.78, Z:47.31
[[ 8.09217483e-01  1.88391618e-01 -5.56485098e-01  7.27288482e+01]
 [-1.71423025e-01  9.81689667e-01  8.30634927e-02 -1.47774163e+01]
 [ 5.61944136e-01  2.81779284e-02  8.26695102e-01  4.73093950e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.98327356000001
Centerline is valid?  [True, True]
Translation: X:72.78, Y:-14.79, Z:47.34
[[ 8.09869726e-01  1.85541527e-01 -5.56493817e-01  7.27778464e+01]
 [-1.68005910e-01  9.82285181e-01  8.30050408e-02 -1.47872762e+01]
 [ 5.62036512e-01  2.62709807e-02  8.26695104e-01  4.73433354e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.04327356
Centerline is valid?  [True, True]
Translation: X:72.83, Y:-14.80, Z:47.38
[[ 8.10493861e-01  1.82792794e-01 -5.56494830e-01  7.28251223e+01]
 [-1.64676975e-01  9.82849319e-01  8.29982485e-02 -1.47958087e+01]
 [ 5.62122047e-01  2.43723142e-02  8.26695104e-01  4.73760122e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.10327356
Centerline is valid?  [True, True]
Translation: X:72.87, Y:-14.80, Z:47.41
[[ 8.10582923e-01  1.82370674e-01 -5.56503605e-01  7.28725059e+01]
 [-1.64205435e-01  9.82933179e-01  8.29393809e-02 -1.48038126e+01]
 [ 5.62131568e-01  2.41516707e-02  8.26695105e-01  4.74086787e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.16327356
Centerline is valid?  [True, True]
Translation: X:72.92, Y:-14.81, Z:47.44
[[ 8.10583072e-01  1.82345888e-01 -5.56511509e-01  7.29201676e+01]
 [-1.64211743e-01  9.82936601e-01  8.28863154e-02 -1.48112372e+01]
 [ 5.62129510e-01  2.41994807e-02  8.26695106e-01  4.74414775e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.22327356
Centerline is valid?  [True, True]
Translation: X:72.97, Y:-14.82, Z:47.47
[[ 8.10535471e-01  1.82537229e-01 -5.56518114e-01  7.29681628e+01]
 [-1.64474172e-01  9.82896464e-01  8.28419504e-02 -1.48184144e+01]
 [ 5.62121426e-01  2.43865168e-02  8.26695107e-01  4.74744810e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.28327356
Centerline is valid?  [True, True]
Translation: X:73.02, Y:-14.83, Z:47.51
[[ 8.10615621e-01  1.82103821e-01 -5.56543362e-01  7.30171040e+01]
 [-1.64065041e-01  9.82979144e-01  8.26720367e-02 -1.48261194e+01]
 [ 5.62125411e-01  2.42940650e-02  8.26695119e-01  4.75081023e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.34327356
Centerline is valid?  [True, True]
Translation: X:73.07, Y:-14.83, Z:47.54
[[ 8.10510856e-01  1.82564143e-01 -5.56545134e-01  7.30664175e+01]
 [-1.64631426e-01  9.82885446e-01  8.26601074e-02 -1.48333241e+01]
 [ 5.62110884e-01  2.46279048e-02  8.26695119e-01  4.75420146e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.40327356
Centerline is valid?  [True, True]
Translation: X:73.11, Y:-14.84, Z:47.57
[[ 8.10411259e-01  1.83000395e-01 -5.56546895e-01  7.31142939e+01]
 [-1.65168595e-01  9.82796318e-01  8.26482480e-02 -1.48407326e+01]
 [ 5.62096901e-01  2.49449980e-02  8.26695119e-01  4.75749797e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.46327356
Centerline is valid?  [True, True]
Translation: X:73.17, Y:-14.83, Z:47.61
[[ 8.08608977e-01  1.90733660e-01 -5.56571822e-01  7.31666707e+01]
 [-1.74664802e-01  9.81167284e-01  8.24801016e-02 -1.48283950e+01]
 [ 5.61821794e-01  3.05193561e-02  8.26695131e-01  4.76089152e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.52327356
Centerline is valid?  [True, True]
Translation: X:73.21, Y:-14.83, Z:47.64
[[ 8.07825624e-01  1.94021457e-01 -5.56572937e-01  7.32147738e+01]
 [-1.78659859e-01  9.80448331e-01  8.24725712e-02 -1.48338230e+01]
 [ 5.61692456e-01  3.28137864e-02  8.26695131e-01  4.76418380e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.58327356
Centerline is valid?  [True, True]
Translation: X:73.26, Y:-14.84, Z:47.68
[[ 8.07410949e-01  1.95669281e-01 -5.56597782e-01  7.32633112e+01]
 [-1.80775271e-01  9.80074616e-01  8.23046080e-02 -1.48399375e+01]
 [ 5.61611841e-01  3.41654734e-02  8.26695143e-01  4.76750343e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.64327356
Centerline is valid?  [True, True]
Translation: X:73.31, Y:-14.85, Z:47.71
[[ 8.07387867e-01  1.95756236e-01 -5.56600690e-01  7.33112229e+01]
 [-1.80894326e-01  9.80054300e-01  8.22849434e-02 -1.48474860e+01]
 [ 5.61606690e-01  3.42500416e-02  8.26695144e-01  4.77080331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.70327356
Centerline is valid?  [True, True]
Translation: X:73.36, Y:-14.87, Z:47.74
[[ 8.09220097e-01  1.88017469e-01 -5.56607821e-01  7.33571462e+01]
 [-1.71536269e-01  9.81739496e-01  8.22366785e-02 -1.48733705e+01]
 [ 5.61905814e-01  2.89308561e-02  8.26695145e-01  4.77415015e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.76327356
Centerline is valid?  [True, True]
Translation: X:73.41, Y:-14.86, Z:47.78
[[ 8.07881374e-01  1.93681951e-01 -5.56610265e-01  7.34091742e+01]
 [-1.78421123e-01  9.80513005e-01  8.22201330e-02 -1.48633556e+01]
 [ 5.61688160e-01  3.28869147e-02  8.26695145e-01  4.77755263e+01]
 [ 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 166.82327356
Centerline is valid?  [True, True]
Translation: X:73.46, Y:-14.89, Z:47.81
[[ 8.10097914e-01  1.84190248e-01 -5.56610566e-01  7.34553786e+01]
 [-1.66906484e-01  9.82538757e-01  8.22180993e-02 -1.48889671e+01]
 [ 5.62035226e-01  2.62972020e-02  8.26695145e-01  4.78091816e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.88327356
Centerline is valid?  [True, True]
Translation: X:73.50, Y:-14.90, Z:47.84
[[ 8.09933079e-01  1.84906699e-01 -5.56612900e-01  7.35045370e+01]
 [-1.67786302e-01  9.82390218e-01  8.22022914e-02 -1.48968094e+01]
 [ 5.62010823e-01  2.68136653e-02  8.26695145e-01  4.78430507e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.94327356
Centerline is valid?  [True, True]
Translation: X:73.55, Y:-14.90, Z:47.88
[[ 8.11006392e-01  1.80135688e-01 -5.56614558e-01  7.35534979e+01]
 [-1.62008081e-01  9.83360570e-01  8.21910652e-02 -1.49030207e+01]
 [ 5.62158353e-01  2.35185771e-02  8.26695145e-01  4.78766272e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.00327356
Centerline is valid?  [True, True]
Translation: X:73.60, Y:-14.91, Z:47.91
[[ 8.11315484e-01  1.78729977e-01 -5.56617266e-01  7.36017254e+01]
 [-1.60316278e-01  9.83639332e-01  8.21727242e-02 -1.49111585e+01]
 [ 5.62197365e-01  2.25668047e-02  8.26695145e-01  4.79098975e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.06327356
Centerline is valid?  [True, True]
Translation: X:73.65, Y:-14.92, Z:47.94
[[ 8.11267286e-01  1.78872179e-01 -5.56641837e-01  7.36501462e+01]
 [-1.60602888e-01  9.83606491e-01  8.20059954e-02 -1.49172575e+01]
 [ 5.62185115e-01  2.28695050e-02  8.26695157e-01  4.79430106e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.12327356
Centerline is valid?  [True, True]
Translation: X:73.70, Y:-14.92, Z:47.98
[[ 8.11427283e-01  1.78123178e-01 -5.56648810e-01  7.36974705e+01]
 [-1.59727232e-01  9.83753014e-01  8.19586395e-02 -1.49238173e+01]
 [ 5.62203678e-01  2.24084975e-02  8.26695158e-01  4.79754994e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.18327356
Centerline is valid?  [True, True]
Translation: X:73.75, Y:-14.93, Z:48.01
[[ 8.10967306e-01  1.80179127e-01 -5.56657444e-01  7.37459092e+01]
 [-1.62260194e-01  9.83343290e-01  8.18999608e-02 -1.49316682e+01]
 [ 5.62142026e-01  2.39051545e-02  8.26695159e-01  4.80088602e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.24327356
Centerline is valid?  [True, True]
Translation: X:73.80, Y:-14.94, Z:48.04
[[ 8.10648498e-01  1.81531959e-01 -5.56682280e-01  7.37952902e+01]
 [-1.64016543e-01  9.83065939e-01  8.17308592e-02 -1.49392223e+01]
 [ 5.62092151e-01  2.50501049e-02  8.26695171e-01  4.80427629e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.30327356
Centerline is valid?  [True, True]
Translation: X:73.84, Y:-14.95, Z:48.08
[[ 8.10602102e-01  1.81732022e-01 -5.56684565e-01  7.38442098e+01]
 [-1.64269827e-01  9.83024941e-01  8.17152945e-02 -1.49450652e+01]
 [ 5.62085097e-01  2.52078876e-02  8.26695171e-01  4.80762734e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.36327356
Centerline is valid?  [True, True]
Translation: X:73.90, Y:-14.93, Z:48.11
[[ 8.08677952e-01  1.90100915e-01 -5.56688074e-01  7.38963981e+01]
 [-1.74438272e-01  9.81273564e-01  8.16913811e-02 -1.49319888e+01]
 [ 5.61792897e-01  3.10456868e-02  8.26695171e-01  4.81101107e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.42327356
Centerline is valid?  [True, True]
Translation: X:73.94, Y:-14.94, Z:48.14
[[ 8.08678032e-01  1.90096811e-01 -5.56689359e-01  7.39446166e+01]
 [-1.74439304e-01  9.81274110e-01  8.16826204e-02 -1.49393201e+01]
 [ 5.61792461e-01  3.10535637e-02  8.26695172e-01  4.81433002e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.48327356000001
Centerline is valid?  [True, True]
Translation: X:73.99, Y:-14.96, Z:48.18
[[ 8.09911488e-01  1.84698789e-01 -5.56713336e-01  7.39920380e+01]
 [-1.68002673e-01  9.82410182e-01  8.15189303e-02 -1.49589586e+01]
 [ 5.61977298e-01  2.75062107e-02  8.26695183e-01  4.81770822e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.54327356
Centerline is valid?  [True, True]
Translation: X:74.04, Y:-14.95, Z:48.21
[[ 8.08034369e-01  1.92742878e-01 -5.56714146e-01  7.40430722e+01]
 [-1.77766599e-01  9.80690880e-01  8.15133974e-02 -1.49471178e+01]
 [ 5.61675613e-01  3.30995536e-02  8.26695183e-01  4.82102791e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.60327356
Centerline is valid?  [True, True]
Translation: X:74.09, Y:-14.95, Z:48.24
[[ 8.07895294e-01  1.93327367e-01 -5.56713322e-01  7.40918112e+01]
 [-1.78472126e-01  9.80562261e-01  8.15190296e-02 -1.49531138e+01]
 [ 5.61651933e-01  3.34989694e-02  8.26695183e-01  4.82436952e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.66327356
Centerline is valid?  [True, True]
Translation: X:74.14, Y:-14.97, Z:48.28
[[ 8.09164699e-01  1.87927968e-01 -5.56718573e-01  7.41390984e+01]
 [-1.71944608e-01  9.81730894e-01  8.14831545e-02 -1.49719180e+01]
 [ 5.61860786e-01  2.97914646e-02  8.26695183e-01  4.82773739e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.72327356
Centerline is valid?  [True, True]
Translation: X:74.19, Y:-14.96, Z:48.31
[[ 8.08071207e-01  1.92570599e-01 -5.56720297e-01  7.41902669e+01]
 [-1.77586361e-01  9.80727026e-01  8.14713723e-02 -1.49631052e+01]
 [ 5.61679632e-01  3.30312613e-02  8.26695183e-01  4.83109573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.78327356
Centerline is valid?  [True, True]
Translation: X:74.24, Y:-14.97, Z:48.34
[[ 8.07722795e-01  1.94021930e-01 -5.56721992e-01  7.42401273e+01]
 [-1.79355834e-01  9.80405930e-01  8.14597869e-02 -1.49654280e+01]
 [ 5.61618528e-01  3.40544106e-02  8.26695184e-01  4.83447575e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.84327356
Centerline is valid?  [True, True]
Translation: X:74.29, Y:-14.97, Z:48.38
[[ 8.07784371e-01  1.93760287e-01 -5.56723775e-01  7.42879513e+01]
 [-1.79046625e-01  9.80463459e-01  8.14476021e-02 -1.49707153e+01]
 [ 5.61628629e-01  3.38874127e-02  8.26695184e-01  4.83774783e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.90327356
Centerline is valid?  [True, True]
Translation: X:74.34, Y:-14.98, Z:48.41
[[ 8.04722199e-01  2.06086601e-01 -5.56731978e-01  7.43358933e+01]
 [-1.94053065e-01  9.77608731e-01  8.13915001e-02 -1.49790806e+01]
 [ 5.61039740e-01  4.25379999e-02  8.26695185e-01  4.84105589e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.96327356
Centerline is valid?  [True, True]
Translation: X:74.38, Y:-15.00, Z:48.44
[[ 8.08429790e-01  1.91034011e-01 -5.56729092e-01  7.43830110e+01]
 [-1.75762835e-01  9.81060465e-01  8.14112370e-02 -1.50005834e+01]
 [ 5.61737217e-01  3.20370142e-02  8.26695185e-01  4.84444177e+01]
 [ 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 168.02327356
Centerline is valid?  [True, True]
Translation: X:74.44, Y:-14.99, Z:48.48
[[ 8.04024199e-01  2.08797178e-01 -5.56730478e-01  7.44352374e+01]
 [-1.97339247e-01  9.76949833e-01  8.14017567e-02 -1.49880617e+01]
 [ 5.60894204e-01  4.44157908e-02  8.26695185e-01  4.84783510e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.08327356
Centerline is valid?  [True, True]
Translation: X:74.48, Y:-14.99, Z:48.51
[[ 8.03983221e-01  2.08950615e-01 -5.56732090e-01  7.44831909e+01]
 [-1.97533274e-01  9.76911539e-01  8.13907260e-02 -1.49927668e+01]
 [ 5.60884646e-01  4.45363347e-02  8.26695185e-01  4.85111024e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.14327356
Centerline is valid?  [True, True]
Translation: X:74.53, Y:-15.02, Z:48.55
[[ 8.07725448e-01  1.93962344e-01 -5.56738907e-01  7.45301669e+01]
 [-1.79362962e-01  9.80414233e-01  8.13440796e-02 -1.50176820e+01]
 [ 5.61612436e-01  3.41546562e-02  8.26695186e-01  4.85451661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.20327356
Centerline is valid?  [True, True]
Translation: X:74.58, Y:-15.02, Z:48.58
[[ 8.07904084e-01  1.93214398e-01 -5.56739784e-01  7.45776371e+01]
 [-1.78459254e-01  9.80579631e-01  8.13380758e-02 -1.50235840e+01]
 [ 5.61643379e-01  3.36420029e-02  8.26695186e-01  4.85777125e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.26327356
Centerline is valid?  [True, True]
Translation: X:74.63, Y:-15.01, Z:48.61
[[ 8.07314154e-01  1.95639502e-01 -5.56748634e-01  7.46299587e+01]
 [-1.81444570e-01  9.80036654e-01  8.12774562e-02 -1.50092141e+01]
 [ 5.61535150e-01  3.54025759e-02  8.26695188e-01  4.86115040e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.32327356
Centerline is valid?  [True, True]
Translation: X:74.68, Y:-15.01, Z:48.65
[[ 8.06973564e-01  1.97034569e-01 -5.56750434e-01  7.46795705e+01]
 [-1.83146661e-01  9.79721021e-01  8.12651292e-02 -1.50136975e+01]
 [ 5.61472143e-01  3.63881718e-02  8.26695188e-01  4.86453503e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.38327356
Centerline is valid?  [True, True]
Translation: X:74.73, Y:-15.02, Z:48.68
[[ 8.07275773e-01  1.95787604e-01 -5.56752225e-01  7.47268292e+01]
 [-1.81641258e-01  9.80002259e-01  8.12528536e-02 -1.50246807e+01]
 [ 5.61526740e-01  3.55357143e-02  8.26695188e-01  4.86782508e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.44327356
Centerline is valid?  [True, True]
Translation: X:74.77, Y:-15.05, Z:48.71
[[ 8.06919909e-01  1.97234282e-01 -5.56757486e-01  7.47726597e+01]
 [-1.83422332e-01  9.79673456e-01  8.12167953e-02 -1.50456842e+01]
 [ 5.61459266e-01  3.65863073e-02  8.26695188e-01  4.87111615e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.50327356
Centerline is valid?  [True, True]
Translation: X:74.83, Y:-15.03, Z:48.75
[[ 8.06804743e-01  1.97636267e-01 -5.56781836e-01  7.48255888e+01]
 [-1.84025274e-01  9.79574227e-01  8.10495727e-02 -1.50292461e+01]
 [ 5.61427471e-01  3.70707501e-02  8.26695200e-01  4.87451098e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.56327356
Centerline is valid?  [True, True]
Translation: X:74.87, Y:-15.06, Z:48.78
[[ 8.07880762e-01  1.93190739e-01 -5.56781836e-01  7.48723566e+01]
 [-1.78628626e-01  9.80572680e-01  8.10495727e-02 -1.50550781e+01]
 [ 5.61623084e-01  3.39787840e-02  8.26695200e-01  4.87791406e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.62327356
Centerline is valid?  [True, True]
Translation: X:74.92, Y:-15.06, Z:48.81
[[ 8.08132134e-01  1.92134197e-01 -5.56782637e-01  7.49197649e+01]
 [-1.77350066e-01  9.80805186e-01  8.10440681e-02 -1.50624517e+01]
 [ 5.61666635e-01  3.32511215e-02  8.26695200e-01  4.88117903e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.68327356
Centerline is valid?  [True, True]
Translation: X:74.97, Y:-15.07, Z:48.85
[[ 8.08897571e-01  1.88802080e-01 -5.56811003e-01  7.49691168e+01]
 [-1.73440453e-01  9.81520190e-01  8.08487848e-02 -1.50689801e+01]
 [ 5.61785661e-01  3.11751668e-02  8.26695216e-01  4.88455674e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.74327356
Centerline is valid?  [True, True]
Translation: X:75.02, Y:-15.07, Z:48.88
[[ 8.09414416e-01  1.86568538e-01 -5.56812790e-01  7.50189844e+01]
 [-1.70738916e-01  9.81994749e-01  8.08364768e-02 -1.50735463e+01]
 [ 5.61868779e-01  2.96394025e-02  8.26695216e-01  4.88795953e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.80327356
Centerline is valid?  [True, True]
Translation: X:75.07, Y:-15.07, Z:48.91
[[ 8.10242933e-01  1.82933303e-01 -5.56813969e-01  7.50703128e+01]
 [-1.66334718e-01  9.82751005e-01  8.08283548e-02 -1.50655145e+01]
 [ 5.61995686e-01  2.71268915e-02  8.26695216e-01  4.89133776e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.86327356
Centerline is valid?  [True, True]
Translation: X:75.12, Y:-15.07, Z:48.95
[[ 8.09192526e-01  1.87519871e-01 -5.56815727e-01  7.51197787e+01]
 [-1.71907008e-01  9.81792603e-01  8.08162444e-02 -1.50662202e+01]
 [ 5.61832214e-01  3.03246246e-02  8.26695216e-01  4.89467581e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.92327356
Centerline is valid?  [True, True]
Translation: X:75.17, Y:-15.07, Z:48.98
[[ 8.07948209e-01  1.92805591e-01 -5.56817471e-01  7.51693762e+01]
 [-1.78329605e-01  9.80647352e-01  8.08042303e-02 -1.50725239e+01]
 [ 5.61621085e-01  3.40114063e-02  8.26695216e-01  4.89807745e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.98327356
Centerline is valid?  [True, True]
Translation: X:75.22, Y:-15.08, Z:49.01
[[ 8.09856651e-01  1.84620325e-01 -5.56819128e-01  7.52194826e+01]
 [-1.68405419e-01  9.82401210e-01  8.07928108e-02 -1.50763044e+01]
 [ 5.61935779e-01  2.83407632e-02  8.26695217e-01  4.90148875e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.04327356
Centerline is valid?  [True, True]
Translation: X:75.27, Y:-15.10, Z:49.05
[[ 8.11685355e-01  1.76404594e-01 -5.56819812e-01  7.52662739e+01]
 [-1.58445362e-01  9.84057087e-01  8.07880934e-02 -1.50986432e+01]
 [ 5.62193873e-01  2.26510045e-02  8.26695217e-01  4.90485845e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.10327356
Centerline is valid?  [True, True]
Translation: X:75.32, Y:-15.09, Z:49.08
[[ 8.12800476e-01  1.71184876e-01 -5.56822346e-01  7.53179132e+01]
 [-1.52130266e-01  9.85054561e-01  8.07706261e-02 -1.50902398e+01]
 [ 5.62327101e-01  1.90591284e-02  8.26695217e-01  4.90825364e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.16327356
Centerline is valid?  [True, True]
Translation: X:75.37, Y:-15.11, Z:49.12
[[ 8.12567635e-01  1.72282408e-01 -5.56823680e-01  7.53650575e+01]
 [-1.53466743e-01  9.84847984e-01  8.07614243e-02 -1.51125544e+01]
 [ 5.62300452e-01  1.98297973e-02  8.26695217e-01  4.91164661e+01]
 [ 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 169.22327356
Centerline is valid?  [True, True]
Translation: X:75.41, Y:-15.12, Z:49.15
[[ 8.12679643e-01  1.71747603e-01 -5.56825429e-01  7.54137316e+01]
 [-1.52826814e-01  9.84948478e-01  8.07493641e-02 -1.51158360e+01]
 [ 5.62312869e-01  1.94744919e-02  8.26695217e-01  4.91495653e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.28327356
Centerline is valid?  [True, True]
Translation: X:75.46, Y:-15.12, Z:49.18
[[ 8.12467761e-01  1.72725125e-01 -5.56832262e-01  7.54623366e+01]
 [-1.54043854e-01  9.84762734e-01  8.07022230e-02 -1.51208752e+01]
 [ 5.62286963e-01  2.02086334e-02  8.26695218e-01  4.91827723e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.34327356
Centerline is valid?  [True, True]
Translation: X:75.51, Y:-15.13, Z:49.22
[[ 8.11130242e-01  1.78824555e-01 -5.56856812e-01  7.55106286e+01]
 [-1.61554583e-01  9.83572381e-01  8.05325262e-02 -1.51278918e+01]
 [ 5.62110174e-01  2.46404026e-02  8.26695230e-01  4.92159007e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.40327356
Centerline is valid?  [True, True]
Translation: X:75.56, Y:-15.13, Z:49.25
[[ 8.10564205e-01  1.81362599e-01 -5.56860195e-01  7.55590495e+01]
 [-1.64648511e-01  9.83061111e-01  8.05091280e-02 -1.51330691e+01]
 [ 5.62028947e-01  2.64283846e-02  8.26695230e-01  4.92490095e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.46327356
Centerline is valid?  [True, True]
Translation: X:75.61, Y:-15.14, Z:49.28
[[ 8.09762005e-01  1.84841268e-01 -5.56883472e-01  7.56081120e+01]
 [-1.68978598e-01  9.82339278e-01  8.03478486e-02 -1.51401442e+01]
 [ 5.61900106e-01  2.90387535e-02  8.26695241e-01  4.92826671e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.52327356
Centerline is valid?  [True, True]
Translation: X:75.66, Y:-15.15, Z:49.32
[[ 8.09023701e-01  1.88040816e-01 -5.56885359e-01  7.56561054e+01]
 [-1.72869444e-01  9.81663120e-01  8.03347682e-02 -1.51480113e+01]
 [ 5.61780034e-01  3.12757311e-02  8.26695241e-01  4.93157548e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.58327356
Centerline is valid?  [True, True]
Translation: X:75.71, Y:-15.15, Z:49.35
[[ 8.08276085e-01  1.91156089e-01 -5.56910334e-01  7.57053484e+01]
 [-1.76768973e-01  9.80982616e-01  8.01613187e-02 -1.51543331e+01]
 [ 5.61642681e-01  3.36519908e-02  8.26695254e-01  4.93494548e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.64327356
Centerline is valid?  [True, True]
Translation: X:75.75, Y:-15.16, Z:49.38
[[ 8.07565623e-01  1.94130609e-01 -5.56912085e-01  7.57549735e+01]
 [-1.80387797e-01  9.80324618e-01  8.01491517e-02 -1.51614735e+01]
 [ 5.61514031e-01  3.57344445e-02  8.26695254e-01  4.93835715e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.70327356
Centerline is valid?  [True, True]
Translation: X:75.80, Y:-15.17, Z:49.42
[[ 8.06658787e-01  1.97865237e-01 -5.56911977e-01  7.58029526e+01]
 [-1.84921430e-01  9.79479483e-01  8.01499065e-02 -1.51705296e+01]
 [ 5.61342735e-01  3.83313330e-02  8.26695254e-01  4.94167715e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.76327356
Centerline is valid?  [True, True]
Translation: X:75.85, Y:-15.18, Z:49.45
[[ 8.05913622e-01  2.00876982e-01 -5.56912625e-01  7.58518677e+01]
 [-1.88581901e-01  9.78781682e-01  8.01454040e-02 -1.51787008e+01]
 [ 5.61195242e-01  4.04333688e-02  8.26695254e-01  4.94505137e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.82327356
Centerline is valid?  [True, True]
Translation: X:75.90, Y:-15.19, Z:49.48
[[ 8.05307000e-01  2.03292057e-01 -5.56913796e-01  7.59010501e+01]
 [-1.91520852e-01  9.78211522e-01  8.01372661e-02 -1.51894082e+01]
 [ 5.61070761e-01  4.21255035e-02  8.26695254e-01  4.94846799e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.88327356
Centerline is valid?  [True, True]
Translation: X:75.95, Y:-15.20, Z:49.52
[[ 8.05201547e-01  2.03710770e-01 -5.56913270e-01  7.59496338e+01]
 [-1.92026964e-01  9.78111997e-01  8.01409165e-02 -1.51969209e+01]
 [ 5.61049119e-01  4.24127743e-02  8.26695254e-01  4.95181390e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.94327356
Centerline is valid?  [True, True]
Translation: X:76.00, Y:-15.21, Z:49.55
[[ 8.05338963e-01  2.03106644e-01 -5.56935226e-01  7.59970168e+01]
 [-1.91398199e-01  9.78247737e-01  7.99880945e-02 -1.52060034e+01]
 [ 5.61066737e-01  4.21788700e-02  8.26695264e-01  4.95508622e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.00327356
Centerline is valid?  [True, True]
Translation: X:76.05, Y:-15.22, Z:49.58
[[ 8.06228943e-01  1.99521395e-01 -5.56943537e-01  7.60450759e+01]
 [-1.87083532e-01  9.79086777e-01  7.99301863e-02 -1.52163494e+01]
 [ 5.61243835e-01  3.97529346e-02  8.26695265e-01  4.95842104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.06327356
Centerline is valid?  [True, True]
Translation: X:76.09, Y:-15.23, Z:49.62
[[ 8.06272099e-01  1.99339633e-01 -5.56946149e-01  7.60927430e+01]
 [-1.86875311e-01  9.79128027e-01  7.99119839e-02 -1.52276093e+01]
 [ 5.61251210e-01  3.96486821e-02  8.26695265e-01  4.96174030e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.12327356
Centerline is valid?  [True, True]
Translation: X:76.14, Y:-15.24, Z:49.65
[[ 8.07072140e-01  1.96011393e-01 -5.56968666e-01  7.61413120e+01]
 [-1.82941992e-01  9.79883361e-01  7.97547876e-02 -1.52383849e+01]
 [ 5.61397176e-01  3.75250902e-02  8.26695276e-01  4.96510838e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.18327356
Centerline is valid?  [True, True]
Translation: X:76.19, Y:-15.25, Z:49.68
[[ 8.07446484e-01  1.94459410e-01 -5.56970119e-01  7.61893853e+01]
 [-1.81064768e-01  9.80232800e-01  7.97446404e-02 -1.52477175e+01]
 [ 5.61467475e-01  3.64581357e-02  8.26695276e-01  4.96843672e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.24327356
Centerline is valid?  [True, True]
Translation: X:76.24, Y:-15.24, Z:49.72
[[ 8.04844048e-01  2.04899155e-01 -5.56994070e-01  7.62415705e+01]
 [-1.93858394e-01  9.77796715e-01  7.95770517e-02 -1.52386534e+01]
 [ 5.60932243e-01  4.39308597e-02  8.26695288e-01  4.97185671e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.30327356
Centerline is valid?  [True, True]
Translation: X:76.29, Y:-15.25, Z:49.75
[[ 8.04915810e-01  2.04615081e-01 -5.56994800e-01  7.62906208e+01]
 [-1.93516790e-01  9.77864795e-01  7.95719461e-02 -1.52472413e+01]
 [ 5.60947226e-01  4.37391281e-02  8.26695288e-01  4.97524393e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.36327356
Centerline is valid?  [True, True]
Translation: X:76.34, Y:-15.26, Z:49.79
[[ 8.05117197e-01  2.03816415e-01 -5.56996561e-01  7.63390753e+01]
 [-1.92555024e-01  9.78055638e-01  7.95596168e-02 -1.52559612e+01]
 [ 5.60989182e-01  4.31976705e-02  8.26695288e-01  4.97859191e+01]
 [ 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 170.42327356
Centerline is valid?  [True, True]
Translation: X:76.39, Y:-15.26, Z:49.82
[[ 8.06403616e-01  1.98655814e-01 -5.57000068e-01  7.63881172e+01]
 [-1.86303939e-01  9.79267592e-01  7.95350544e-02 -1.52615992e+01]
 [ 5.61252217e-01  3.96339512e-02  8.26695288e-01  4.98194918e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.48327356
Centerline is valid?  [True, True]
Translation: X:76.44, Y:-15.27, Z:49.85
[[ 8.07004393e-01  1.96196478e-01 -5.57001662e-01  7.64359079e+01]
 [-1.83325332e-01  9.79830482e-01  7.95238942e-02 -1.52714924e+01]
 [ 5.61369514e-01  3.79363827e-02  8.26695288e-01  4.98526377e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.54327356
Centerline is valid?  [True, True]
Translation: X:76.48, Y:-15.28, Z:49.89
[[ 8.07422624e-01  1.94399785e-01 -5.57025520e-01  7.64841109e+01]
 [-1.81258983e-01  9.80228407e-01  7.93564856e-02 -1.52827118e+01]
 [ 5.61439121e-01  3.68916575e-02  8.26695300e-01  4.98861083e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.60327356
Centerline is valid?  [True, True]
Translation: X:76.53, Y:-15.29, Z:49.92
[[ 8.06918391e-01  1.96472377e-01 -5.57029008e-01  7.65335422e+01]
 [-1.83792162e-01  9.79758580e-01  7.93319927e-02 -1.52903867e+01]
 [ 5.61340495e-01  3.83631220e-02  8.26695300e-01  4.99201391e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.66327356
Centerline is valid?  [True, True]
Translation: X:76.58, Y:-15.30, Z:49.95
[[ 8.07350682e-01  1.94688368e-01 -5.57029008e-01  7.65824334e+01]
 [-1.81626157e-01  9.80162422e-01  7.93319927e-02 -1.52982401e+01]
 [ 5.61423918e-01  3.71222994e-02  8.26695300e-01  4.99538358e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.72327356
Centerline is valid?  [True, True]
Translation: X:76.63, Y:-15.32, Z:49.99
[[ 8.07230004e-01  1.95175533e-01 -5.57033420e-01  7.66282460e+01]
 [-1.82238896e-01  9.80051190e-01  7.93010016e-02 -1.53233363e+01]
 [ 5.61398882e-01  3.74990078e-02  8.26695300e-01  4.99870960e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.78327356
Centerline is valid?  [True, True]
Translation: X:76.68, Y:-15.31, Z:50.02
[[ 8.06525892e-01  1.97996920e-01 -5.57057632e-01  7.66805264e+01]
 [-1.85781737e-01  9.79399557e-01  7.91306185e-02 -1.53128425e+01]
 [ 5.61249616e-01  3.96702417e-02  8.26695313e-01  5.00212279e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.84327356
Centerline is valid?  [True, True]
Translation: X:76.73, Y:-15.32, Z:50.05
[[ 8.06846032e-01  1.96686022e-01 -5.57058425e-01  7.67287387e+01]
 [-1.84193768e-01  9.79699896e-01  7.91250309e-02 -1.53197880e+01]
 [ 5.61312869e-01  3.87649730e-02  8.26695313e-01  5.00543770e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.90327356
Centerline is valid?  [True, True]
Translation: X:76.78, Y:-15.34, Z:50.09
[[ 8.07447040e-01  1.94134790e-01 -5.57082544e-01  7.67752515e+01]
 [-1.81213091e-01  9.80269319e-01  7.89549138e-02 -1.53444909e+01]
 [ 5.61418822e-01  3.71987383e-02  8.26695325e-01  5.00879916e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.96327356
Centerline is valid?  [True, True]
Translation: X:76.83, Y:-15.33, Z:50.12
[[ 8.06888290e-01  1.96435596e-01 -5.57085581e-01  7.68275836e+01]
 [-1.84021298e-01  9.79747757e-01  7.89334816e-02 -1.53329386e+01]
 [ 5.61308694e-01  3.88251095e-02  8.26695325e-01  5.01221420e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.02327356
Centerline is valid?  [True, True]
Translation: X:76.87, Y:-15.36, Z:50.16
[[ 8.07770077e-01  1.92777483e-01 -5.57085581e-01  7.68733350e+01]
 [-1.79580068e-01  9.80571519e-01  7.89334816e-02 -1.53556986e+01]
 [ 5.61478853e-01  3.62813619e-02  8.26695325e-01  5.01551457e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.08327356
Centerline is valid?  [True, True]
Translation: X:76.92, Y:-15.35, Z:50.19
[[ 8.07935450e-01  1.92068663e-01 -5.57090600e-01  7.69248271e+01]
 [-1.78743968e-01  9.80727124e-01  7.88980449e-02 -1.53482715e+01]
 [ 5.61507704e-01  3.58320572e-02  8.26695326e-01  5.01891171e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.14327356
Centerline is valid?  [True, True]
Translation: X:76.97, Y:-15.36, Z:50.22
[[ 8.08220868e-01  1.90859263e-01 -5.57092246e-01  7.69730358e+01]
 [-1.77283956e-01  9.80993033e-01  7.88864234e-02 -1.53551068e+01]
 [ 5.61559817e-01  3.50058635e-02  8.26695326e-01  5.02222502e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.20327356
Centerline is valid?  [True, True]
Translation: X:77.02, Y:-15.38, Z:50.26
[[ 8.09009243e-01  1.87422072e-01 -5.57114901e-01  7.70187249e+01]
 [-1.73222472e-01  9.81731209e-01  7.87261587e-02 -1.53803782e+01]
 [ 5.61692105e-01  3.28146304e-02  8.26695337e-01  5.02553636e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.26327356
Centerline is valid?  [True, True]
Translation: X:77.07, Y:-15.37, Z:50.29
[[ 8.08522691e-01  1.89501227e-01 -5.57117890e-01  7.70699119e+01]
 [-1.75760225e-01  9.81281747e-01  7.87050020e-02 -1.53680702e+01]
 [ 5.61604310e-01  3.42843855e-02  8.26695337e-01  5.02886758e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.32327356
Centerline is valid?  [True, True]
Translation: X:77.12, Y:-15.39, Z:50.32
[[ 8.08766148e-01  1.88388200e-01 -5.57141996e-01  7.71153314e+01]
 [-1.74526763e-01  9.81515569e-01  7.85340431e-02 -1.53934734e+01]
 [ 5.61638431e-01  3.37205135e-02  8.26695349e-01  5.03216103e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.38327356
Centerline is valid?  [True, True]
Translation: X:77.17, Y:-15.38, Z:50.36
[[ 8.07094968e-01  1.95355941e-01 -5.57165836e-01  7.71680262e+01]
 [-1.83101203e-01  9.79965785e-01  7.83646009e-02 -1.53787078e+01]
 [ 5.61312446e-01  3.87700597e-02  8.26695361e-01  5.03556334e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.44327356
Centerline is valid?  [True, True]
Translation: X:77.22, Y:-15.39, Z:50.39
[[ 8.06664918e-01  1.97121026e-01 -5.57166951e-01  7.72151008e+01]
 [-1.85249927e-01  9.79562503e-01  7.83566727e-02 -1.53856898e+01]
 [ 5.61225601e-01  4.00075578e-02  8.26695361e-01  5.03880179e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.50327356
Centerline is valid?  [True, True]
Translation: X:77.27, Y:-15.39, Z:50.42
[[ 8.03801929e-01  2.08465933e-01 -5.57175389e-01  7.72650712e+01]
 [-1.99073138e-01  9.76851843e-01  7.82966357e-02 -1.53883295e+01]
 [ 5.60599987e-01  4.79836664e-02  8.26695363e-01  5.04219159e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.56327356
Centerline is valid?  [True, True]
Translation: X:77.31, Y:-15.40, Z:50.46
[[ 8.03974867e-01  2.07797888e-01 -5.57175422e-01  7.73142535e+01]
 [-1.98261448e-01  9.77016925e-01  7.82964033e-02 -1.53952467e+01]
 [ 5.60639644e-01  4.75180657e-02  8.26695363e-01  5.04557188e+01]
 [ 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 171.62327356
Centerline is valid?  [True, True]
Translation: X:77.36, Y:-15.42, Z:50.49
[[ 8.07717670e-01  1.92732585e-01 -5.57177096e-01  7.73610801e+01]
 [-1.79971259e-01  9.80551827e-01  7.82844865e-02 -1.54179890e+01]
 [ 5.61428991e-01  3.70441003e-02  8.26695363e-01  5.04894266e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.68327356
Centerline is valid?  [True, True]
Translation: X:77.41, Y:-15.43, Z:50.52
[[ 8.08204054e-01  1.90678922e-01 -5.57178388e-01  7.74084465e+01]
 [-1.77484642e-01  9.81005698e-01  7.82752934e-02 -1.54251292e+01]
 [ 5.61520622e-01  3.56281974e-02  8.26695363e-01  5.05220219e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.74327356
Centerline is valid?  [True, True]
Translation: X:77.46, Y:-15.43, Z:50.55
[[ 8.08759733e-01  1.88284203e-01 -5.57186462e-01  7.74569714e+01]
 [-1.74617618e-01  9.81524664e-01  7.82177842e-02 -1.54283086e+01]
 [ 5.61619428e-01  3.40351787e-02  8.26695364e-01  5.05549976e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.80327356
Centerline is valid?  [True, True]
Translation: X:77.51, Y:-15.43, Z:50.59
[[ 8.08604577e-01  1.88884037e-01 -5.57208632e-01  7.75057723e+01]
 [-1.75454198e-01  9.81388061e-01  7.80595797e-02 -1.54301607e+01]
 [ 5.61582107e-01  3.46452600e-02  8.26695375e-01  5.05879820e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.86327356
Centerline is valid?  [True, True]
Translation: X:77.55, Y:-15.44, Z:50.62
[[ 8.08798166e-01  1.88034812e-01 -5.57214892e-01  7.75534447e+01]
 [-1.74454223e-01  9.81569867e-01  7.80148736e-02 -1.54402687e+01]
 [ 5.61614859e-01  3.41102045e-02  8.26695376e-01  5.06210451e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.92327356
Centerline is valid?  [True, True]
Translation: X:77.60, Y:-15.45, Z:50.65
[[ 8.08978576e-01  1.87186195e-01 -5.57238721e-01  7.76013414e+01]
 [-1.73541380e-01  9.81745204e-01  7.78443571e-02 -1.54458678e+01]
 [ 5.61637830e-01  3.37295595e-02  8.26695388e-01  5.06537680e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.98327356
Centerline is valid?  [True, True]
Translation: X:77.65, Y:-15.45, Z:50.69
[[ 8.09061690e-01  1.86806692e-01 -5.57245406e-01  7.76500199e+01]
 [-1.73113695e-01  9.81824504e-01  7.77964764e-02 -1.54517019e+01]
 [ 5.61650097e-01  3.35246624e-02  8.26695389e-01  5.06871044e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.04327356
Centerline is valid?  [True, True]
Translation: X:77.70, Y:-15.45, Z:50.72
[[ 8.09388630e-01  1.85315334e-01 -5.57268583e-01  7.76998326e+01]
 [-1.71418086e-01  9.82135122e-01  7.76301597e-02 -1.54515874e+01]
 [ 5.61699106e-01  3.26929451e-02  8.26695400e-01  5.07205851e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.10327356
Centerline is valid?  [True, True]
Translation: X:77.75, Y:-15.46, Z:50.75
[[ 8.09384128e-01  1.85324691e-01 -5.57272009e-01  7.77462189e+01]
 [-1.71446322e-01  9.82132138e-01  7.76055536e-02 -1.54580882e+01]
 [ 5.61696975e-01  3.27295333e-02  8.26695401e-01  5.07524516e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.16327356
Centerline is valid?  [True, True]
Translation: X:77.79, Y:-15.47, Z:50.79
[[ 8.08348101e-01  1.89758300e-01 -5.57283711e-01  7.77949726e+01]
 [-1.76884749e-01  9.81173894e-01  7.75214469e-02 -1.54680731e+01]
 [ 5.61502567e-01  3.59106750e-02  8.26695404e-01  5.07862101e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.22327356
Centerline is valid?  [True, True]
Translation: X:77.84, Y:-15.47, Z:50.82
[[ 8.08220709e-01  1.90295457e-01 -5.57285316e-01  7.78442049e+01]
 [-1.77544686e-01  9.81055604e-01  7.75099061e-02 -1.54702162e+01]
 [ 5.61477666e-01  3.62979354e-02  8.26695404e-01  5.08195931e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.28327356
Centerline is valid?  [True, True]
Translation: X:77.89, Y:-15.47, Z:50.85
[[ 8.08726959e-01  1.88067544e-01 -5.57307190e-01  7.78931100e+01]
 [-1.74948684e-01  9.81534294e-01  7.73523614e-02 -1.54715960e+01]
 [ 5.61563588e-01  3.49432194e-02  8.26695414e-01  5.08526104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.34327356
Centerline is valid?  [True, True]
Translation: X:77.94, Y:-15.48, Z:50.89
[[ 8.08198355e-01  1.90256092e-01 -5.57331175e-01  7.79422280e+01]
 [-1.77723946e-01  9.81049217e-01  7.71792272e-02 -1.54770240e+01]
 [ 5.61453130e-01  3.66749711e-02  8.26695427e-01  5.08861434e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.40327356
Centerline is valid?  [True, True]
Translation: X:77.99, Y:-15.48, Z:50.92
[[ 8.07117146e-01  1.94787055e-01 -5.57332859e-01  7.79912550e+01]
 [-1.83233148e-01  9.80036151e-01  7.71670626e-02 -1.54847481e+01]
 [ 5.61237495e-01  3.98389950e-02  8.26695427e-01  5.09199108e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.46327356
Centerline is valid?  [True, True]
Translation: X:78.04, Y:-15.49, Z:50.95
[[ 8.07636835e-01  1.92615561e-01 -5.57334719e-01  7.80393959e+01]
 [-1.80605849e-01  9.80524781e-01  7.71536265e-02 -1.54917625e+01]
 [ 5.61341492e-01  3.83457993e-02  8.26695427e-01  5.09530138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.52327356
Centerline is valid?  [True, True]
Translation: X:78.09, Y:-15.50, Z:50.99
[[ 8.07743143e-01  1.92159646e-01 -5.57338035e-01  7.80872607e+01]
 [-1.80068803e-01  9.80625434e-01  7.71296626e-02 -1.55013164e+01]
 [ 5.61361061e-01  3.80582371e-02  8.26695427e-01  5.09861624e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.58327356
Centerline is valid?  [True, True]
Translation: X:78.14, Y:-15.51, Z:51.02
[[ 8.09040995e-01  1.86599925e-01 -5.57344720e-01  7.81367220e+01]
 [-1.73353555e-01  9.81838588e-01  7.70813338e-02 -1.55065922e+01]
 [ 5.61605924e-01  3.42557298e-02  8.26695428e-01  5.10199757e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.64327356
Centerline is valid?  [True, True]
Translation: X:78.19, Y:-15.51, Z:51.05
[[ 8.09732460e-01  1.83571150e-01 -5.57346370e-01  7.81853565e+01]
 [-1.69686440e-01  9.82479933e-01  7.70694042e-02 -1.55126532e+01]
 [ 5.61729343e-01  3.21685229e-02  8.26695428e-01  5.10533235e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.70327356
Centerline is valid?  [True, True]
Translation: X:78.23, Y:-15.52, Z:51.09
[[ 8.10411146e-01  1.80541107e-01 -5.57349696e-01  7.82340395e+01]
 [-1.66026842e-01  9.83106862e-01  7.70453418e-02 -1.55235769e+01]
 [ 5.61844162e-01  3.00966062e-02  8.26695429e-01  5.10871509e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.76327356
Centerline is valid?  [True, True]
Translation: X:78.28, Y:-15.53, Z:51.12
[[ 8.11583809e-01  1.75190449e-01 -5.57350902e-01  7.82836066e+01]
 [-1.59543107e-01  9.84180551e-01  7.70366211e-02 -1.55263341e+01]
 [ 5.62029997e-01  2.63998201e-02  8.26695429e-01  5.11208211e+01]
 [ 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 172.82327356
Centerline is valid?  [True, True]
Translation: X:78.33, Y:-15.54, Z:51.15
[[ 8.12063686e-01  1.72948842e-01 -5.57352014e-01  7.83311806e+01]
 [-1.56830501e-01  9.84617080e-01  7.70285699e-02 -1.55409136e+01]
 [ 5.62100315e-01  2.48576914e-02  8.26695429e-01  5.11542495e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.88327356
Centerline is valid?  [True, True]
Translation: X:78.38, Y:-15.55, Z:51.19
[[ 8.12219043e-01  1.72207012e-01 -5.57355336e-01  7.83799409e+01]
 [-1.55947530e-01  9.84759194e-01  7.70045275e-02 -1.55496473e+01]
 [ 5.62121511e-01  2.43736444e-02  8.26695429e-01  5.11879247e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.94327356
Centerline is valid?  [True, True]
Translation: X:78.43, Y:-15.56, Z:51.22
[[ 8.12413615e-01  1.71283169e-01 -5.57356433e-01  7.84284737e+01]
 [-1.54832906e-01  9.84935681e-01  7.69965880e-02 -1.55559842e+01]
 [ 5.62148458e-01  2.37440400e-02  8.26695429e-01  5.12212315e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.00327356
Centerline is valid?  [True, True]
Translation: X:78.48, Y:-15.55, Z:51.25
[[ 8.10982986e-01  1.77860054e-01 -5.57379940e-01  7.84784420e+01]
 [-1.62925038e-01  9.83642812e-01  7.68261063e-02 -1.55510043e+01]
 [ 5.61927067e-01  2.85064825e-02  8.26695441e-01  5.12543703e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.06327356
Centerline is valid?  [True, True]
Translation: X:78.53, Y:-15.58, Z:51.29
[[ 8.12335115e-01  1.71583848e-01 -5.57378367e-01  7.85254752e+01]
 [-1.55306380e-01  9.84873558e-01  7.68375148e-02 -1.55756404e+01]
 [ 5.62131292e-01  2.41466053e-02  8.26695441e-01  5.12883768e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.12327356
Centerline is valid?  [True, True]
Translation: X:78.57, Y:-15.59, Z:51.32
[[ 8.12630970e-01  1.70164661e-01 -5.57382181e-01  7.85748870e+01]
 [-1.53604789e-01  9.85142536e-01  7.68098422e-02 -1.55850371e+01]
 [ 5.62171216e-01  2.31985157e-02  8.26695441e-01  5.13225502e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.18327356
Centerline is valid?  [True, True]
Translation: X:78.63, Y:-15.58, Z:51.36
[[ 8.13594158e-01  1.65495758e-01 -5.57382902e-01  7.86252436e+01]
 [-1.47949185e-01  9.86008160e-01  7.68046065e-02 -1.55849919e+01]
 [ 5.62294926e-01  1.99765671e-02  8.26695441e-01  5.13564952e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.24327356
Centerline is valid?  [True, True]
Translation: X:78.67, Y:-15.59, Z:51.39
[[ 8.14244894e-01  1.62261358e-01 -5.57383623e-01  7.86734209e+01]
 [-1.44033359e-01  9.86588186e-01  7.67993710e-02 -1.55902308e+01]
 [ 5.62369668e-01  1.77483397e-02  8.26695441e-01  5.13894618e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.30327356
Centerline is valid?  [True, True]
Translation: X:78.72, Y:-15.60, Z:51.42
[[ 8.13763529e-01  1.64580595e-01 -5.57406626e-01  7.87209823e+01]
 [-1.46958124e-01  9.86169777e-01  7.66321123e-02 -1.56028025e+01]
 [ 5.62309727e-01  1.95550142e-02  8.26695453e-01  5.14226091e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.36327356
Centerline is valid?  [True, True]
Translation: X:78.77, Y:-15.61, Z:51.46
[[ 8.14328750e-01  1.61743967e-01 -5.57411497e-01  7.87704502e+01]
 [-1.43545074e-01  9.86675105e-01  7.65966697e-02 -1.56104461e+01]
 [ 5.62373096e-01  1.76388044e-02  8.26695454e-01  5.14566530e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.42327356
Centerline is valid?  [True, True]
Translation: X:78.82, Y:-15.62, Z:51.49
[[ 8.14044394e-01  1.63164863e-01 -5.57412731e-01  7.88194234e+01]
 [-1.45272913e-01  9.86422884e-01  7.65876915e-02 -1.56166833e+01]
 [ 5.62341093e-01  1.86311903e-02  8.26695454e-01  5.14902471e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.48327356
Centerline is valid?  [True, True]
Translation: X:78.87, Y:-15.62, Z:51.52
[[ 8.13741033e-01  1.64660168e-01 -5.57415967e-01  7.88684026e+01]
 [-1.47101067e-01  9.86153746e-01  7.65641285e-02 -1.56208711e+01]
 [ 5.62304906e-01  1.96931103e-02  8.26695454e-01  5.15236477e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.54327356
Centerline is valid?  [True, True]
Translation: X:78.92, Y:-15.63, Z:51.56
[[ 8.13051856e-01  1.68013596e-01 -5.57420946e-01  7.89172271e+01]
 [-1.51190277e-01  9.85537917e-01  7.65278637e-02 -1.56262257e+01]
 [ 5.62217200e-01  2.20555057e-02  8.26695455e-01  5.15570457e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.60327356
Centerline is valid?  [True, True]
Translation: X:78.97, Y:-15.63, Z:51.59
[[ 8.12179576e-01  1.72164809e-01 -5.57425883e-01  7.89657462e+01]
 [-1.56247480e-01  9.84751601e-01  7.64918905e-02 -1.56308496e+01]
 [ 5.62095243e-01  2.49712381e-02  8.26695455e-01  5.15901702e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.66327356
Centerline is valid?  [True, True]
Translation: X:79.02, Y:-15.64, Z:51.62
[[ 8.11255244e-01  1.76396253e-01 -5.57448913e-01  7.90154872e+01]
 [-1.61493978e-01  9.83917873e-01  7.63237463e-02 -1.56370703e+01]
 [ 5.61947172e-01  2.81066031e-02  8.26695467e-01  5.16241980e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.72327356
Centerline is valid?  [True, True]
Translation: X:79.06, Y:-15.64, Z:51.66
[[ 8.11180509e-01  1.76739521e-01 -5.57448943e-01  7.90640408e+01]
 [-1.61910461e-01  9.83849441e-01  7.63235248e-02 -1.56432296e+01]
 [ 5.61935214e-01  2.83446600e-02  8.26695467e-01  5.16575068e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.78327356
Centerline is valid?  [True, True]
Translation: X:79.11, Y:-15.65, Z:51.69
[[ 8.11267129e-01  1.76268913e-01 -5.57471896e-01  7.91120989e+01]
 [-1.61454807e-01  9.83937333e-01  7.61555644e-02 -1.56486867e+01]
 [ 5.61941269e-01  2.82240112e-02  8.26695479e-01  5.16903298e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.84327356
Centerline is valid?  [True, True]
Translation: X:79.16, Y:-15.66, Z:51.72
[[ 8.10857587e-01  1.78123233e-01 -5.57478329e-01  7.91615630e+01]
 [-1.63736238e-01  9.83563901e-01  7.61084497e-02 -1.56552857e+01]
 [ 5.61872244e-01  2.95662906e-02  8.26695480e-01  5.17242689e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.90327356
Centerline is valid?  [True, True]
Translation: X:79.21, Y:-15.66, Z:51.76
[[ 8.10083931e-01  1.81604240e-01 -5.57479976e-01  7.92094321e+01]
 [-1.67967433e-01  9.82851099e-01  7.60963817e-02 -1.56639204e+01]
 [ 5.61739233e-01  3.19940244e-02  8.26695480e-01  5.17573379e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.96327356
Centerline is valid?  [True, True]
Translation: X:79.26, Y:-15.67, Z:51.79
[[ 8.09598936e-01  1.83744462e-01 -5.57483215e-01  7.92580787e+01]
 [-1.70580568e-01  9.82402780e-01  7.60726481e-02 -1.56720059e+01]
 [ 5.61650988e-01  3.35074684e-02  8.26695480e-01  5.17908745e+01]
 [ 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 174.02327356
Centerline is valid?  [True, True]
Translation: X:79.31, Y:-15.68, Z:51.82
[[ 8.09289344e-01  1.85093467e-01 -5.57486472e-01  7.93068149e+01]
 [-1.72233965e-01  9.82116106e-01  7.60487728e-02 -1.56776143e+01]
 [ 5.61592574e-01  3.44726442e-02  8.26695480e-01  5.18242435e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.08327356
Centerline is valid?  [True, True]
Translation: X:79.36, Y:-15.68, Z:51.86
[[ 8.08368885e-01  1.89058634e-01 -5.57491326e-01  7.93556248e+01]
 [-1.77070975e-01  9.81258308e-01  7.60131793e-02 -1.56844543e+01]
 [ 5.61413943e-01  3.72688439e-02  8.26695481e-01  5.18577694e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.14327356
Centerline is valid?  [True, True]
Translation: X:79.40, Y:-15.69, Z:51.89
[[ 8.08264852e-01  1.89498553e-01 -5.57492805e-01  7.94026753e+01]
 [-1.77612437e-01  9.81161285e-01  7.60023315e-02 -1.56904471e+01]
 [ 5.61392689e-01  3.75876427e-02  8.26695481e-01  5.18900438e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.20327356
Centerline is valid?  [True, True]
Translation: X:79.45, Y:-15.70, Z:51.92
[[ 8.07885527e-01  1.91069750e-01 -5.57506346e-01  7.94508283e+01]
 [-1.79588116e-01  9.80809288e-01  7.59028945e-02 -1.56990878e+01]
 [ 5.61310149e-01  3.88006642e-02  8.26695485e-01  5.19232589e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.26327356
Centerline is valid?  [True, True]
Translation: X:79.50, Y:-15.71, Z:51.96
[[ 8.08289158e-01  1.89335325e-01 -5.57513024e-01  7.95006834e+01]
 [-1.77516266e-01  9.81190182e-01  7.58538138e-02 -1.57051660e+01]
 [ 5.61388112e-01  3.76558152e-02  8.26695486e-01  5.19574126e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.32327356
Centerline is valid?  [True, True]
Translation: X:79.55, Y:-15.71, Z:51.99
[[ 8.05058796e-01  2.02630108e-01 -5.57513565e-01  7.95505069e+01]
 [-1.93664770e-01  9.78131258e-01  7.58498415e-02 -1.57066242e+01]
 [ 5.60690906e-01  4.69071544e-02  8.26695486e-01  5.19911447e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.38327356
Centerline is valid?  [True, True]
Translation: X:79.60, Y:-15.73, Z:52.02
[[ 8.09727670e-01  1.83080481e-01 -5.57514698e-01  7.95968215e+01]
 [-1.69933455e-01  9.82532792e-01  7.58415076e-02 -1.57313700e+01]
 [ 5.61661573e-01  3.33294318e-02  8.26695486e-01  5.20246446e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.44327356
Centerline is valid?  [True, True]
Translation: X:79.65, Y:-15.73, Z:52.06
[[ 8.12503788e-01  1.70335082e-01 -5.57515520e-01  7.96475208e+01]
 [-1.54478624e-01  9.85081386e-01  7.58354694e-02 -1.57311057e+01]
 [ 5.62115601e-01  2.45076243e-02  8.26695486e-01  5.20588082e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.50327356
Centerline is valid?  [True, True]
Translation: X:79.70, Y:-15.74, Z:52.09
[[ 8.12822936e-01  1.68805894e-01 -5.57515421e-01  7.96957078e+01]
 [-1.52624228e-01  9.85370345e-01  7.58361963e-02 -1.57358416e+01]
 [ 5.62160759e-01  2.34489606e-02  8.26695486e-01  5.20917400e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.56327356
Centerline is valid?  [True, True]
Translation: X:79.74, Y:-15.75, Z:52.13
[[ 8.14249270e-01  1.61762878e-01 -5.57522105e-01  7.97445152e+01]
 [-1.44121686e-01  9.86653569e-01  7.57870285e-02 -1.57464143e+01]
 [ 5.62340703e-01  1.86414929e-02  8.26695487e-01  5.21255989e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.62327356
Centerline is valid?  [True, True]
Translation: X:79.79, Y:-15.75, Z:52.16
[[ 8.11741047e-01  1.73904837e-01 -5.57524512e-01  7.97946838e+01]
 [-1.58852431e-01  9.84390631e-01  7.57693220e-02 -1.57484610e+01]
 [ 5.61998558e-01  2.70590550e-02  8.26695487e-01  5.21596109e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.68327356
Centerline is valid?  [True, True]
Translation: X:79.84, Y:-15.76, Z:52.19
[[ 8.14121758e-01  1.62395826e-01 -5.57524312e-01  7.98433004e+01]
 [-1.44899772e-01  9.86540847e-01  7.57707920e-02 -1.57594003e+01]
 [ 5.62325367e-01  1.90984952e-02  8.26695487e-01  5.21934014e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.74327356
Centerline is valid?  [True, True]
Translation: X:79.89, Y:-15.76, Z:52.23
[[ 8.13399613e-01  1.65968967e-01 -5.57526117e-01  7.98925187e+01]
 [-1.49239243e-01  9.85894745e-01  7.57575103e-02 -1.57640933e+01]
 [ 5.62235464e-01  2.15836458e-02  8.26695487e-01  5.22270173e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.80327356
Centerline is valid?  [True, True]
Translation: X:79.94, Y:-15.76, Z:52.26
[[ 8.12986093e-01  1.67975211e-01 -5.57528422e-01  7.99419312e+01]
 [-1.51682718e-01  9.85523071e-01  7.57405431e-02 -1.57623282e+01]
 [ 5.62179656e-01  2.29914179e-02  8.26695488e-01  5.22601708e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.86327356
Centerline is valid?  [True, True]
Translation: X:79.99, Y:-15.77, Z:52.29
[[ 8.12484501e-01  1.70311064e-01 -5.57550965e-01  7.99901767e+01]
 [-1.54628373e-01  9.85077963e-01  7.55742918e-02 -1.57679420e+01]
 [ 5.62102306e-01  2.48102578e-02  8.26695499e-01  5.22931362e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.92327356
Centerline is valid?  [True, True]
Translation: X:80.04, Y:-15.77, Z:52.33
[[ 8.12227388e-01  1.71527568e-01 -5.57552655e-01  8.00386949e+01]
 [-1.56111897e-01  9.84844905e-01  7.55618183e-02 -1.57739272e+01]
 [ 5.62063827e-01  2.56672245e-02  8.26695499e-01  5.23263992e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.98327356
Centerline is valid?  [True, True]
Translation: X:80.08, Y:-15.80, Z:52.36
[[ 8.11667564e-01  1.74082856e-01 -5.57575937e-01  8.00840594e+01]
 [-1.59328450e-01  9.84342846e-01  7.53896928e-02 -1.57988285e+01]
 [ 5.61969938e-01  2.76463416e-02  8.26695512e-01  5.23591778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.04327356
Centerline is valid?  [True, True]
Translation: X:80.13, Y:-15.81, Z:52.39
[[ 8.11780397e-01  1.73534876e-01 -5.57582491e-01  8.01316646e+01]
 [-1.58697138e-01  9.84448538e-01  7.53411909e-02 -1.58055094e+01]
 [ 5.61985592e-01  2.73262436e-02  8.26695513e-01  5.23918689e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.10327356
Centerline is valid?  [True, True]
Translation: X:80.18, Y:-15.81, Z:52.42
[[ 8.11733112e-01  1.73674711e-01 -5.57607793e-01  8.01797863e+01]
 [-1.58995303e-01  9.84414770e-01  7.51535387e-02 -1.58116201e+01]
 [ 5.61969616e-01  2.76524040e-02  8.26695528e-01  5.24247814e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.16327356
Centerline is valid?  [True, True]
Translation: X:80.23, Y:-15.82, Z:52.46
[[ 8.11858748e-01  1.73011830e-01 -5.57630953e-01  8.02282826e+01]
 [-1.58309400e-01  9.84538435e-01  7.49813565e-02 -1.58196480e+01]
 [ 5.61981768e-01  2.74039514e-02  8.26695540e-01  5.24581288e+01]
 [ 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 175.22327356
Centerline is valid?  [True, True]
Translation: X:80.28, Y:-15.83, Z:52.49
[[ 8.11885323e-01  1.72818617e-01 -5.57652175e-01  8.02775590e+01]
 [-1.58183427e-01  9.84570711e-01  7.48232464e-02 -1.58265259e+01]
 [ 5.61978849e-01  2.74634366e-02  8.26695551e-01  5.24919055e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.28327356
Centerline is valid?  [True, True]
Translation: X:80.33, Y:-15.83, Z:52.52
[[ 8.11621075e-01  1.74050179e-01 -5.57653804e-01  8.03258095e+01]
 [-1.59685320e-01  9.84329161e-01  7.48111019e-02 -1.58325659e+01]
 [ 5.61935787e-01  2.83308594e-02  8.26695551e-01  5.25249932e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.34327356
Centerline is valid?  [True, True]
Translation: X:80.38, Y:-15.84, Z:52.56
[[ 8.10896180e-01  1.77325888e-01 -5.57676353e-01  8.03757186e+01]
 [-1.63773960e-01  9.83669944e-01  7.46426979e-02 -1.58384003e+01]
 [ 5.61805549e-01  3.08053859e-02  8.26695563e-01  5.25590968e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.40327356
Centerline is valid?  [True, True]
Translation: X:80.42, Y:-15.84, Z:52.59
[[ 8.10956163e-01  1.77051369e-01 -5.57676353e-01  8.04239747e+01]
 [-1.63440954e-01  9.83725329e-01  7.46426979e-02 -1.58447664e+01]
 [ 5.61815945e-01  3.06151990e-02  8.26695563e-01  5.25922245e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.46327356
Centerline is valid?  [True, True]
Translation: X:80.47, Y:-15.85, Z:52.63
[[ 8.10981273e-01  1.76864214e-01 -5.57699224e-01  8.04720414e+01]
 [-1.63331308e-01  9.83756515e-01  7.44714881e-02 -1.58507661e+01]
 [ 5.61811586e-01  3.06947613e-02  8.26695575e-01  5.26250989e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.52327356
Centerline is valid?  [True, True]
Translation: X:80.52, Y:-15.86, Z:52.66
[[ 8.11313479e-01  1.75262175e-01 -5.57721802e-01  8.05211557e+01]
 [-1.61504192e-01  9.84070932e-01  7.43020706e-02 -1.58571829e+01]
 [ 5.61860156e-01  2.97921374e-02  8.26695587e-01  5.26587188e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.58327356
Centerline is valid?  [True, True]
Translation: X:80.57, Y:-15.86, Z:52.69
[[ 8.11495965e-01  1.74410204e-01 -5.57723390e-01  8.05701473e+01]
 [-1.60479004e-01  9.84239535e-01  7.42901484e-02 -1.58644650e+01]
 [ 5.61890371e-01  2.92167388e-02  8.26695587e-01  5.26924185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.64327356
Centerline is valid?  [True, True]
Translation: X:80.62, Y:-15.85, Z:52.73
[[ 8.12705774e-01  1.68677738e-01 -5.57724973e-01  8.06214920e+01]
 [-1.53535678e-01  9.85347419e-01  7.42782631e-02 -1.58513281e+01]
 [ 5.62081952e-01  2.52643084e-02  8.26695587e-01  5.27258712e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.70327356
Centerline is valid?  [True, True]
Translation: X:80.67, Y:-15.88, Z:52.76
[[ 8.13451805e-01  1.65036922e-01 -5.57726614e-01  8.06689701e+01]
 [-1.49130392e-01  9.86024693e-01  7.42659461e-02 -1.58751199e+01]
 [ 5.62188836e-01  2.27622203e-02  8.26695587e-01  5.27600330e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.76327356
Centerline is valid?  [True, True]
Translation: X:80.72, Y:-15.88, Z:52.79
[[ 8.13570137e-01  1.64450204e-01 -5.57727319e-01  8.07170111e+01]
 [-1.48422843e-01  9.86131845e-01  7.42606455e-02 -1.58808783e+01]
 [ 5.62204849e-01  2.23632307e-02  8.26695587e-01  5.27929581e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.82327356
Centerline is valid?  [True, True]
Translation: X:80.77, Y:-15.89, Z:52.83
[[ 8.13480293e-01  1.64818725e-01 -5.57749585e-01  8.07657629e+01]
 [-1.48984218e-01  9.86059793e-01  7.40930946e-02 -1.58855041e+01]
 [ 5.62186370e-01  2.28226134e-02  8.26695599e-01  5.28261744e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.88327356
Centerline is valid?  [True, True]
Translation: X:80.81, Y:-15.89, Z:52.86
[[ 8.13345304e-01  1.65408756e-01 -5.57771781e-01  8.08138997e+01]
 [-1.49814035e-01  9.85946625e-01  7.39256888e-02 -1.58896376e+01]
 [ 5.62161161e-01  2.34349295e-02  8.26695611e-01  5.28589325e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.94327356
Centerline is valid?  [True, True]
Translation: X:80.86, Y:-15.89, Z:52.89
[[ 8.13116188e-01  1.66505251e-01 -5.57779585e-01  8.08634431e+01]
 [-1.51183609e-01  9.85741963e-01  7.38667649e-02 -1.58939603e+01]
 [ 5.62125948e-01  2.42648683e-02  8.26695612e-01  5.28927148e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.00327356
Centerline is valid?  [True, True]
Translation: X:80.91, Y:-15.90, Z:52.93
[[ 8.12518342e-01  1.69393344e-01 -5.57781174e-01  8.09130272e+01]
 [-1.54693387e-01  9.85198168e-01  7.38547662e-02 -1.59002168e+01]
 [ 5.62035497e-01  2.62767067e-02  8.26695612e-01  5.29267224e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.06327356
Centerline is valid?  [True, True]
Translation: X:80.96, Y:-15.91, Z:52.96
[[ 8.12707387e-01  1.68484022e-01 -5.57781174e-01  8.09625523e+01]
 [-1.53590843e-01  9.85370654e-01  7.38547662e-02 -1.59051860e+01]
 [ 5.62064549e-01  2.56477670e-02  8.26695612e-01  5.29605815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.12327356
Centerline is valid?  [True, True]
Translation: X:81.01, Y:-15.89, Z:52.99
[[ 8.11766377e-01  1.72955879e-01 -5.57782766e-01  8.10139676e+01]
 [-1.59021772e-01  9.84509688e-01  7.38427453e-02 -1.58908020e+01]
 [ 5.61914073e-01  2.87565459e-02  8.26695612e-01  5.29939809e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.18327356
Centerline is valid?  [True, True]
Translation: X:81.06, Y:-15.92, Z:53.03
[[ 8.12906213e-01  1.67513122e-01 -5.57783868e-01  8.10602661e+01]
 [-1.52427643e-01  9.85552785e-01  7.38344144e-02 -1.59159021e+01]
 [ 5.62093678e-01  2.50012263e-02  8.26695612e-01  5.30274568e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.24327356
Centerline is valid?  [True, True]
Translation: X:81.11, Y:-15.92, Z:53.06
[[ 8.12742920e-01  1.68293164e-01 -5.57787018e-01  8.11077758e+01]
 [-1.53389675e-01  9.85405298e-01  7.38106152e-02 -1.59212188e+01]
 [ 5.62068104e-01  2.55697143e-02  8.26695613e-01  5.30599747e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.30327356
Centerline is valid?  [True, True]
Translation: X:81.16, Y:-15.91, Z:53.09
[[ 8.11557198e-01  1.73896307e-01 -5.57794755e-01  8.11598681e+01]
 [-1.60224481e-01  9.84321463e-01  7.37521043e-02 -1.59060054e+01]
 [ 5.61874568e-01  2.95183240e-02  8.26695614e-01  5.30937350e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.36327356
Centerline is valid?  [True, True]
Translation: X:81.21, Y:-15.93, Z:53.13
[[ 8.12474408e-01  1.69552619e-01 -5.57796778e-01  8.12056501e+01]
 [-1.54967316e-01  9.85163953e-01  7.37368017e-02 -1.59312082e+01]
 [ 5.62023547e-01  2.65310052e-02  8.26695614e-01  5.31268659e+01]
 [ 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 176.42327356
Centerline is valid?  [True, True]
Translation: X:81.25, Y:-15.94, Z:53.16
[[ 8.12890543e-01  1.67525743e-01 -5.57802913e-01  8.12539982e+01]
 [-1.52541588e-01  9.85545937e-01  7.36903670e-02 -1.59364045e+01]
 [ 5.62085428e-01  2.51859398e-02  8.26695615e-01  5.31599273e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.48327356
Centerline is valid?  [True, True]
Translation: X:81.30, Y:-15.94, Z:53.19
[[ 8.14248802e-01  1.60785663e-01 -5.57805395e-01  8.13031153e+01]
 [-1.44384526e-01  9.86775358e-01  7.36715770e-02 -1.59437318e+01]
 [ 5.62273952e-01  2.05514742e-02  8.26695615e-01  5.31937118e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.54327356
Centerline is valid?  [True, True]
Translation: X:81.35, Y:-15.95, Z:53.23
[[ 8.14910678e-01  1.57385166e-01 -5.57808656e-01  8.13513205e+01]
 [-1.40280845e-01  9.87368939e-01  7.36468768e-02 -1.59512554e+01]
 [ 5.62353867e-01  1.82342434e-02  8.26695615e-01  5.32268955e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.60327356
Centerline is valid?  [True, True]
Translation: X:81.40, Y:-15.94, Z:53.26
[[ 8.14508480e-01  1.59375768e-01 -5.57830888e-01  8.14029818e+01]
 [-1.42808268e-01  9.87019128e-01  7.34781582e-02 -1.59362167e+01]
 [ 5.62300395e-01  1.98142800e-02  8.26695627e-01  5.32603306e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.66327356
Centerline is valid?  [True, True]
Translation: X:81.45, Y:-15.96, Z:53.29
[[ 8.14893020e-01  1.57386545e-01 -5.57834063e-01  8.14489939e+01]
 [-1.40414366e-01  9.87364324e-01  7.34540522e-02 -1.59621770e+01]
 [ 5.62346132e-01  1.84707219e-02  8.26695628e-01  5.32936732e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.72327356
Centerline is valid?  [True, True]
Translation: X:81.50, Y:-15.96, Z:53.33
[[ 8.14020702e-01  1.61798069e-01 -5.57845572e-01  8.14985747e+01]
 [-1.45820191e-01  9.86586955e-01  7.33665597e-02 -1.59637791e+01]
 [ 5.62233732e-01  2.16232493e-02  8.26695631e-01  5.33272266e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.78327356
Centerline is valid?  [True, True]
Translation: X:81.55, Y:-15.97, Z:53.36
[[ 8.12710129e-01  1.68246877e-01 -5.57848756e-01  8.15483129e+01]
 [-1.53654263e-01  9.85399040e-01  7.33423437e-02 -1.59674206e+01]
 [ 5.62043249e-01  2.61097736e-02  8.26695631e-01  5.33611003e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.84327356
Centerline is valid?  [True, True]
Translation: X:81.60, Y:-15.97, Z:53.39
[[ 8.11918397e-01  1.72021861e-01 -5.57850335e-01  8.15976598e+01]
 [-1.58240151e-01  9.84673914e-01  7.33303314e-02 -1.59730865e+01]
 [ 5.61915093e-01  2.87360761e-02  8.26695631e-01  5.33948958e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.90327356
Centerline is valid?  [True, True]
Translation: X:81.65, Y:-15.98, Z:53.43
[[ 8.10737510e-01  1.77497465e-01 -5.57852435e-01  8.16470018e+01]
 [-1.64892929e-01  9.83582903e-01  7.33143508e-02 -1.59815510e+01]
 [ 5.61707229e-01  3.25472278e-02  8.26695631e-01  5.34289343e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.96327356
Centerline is valid?  [True, True]
Translation: X:81.69, Y:-15.99, Z:53.46
[[ 8.10672918e-01  1.77788119e-01 -5.57853748e-01  8.16946135e+01]
 [-1.65252406e-01  9.83523316e-01  7.33043578e-02 -1.59886752e+01]
 [ 5.61694812e-01  3.27608161e-02  8.26695631e-01  5.34616892e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.02327356
Centerline is valid?  [True, True]
Translation: X:81.74, Y:-16.00, Z:53.49
[[ 8.10226681e-01  1.79787224e-01 -5.57861345e-01  8.17425544e+01]
 [-1.67717592e-01  9.83110247e-01  7.32465053e-02 -1.59978510e+01]
 [ 5.61607991e-01  3.42168887e-02  8.26695633e-01  5.34948236e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.08327356
Centerline is valid?  [True, True]
Translation: X:81.79, Y:-16.01, Z:53.53
[[ 8.09937847e-01  1.81016800e-01 -5.57883144e-01  8.17908844e+01]
 [-1.69323712e-01  9.82847278e-01  7.30801549e-02 -1.60057057e+01]
 [ 5.61542665e-01  3.52724617e-02  8.26695644e-01  5.35280471e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.14327356
Centerline is valid?  [True, True]
Translation: X:81.84, Y:-16.01, Z:53.56
[[ 8.09362155e-01  1.83559272e-01 -5.57887888e-01  8.18393820e+01]
 [-1.72434075e-01  9.82309053e-01  7.30439247e-02 -1.60108300e+01]
 [ 5.61426213e-01  3.70798935e-02  8.26695645e-01  5.35612092e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.20327356
Centerline is valid?  [True, True]
Translation: X:81.89, Y:-16.02, Z:53.60
[[ 8.08358426e-01  1.87927474e-01 -5.57888805e-01  8.18889752e+01]
 [-1.77741231e-01  9.81363166e-01  7.30369187e-02 -1.60166898e+01]
 [ 5.61217168e-01  4.01198344e-02  8.26695645e-01  5.35951909e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.26327356
Centerline is valid?  [True, True]
Translation: X:81.94, Y:-16.02, Z:53.63
[[ 8.07964028e-01  1.89613783e-01 -5.57889544e-01  8.19381212e+01]
 [-1.79792427e-01  9.80989865e-01  7.30312771e-02 -1.60248289e+01]
 [ 5.61131725e-01  4.12976705e-02  8.26695645e-01  5.36290728e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.32327356
Centerline is valid?  [True, True]
Translation: X:81.99, Y:-16.03, Z:53.66
[[ 8.07348766e-01  1.92210597e-01 -5.57891617e-01  8.19866295e+01]
 [-1.82956494e-01  9.80405869e-01  7.30154338e-02 -1.60338868e+01]
 [ 5.60994556e-01  4.31209738e-02  8.26695645e-01  5.36626003e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.38327356
Centerline is valid?  [True, True]
Translation: X:82.03, Y:-16.04, Z:53.70
[[ 8.07585013e-01  1.91212216e-01 -5.57892763e-01  8.20344978e+01]
 [-1.81750156e-01  9.80630871e-01  7.30066820e-02 -1.60412878e+01]
 [ 5.61046635e-01  4.24379944e-02  8.26695645e-01  5.36955530e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.44327356
Centerline is valid?  [True, True]
Translation: X:82.08, Y:-16.05, Z:53.73
[[ 8.08518707e-01  1.87207195e-01 -5.57898707e-01  8.20825526e+01]
 [-1.76918777e-01  9.81517399e-01  7.29612344e-02 -1.60541617e+01]
 [ 5.61246156e-01  3.97122343e-02  8.26695646e-01  5.37290955e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.50327356
Centerline is valid?  [True, True]
Translation: X:82.13, Y:-16.06, Z:53.76
[[ 8.09515338e-01  1.82842171e-01 -5.57901119e-01  8.21321468e+01]
 [-1.71633161e-01  9.82456823e-01  7.29427866e-02 -1.60612921e+01]
 [ 5.61450778e-01  3.67060278e-02  8.26695646e-01  5.37631839e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.56327356
Centerline is valid?  [True, True]
Translation: X:82.18, Y:-16.07, Z:53.80
[[ 8.09558138e-01  1.82649045e-01 -5.57902274e-01  8.21790121e+01]
 [-1.71404841e-01  9.82497338e-01  7.29339509e-02 -1.60706851e+01]
 [ 5.61458816e-01  3.65828771e-02  8.26695646e-01  5.37956354e+01]
 [ 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 : 0.995013 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.988702 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.989393 with order 1
SLAMing on frame at distance 177.62327356
Centerline is valid?  [True, True]
Translation: X:82.23, Y:-16.08, Z:53.83
[[ 8.09016683e-01  1.85009760e-01 -5.57909846e-01  8.22267541e+01]
 [-1.74309849e-01  9.81990410e-01  7.28759948e-02 -1.60757837e+01]
 [ 5.61344888e-01  3.82912852e-02  8.26695648e-01  5.38282734e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.68327356
Centerline is valid?  [True, True]
Translation: X:82.27, Y:-16.08, Z:53.86
[[ 8.08949610e-01  1.85281277e-01 -5.57916999e-01  8.22749842e+01]
 [-1.74677033e-01  9.81929227e-01  7.28211966e-02 -1.60808166e+01]
 [ 5.61327412e-01  3.85466073e-02  8.26695649e-01  5.38612368e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.74327356
Centerline is valid?  [True, True]
Translation: X:82.32, Y:-16.09, Z:53.89
[[ 8.08691156e-01  1.86343980e-01 -5.57937752e-01  8.23231675e+01]
 [-1.76076371e-01  9.81691071e-01  7.26619013e-02 -1.60882540e+01]
 [ 5.61262617e-01  3.94786176e-02  8.26695659e-01  5.38943249e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.80327356
Centerline is valid?  [True, True]
Translation: X:82.37, Y:-16.08, Z:53.93
[[ 8.05248119e-01  2.00640526e-01 -5.57959537e-01  8.23748301e+01]
 [-1.93554404e-01  9.78407518e-01  7.24942873e-02 -1.60768683e+01]
 [ 5.60457098e-01  4.96196374e-02  8.26695671e-01  5.39281056e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.86327356
Centerline is valid?  [True, True]
Translation: X:82.42, Y:-16.09, Z:53.96
[[ 8.06389222e-01  1.96000162e-01 -5.57960894e-01  8.24236444e+01]
 [-1.87924189e-01  9.79505279e-01  7.24838474e-02 -1.60864785e+01]
 [ 5.60732486e-01  4.64041552e-02  8.26695671e-01  5.39618891e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.92327356
Centerline is valid?  [True, True]
Translation: X:82.47, Y:-16.09, Z:54.00
[[ 8.10089129e-01  1.80090182e-01 -5.57963377e-01  8.24732370e+01]
 [-1.68621480e-01  9.83013560e-01  7.24647265e-02 -1.60906714e+01]
 [ 5.61535752e-01  3.53817232e-02  8.26695671e-01  5.39957184e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.98327356
Centerline is valid?  [True, True]
Translation: X:82.52, Y:-16.10, Z:54.03
[[ 8.07378298e-01  1.91874589e-01 -5.57964538e-01  8.25211241e+01]
 [-1.82932864e-01  9.80451797e-01  7.24557889e-02 -1.61042772e+01]
 [ 5.60959758e-01  4.35708194e-02  8.26695672e-01  5.40292269e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.04327356
Centerline is valid?  [True, True]
Translation: X:82.57, Y:-16.11, Z:54.06
[[ 8.08171730e-01  1.88501323e-01 -5.57965685e-01  8.25699751e+01]
 [-1.78842992e-01  9.81206718e-01  7.24469533e-02 -1.61139949e+01]
 [ 5.61136025e-01  4.12386729e-02  8.26695672e-01  5.40630451e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.10327356
Centerline is valid?  [True, True]
Translation: X:82.62, Y:-16.12, Z:54.10
[[ 8.12414327e-01  1.69282009e-01 -5.57966453e-01  8.26196487e+01]
 [-1.55526813e-01  9.85171917e-01  7.24410412e-02 -1.61212761e+01]
 [ 5.61955845e-01  2.79266042e-02  8.26695672e-01  5.40972066e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.16327356
Centerline is valid?  [True, True]
Translation: X:82.67, Y:-16.13, Z:54.13
[[ 8.12297617e-01  1.69837383e-01 -5.57967602e-01  8.26674722e+01]
 [-1.56206362e-01  9.85065049e-01  7.24321880e-02 -1.61275233e+01]
 [ 5.61936076e-01  2.83215957e-02  8.26695672e-01  5.41300271e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.22327356
Centerline is valid?  [True, True]
Translation: X:82.72, Y:-16.13, Z:54.16
[[ 8.12360017e-01  1.69512934e-01 -5.57975418e-01  8.27153649e+01]
 [-1.55854191e-01  9.85125258e-01  7.23719321e-02 -1.61329246e+01]
 [ 5.61943657e-01  2.81707434e-02  8.26695673e-01  5.41627932e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.28327356
Centerline is valid?  [True, True]
Translation: X:82.76, Y:-16.16, Z:54.20
[[ 8.12018597e-01  1.71115777e-01 -5.57983144e-01  8.27621610e+01]
 [-1.57838854e-01  9.84813598e-01  7.23123259e-02 -1.61576804e+01]
 [ 5.61883168e-01  2.93524669e-02  8.26695675e-01  5.41965127e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.34327356
Centerline is valid?  [True, True]
Translation: X:82.81, Y:-16.16, Z:54.23
[[ 8.12453305e-01  1.69032369e-01 -5.57985381e-01  8.28106466e+01]
 [-1.55324096e-01  9.85214621e-01  7.22950601e-02 -1.61638098e+01]
 [ 5.61955561e-01  2.79322143e-02  8.26695675e-01  5.42297650e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.40327356
Centerline is valid?  [True, True]
Translation: X:82.86, Y:-16.17, Z:54.26
[[ 8.12288964e-01  1.69813225e-01 -5.57987552e-01  8.28589283e+01]
 [-1.56282496e-01  9.85064276e-01  7.22783052e-02 -1.61685005e+01]
 [ 5.61927416e-01  2.84928177e-02  8.26695675e-01  5.42627542e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.46327356
Centerline is valid?  [True, True]
Translation: X:82.91, Y:-16.17, Z:54.30
[[ 8.12650853e-01  1.68057661e-01 -5.57992127e-01  8.29079114e+01]
 [-1.54177840e-01  9.85398471e-01  7.22429712e-02 -1.61732699e+01]
 [ 5.61985573e-01  2.73217089e-02  8.26695675e-01  5.42962136e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.52327356
Centerline is valid?  [True, True]
Translation: X:82.96, Y:-16.18, Z:54.33
[[ 8.12827718e-01  1.67190500e-01 -5.57995016e-01  8.29562243e+01]
 [-1.53141658e-01  9.85561672e-01  7.22206520e-02 -1.61804748e+01]
 [ 5.62013108e-01  2.67493342e-02  8.26695676e-01  5.43294407e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.58327356
Centerline is valid?  [True, True]
Translation: X:83.01, Y:-16.19, Z:54.36
[[ 8.12736374e-01  1.67562126e-01 -5.58016596e-01  8.30054493e+01]
 [-1.53706694e-01  9.85485937e-01  7.20535876e-02 -1.61854495e+01]
 [ 5.61990960e-01  2.72103146e-02  8.26695687e-01  5.43630099e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.64327356
Centerline is valid?  [True, True]
Translation: X:83.05, Y:-16.19, Z:54.40
[[ 8.13018087e-01  1.66179194e-01 -5.58019772e-01  8.30527555e+01]
 [-1.52046738e-01  9.85745208e-01  7.20289827e-02 -1.61932648e+01]
 [ 5.62035034e-01  2.62842202e-02  8.26695688e-01  5.43956091e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.70327356
Centerline is valid?  [True, True]
Translation: X:83.10, Y:-16.20, Z:54.43
[[ 8.13458519e-01  1.63983087e-01 -5.58027584e-01  8.31014242e+01]
 [-1.49425710e-01  9.86150346e-01  7.19684163e-02 -1.62005750e+01]
 [ 5.62100698e-01  2.48403465e-02  8.26695689e-01  5.44290643e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.76327356
Centerline is valid?  [True, True]
Translation: X:83.15, Y:-16.21, Z:54.46
[[ 8.13909107e-01  1.61721451e-01 -5.58030589e-01  8.31504491e+01]
 [-1.46700086e-01  9.86561192e-01  7.19451091e-02 -1.62056563e+01]
 [ 5.62166391e-01  2.33063561e-02  8.26695689e-01  5.44625862e+01]
 [ 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 : 0.996883 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 178.82327356
Centerline is valid?  [True, True]
Translation: X:83.20, Y:-16.20, Z:54.50
[[ 8.13387983e-01  1.64312175e-01 -5.58033600e-01  8.32021840e+01]
 [-1.49856616e-01  9.86088361e-01  7.19217498e-02 -1.61968362e+01]
 [ 5.62088057e-01  2.51247399e-02  8.26695690e-01  5.44967281e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.88327356
Centerline is valid?  [True, True]
Translation: X:83.25, Y:-16.20, Z:54.53
[[ 8.13702600e-01  1.62743571e-01 -5.58034595e-01  8.32511804e+01]
 [-1.47960339e-01  9.86375238e-01  7.19140285e-02 -1.62043702e+01]
 [ 5.62135052e-01  2.40503560e-02  8.26695690e-01  5.45304528e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.94327356
Centerline is valid?  [True, True]
Translation: X:83.30, Y:-16.23, Z:54.56
[[ 8.13960597e-01  1.61445668e-01 -5.58035342e-01  8.32976186e+01]
 [-1.46391042e-01  9.86609785e-01  7.19082328e-02 -1.62261591e+01]
 [ 5.62172402e-01  2.31609072e-02  8.26695690e-01  5.45636917e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.00327356
Centerline is valid?  [True, True]
Translation: X:83.35, Y:-16.22, Z:54.60
[[ 8.13772503e-01  1.62375093e-01 -5.58040001e-01  8.33476486e+01]
 [-1.47542402e-01  9.86440899e-01  7.18720574e-02 -1.62198980e+01]
 [ 5.62143713e-01  2.38470583e-02  8.26695690e-01  5.45968991e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.06327356
Centerline is valid?  [True, True]
Translation: X:83.40, Y:-16.23, Z:54.63
[[ 8.13688065e-01  1.62787233e-01 -5.58043054e-01  8.33961707e+01]
 [-1.48058223e-01  9.86365336e-01  7.18483529e-02 -1.62283084e+01]
 [ 5.62130319e-01  2.41607159e-02  8.26695690e-01  5.46303712e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.12327356
Centerline is valid?  [True, True]
Translation: X:83.44, Y:-16.24, Z:54.66
[[ 8.13746045e-01  1.62492977e-01 -5.58044269e-01  8.34444114e+01]
 [-1.47707988e-01  9.86418532e-01  7.18389123e-02 -1.62368732e+01]
 [ 5.62138528e-01  2.39689652e-02  8.26695690e-01  5.46636743e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.18327356
Centerline is valid?  [True, True]
Translation: X:83.49, Y:-16.26, Z:54.70
[[ 8.15595290e-01  1.52864639e-01 -5.58065162e-01  8.34906506e+01]
 [-1.36151164e-01  9.88091782e-01  7.16762988e-02 -1.62586346e+01]
 [ 5.62376372e-01  1.75223698e-02  8.26695702e-01  5.46966876e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.24327356
Centerline is valid?  [True, True]
Translation: X:83.54, Y:-16.27, Z:54.73
[[ 8.15685820e-01  1.52368677e-01 -5.58068481e-01  8.35383812e+01]
 [-1.35567982e-01  9.88173838e-01  7.16504533e-02 -1.62687152e+01]
 [ 5.62385957e-01  1.72119590e-02  8.26695702e-01  5.47297679e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.30327356
Centerline is valid?  [True, True]
Translation: X:83.59, Y:-16.27, Z:54.76
[[ 8.16284355e-01  1.49053529e-01 -5.58088610e-01  8.35886100e+01]
 [-1.31659518e-01  9.88713542e-01  7.14933740e-02 -1.62690205e+01]
 [ 5.62446106e-01  1.51187546e-02  8.26695712e-01  5.47636147e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.36327356
Centerline is valid?  [True, True]
Translation: X:83.63, Y:-16.28, Z:54.80
[[ 8.16489452e-01  1.47920093e-01 -5.58090155e-01  8.36349296e+01]
 [-1.30294944e-01  9.88895166e-01  7.14813136e-02 -1.62804047e+01]
 [ 5.62466179e-01  1.43525869e-02  8.26695712e-01  5.47958620e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.42327356
Centerline is valid?  [True, True]
Translation: X:83.68, Y:-16.28, Z:54.83
[[ 8.16205417e-01  1.49445393e-01 -5.58099266e-01  8.36835554e+01]
 [-1.32191049e-01  9.88648634e-01  7.14101154e-02 -1.62828486e+01]
 [ 5.62435990e-01  1.54904046e-02  8.26695714e-01  5.48288603e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.48327356
Centerline is valid?  [True, True]
Translation: X:83.73, Y:-16.29, Z:54.86
[[ 8.16640911e-01  1.46966593e-01 -5.58120456e-01  8.37325032e+01]
 [-1.29302101e-01  9.89042584e-01  7.12441776e-02 -1.62854318e+01]
 [ 5.62475413e-01  1.39852378e-02  8.26695726e-01  5.48620363e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.54327356
Centerline is valid?  [True, True]
Translation: X:83.78, Y:-16.30, Z:54.89
[[ 8.16425505e-01  1.48078816e-01 -5.58141611e-01  8.37795006e+01]
 [-1.30762611e-01  9.88862498e-01  7.10781215e-02 -1.62959503e+01]
 [ 5.62450472e-01  1.49540633e-02  8.26695738e-01  5.48945792e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.60327356
Centerline is valid?  [True, True]
Translation: X:83.83, Y:-16.30, Z:54.93
[[ 8.16791822e-01  1.45951041e-01 -5.58166116e-01  8.38291541e+01]
 [-1.28317312e-01  9.89196618e-01  7.08852511e-02 -1.63006202e+01]
 [ 5.62481810e-01  1.37238822e-02  8.26695753e-01  5.49283970e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.66327356
Centerline is valid?  [True, True]
Translation: X:83.88, Y:-16.31, Z:54.96
[[ 8.16189550e-01  1.49276631e-01 -5.58167632e-01  8.38779043e+01]
 [-1.32353415e-01  9.88665539e-01  7.08733081e-02 -1.63073222e+01]
 [ 5.62420832e-01  1.60293390e-02  8.26695753e-01  5.49618799e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.72327356
Centerline is valid?  [True, True]
Translation: X:83.93, Y:-16.32, Z:55.00
[[ 8.15719859e-01  1.51811198e-01 -5.58170647e-01  8.39267727e+01]
 [-1.35440053e-01  9.88249125e-01  7.08495566e-02 -1.63160720e+01]
 [ 5.62367410e-01  1.78052718e-02  8.26695753e-01  5.49956117e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.78327356
Centerline is valid?  [True, True]
Translation: X:83.98, Y:-16.32, Z:55.03
[[ 8.15602302e-01  1.52435958e-01 -5.58172164e-01  8.39756026e+01]
 [-1.36205135e-01  9.88144825e-01  7.08376093e-02 -1.63212425e+01]
 [ 5.62353134e-01  1.82505975e-02  8.26695754e-01  5.50290173e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.84327356
Centerline is valid?  [True, True]
Translation: X:84.03, Y:-16.32, Z:55.06
[[ 8.15038522e-01  1.55346639e-01 -5.58193183e-01  8.40252568e+01]
 [-1.39845391e-01  9.87648108e-01  7.06716500e-02 -1.63231787e+01]
 [ 5.62277044e-01  2.04606270e-02  8.26695765e-01  5.50626171e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.90327356
Centerline is valid?  [True, True]
Translation: X:84.07, Y:-16.33, Z:55.10
[[ 8.15414058e-01  1.53357701e-01 -5.58194706e-01  8.40749050e+01]
 [-1.37443603e-01  9.87986070e-01  7.06596209e-02 -1.63263398e+01]
 [ 5.62324791e-01  1.91034436e-02  8.26695765e-01  5.50964037e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.96327356
Centerline is valid?  [True, True]
Translation: X:84.12, Y:-16.33, Z:55.13
[[ 8.16080581e-01  1.49764742e-01 -5.58196208e-01  8.41218983e+01]
 [-1.33098820e-01  9.88581610e-01  7.06477526e-02 -1.63339993e+01]
 [ 5.62403049e-01  1.66409973e-02  8.26695765e-01  5.51287823e+01]
 [ 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 180.02327356
Centerline is valid?  [True, True]
Translation: X:84.17, Y:-16.34, Z:55.16
[[ 8.16438203e-01  1.47774902e-01 -5.58203581e-01  8.41700573e+01]
 [-1.30728344e-01  9.88902032e-01  7.05894544e-02 -1.63388710e+01]
 [ 5.62440006e-01  1.53411027e-02  8.26695767e-01  5.51616842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.08327356
Centerline is valid?  [True, True]
Translation: X:84.22, Y:-16.34, Z:55.19
[[ 8.16965200e-01  1.44809915e-01 -5.58209594e-01  8.42186649e+01]
 [-1.27169840e-01  9.89369332e-01  7.05418821e-02 -1.63435179e+01]
 [ 5.62490617e-01  1.33571617e-02  8.26695768e-01  5.51948758e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.14327356
Centerline is valid?  [True, True]
Translation: X:84.27, Y:-16.35, Z:55.23
[[ 8.17639115e-01  1.40931254e-01 -5.58215602e-01  8.42684798e+01]
 [-1.22505674e-01  9.89961066e-01  7.04943092e-02 -1.63475424e+01]
 [ 5.62546564e-01  1.07456741e-02  8.26695769e-01  5.52288298e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.20327356
Centerline is valid?  [True, True]
Translation: X:84.32, Y:-16.35, Z:55.26
[[ 8.17242987e-01  1.43207342e-01 -5.58216407e-01  8.43178240e+01]
 [-1.25265997e-01  9.89616027e-01  7.04879382e-02 -1.63530857e+01]
 [ 5.62514293e-01  1.23197615e-02  8.26695769e-01  5.52626180e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.26327356
Centerline is valid?  [True, True]
Translation: X:84.37, Y:-16.36, Z:55.30
[[ 8.17772629e-01  1.40147009e-01 -5.58217469e-01  8.43667378e+01]
 [-1.21566257e-01  9.90077917e-01  7.04795229e-02 -1.63556137e+01]
 [ 5.62556284e-01  1.02241834e-02  8.26695769e-01  5.52958575e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.32327356
Centerline is valid?  [True, True]
Translation: X:84.42, Y:-16.35, Z:55.33
[[ 8.18978420e-01  1.32827515e-01 -5.58239375e-01  8.44168772e+01]
 [-1.12824961e-01  9.91124433e-01  7.03056595e-02 -1.63465906e+01]
 [ 5.62623210e-01  5.40451768e-03  8.26695781e-01  5.53288536e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.38327356
Centerline is valid?  [True, True]
Translation: X:84.47, Y:-16.35, Z:55.36
[[ 8.18468682e-01  1.35916490e-01 -5.58243427e-01  8.44671521e+01]
 [-1.16585520e-01  9.90691403e-01  7.02734670e-02 -1.63480764e+01]
 [ 5.62598287e-01  7.56646847e-03  8.26695782e-01  5.53629122e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.44327356
Centerline is valid?  [True, True]
Translation: X:84.52, Y:-16.34, Z:55.40
[[ 8.17533764e-01  1.41431330e-01 -5.58243427e-01  8.45169681e+01]
 [-1.23261886e-01  9.89882896e-01  7.02734670e-02 -1.63445126e+01]
 [ 5.62534490e-01  1.13592057e-02  8.26695782e-01  5.53962486e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.50327356
Centerline is valid?  [True, True]
Translation: X:84.57, Y:-16.35, Z:55.43
[[ 8.16886655e-01  1.45104744e-01 -5.58247979e-01  8.45660673e+01]
 [-1.27734904e-01  9.89318208e-01  7.02372934e-02 -1.63460103e+01]
 [ 5.62476655e-01  1.39318442e-02  8.26695782e-01  5.54295132e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.56327356
Centerline is valid?  [True, True]
Translation: X:84.62, Y:-16.35, Z:55.46
[[ 8.15376507e-01  1.53328416e-01 -5.58257600e-01  8.46151263e+01]
 [-1.37749235e-01  9.87979057e-01  7.01607535e-02 -1.63532581e+01]
 [ 5.62304455e-01  1.96921272e-02  8.26695785e-01  5.54632191e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.62327356
Centerline is valid?  [True, True]
Translation: X:84.66, Y:-16.35, Z:55.50
[[ 8.14232727e-01  1.59287817e-01 -5.58258414e-01  8.46647580e+01]
 [-1.44975867e-01  9.86944971e-01  7.01542748e-02 -1.63482017e+01]
 [ 5.62145056e-01  2.38120914e-02  8.26695785e-01  5.54963024e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.68327356
Centerline is valid?  [True, True]
Translation: X:84.72, Y:-16.35, Z:55.53
[[ 8.12918068e-01  1.65851712e-01 -5.58262863e-01  8.47151613e+01]
 [-1.52957897e-01  9.85741968e-01  7.01188583e-02 -1.63496051e+01]
 [ 5.61932466e-01  2.83898269e-02  8.26695785e-01  5.55304414e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.74327356
Centerline is valid?  [True, True]
Translation: X:84.76, Y:-16.35, Z:55.56
[[ 8.12207335e-01  1.69297627e-01 -5.58262984e-01  8.47645443e+01]
 [-1.57137496e-01  9.85084407e-01  7.01178957e-02 -1.63471713e+01]
 [ 5.61806954e-01  3.07737780e-02  8.26695785e-01  5.55635825e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.80327356
Centerline is valid?  [True, True]
Translation: X:84.81, Y:-16.35, Z:55.60
[[ 8.11566316e-01  1.72346058e-01 -5.58262439e-01  8.48141262e+01]
 [-1.60832148e-01  9.84487630e-01  7.01222324e-02 -1.63504757e+01]
 [ 5.61687756e-01  3.28777054e-02  8.26695785e-01  5.55973472e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.86327356
Centerline is valid?  [True, True]
Translation: X:84.86, Y:-16.35, Z:55.63
[[ 8.10802941e-01  1.75895477e-01 -5.58264607e-01  8.48641734e+01]
 [-1.65150147e-01  9.83773715e-01  7.01049680e-02 -1.63514138e+01]
 [ 5.61537194e-01  3.53561677e-02  8.26695785e-01  5.56312154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.92327356
Centerline is valid?  [True, True]
Translation: X:84.91, Y:-16.35, Z:55.66
[[ 8.11048456e-01  1.74757218e-01 -5.58265454e-01  8.49130968e+01]
 [-1.63773730e-01  9.84004270e-01  7.00982273e-02 -1.63533652e+01]
 [ 5.61585762e-01  3.45761564e-02  8.26695785e-01  5.56644156e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.98327356
Centerline is valid?  [True, True]
Translation: X:84.96, Y:-16.36, Z:55.70
[[ 8.11048084e-01  1.74749332e-01 -5.58268463e-01  8.49614704e+01]
 [-1.63780600e-01  9.84004834e-01  7.00742536e-02 -1.63567619e+01]
 [ 5.61584296e-01  3.45999548e-02  8.26695786e-01  5.56973593e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.04327356
Centerline is valid?  [True, True]
Translation: X:85.01, Y:-16.36, Z:55.73
[[ 8.11084843e-01  1.74513769e-01 -5.58288745e-01  8.50102904e+01]
 [-1.63605813e-01  9.84045426e-01  6.99123558e-02 -1.63615513e+01]
 [ 5.61582154e-01  3.46344320e-02  8.26695797e-01  5.57306606e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.10327356
Centerline is valid?  [True, True]
Translation: X:85.06, Y:-16.36, Z:55.76
[[ 8.09576136e-01  1.81350573e-01 -5.58299605e-01  8.50613121e+01]
 [-1.71961824e-01  9.82625832e-01  6.98255345e-02 -1.63574952e+01]
 [ 5.61262515e-01  3.94771320e-02  8.26695800e-01  5.57647358e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.16327356
Centerline is valid?  [True, True]
Translation: X:85.11, Y:-16.38, Z:55.80
[[ 8.12480015e-01  1.67862878e-01 -5.58299454e-01  8.51086061e+01]
 [-1.55596915e-01  9.85349595e-01  6.98267479e-02 -1.63756661e+01]
 [ 5.61841460e-01  3.01368356e-02  8.26695800e-01  5.57982107e+01]
 [ 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 181.22327356
Centerline is valid?  [True, True]
Translation: X:85.16, Y:-16.38, Z:55.83
[[ 8.12651684e-01  1.67022836e-01 -5.58301543e-01  8.51559545e+01]
 [-1.54589614e-01  9.85509315e-01  6.98100347e-02 -1.63807689e+01]
 [ 5.61871242e-01  2.95763781e-02  8.26695800e-01  5.58306103e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.28327356
Centerline is valid?  [True, True]
Translation: X:85.20, Y:-16.39, Z:55.86
[[ 8.12547969e-01  1.67502785e-01 -5.58308709e-01  8.52027414e+01]
 [-1.55210952e-01  9.85415711e-01  6.97526857e-02 -1.63859731e+01]
 [ 5.61849943e-01  2.99782232e-02  8.26695801e-01  5.58626210e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.34327356
Centerline is valid?  [True, True]
Translation: X:85.25, Y:-16.39, Z:55.90
[[ 8.12263553e-01  1.68825482e-01 -5.58324168e-01  8.52515098e+01]
 [-1.56900028e-01  9.85156950e-01  6.96287659e-02 -1.63938798e+01]
 [ 5.61792044e-01  3.10441689e-02  8.26695808e-01  5.58961678e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.40327356
Centerline is valid?  [True, True]
Translation: X:85.30, Y:-16.40, Z:55.93
[[ 8.12134776e-01  1.69433990e-01 -5.58327169e-01  8.53004712e+01]
 [-1.57654570e-01  9.85038184e-01  6.96046918e-02 -1.63994257e+01]
 [ 5.61766981e-01  3.14944391e-02  8.26695808e-01  5.59296910e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.46327356
Centerline is valid?  [True, True]
Translation: X:85.35, Y:-16.41, Z:55.96
[[ 8.13049022e-01  1.64986090e-01 -5.58328647e-01  8.53499110e+01]
 [-1.52268553e-01  9.85885960e-01  6.95928324e-02 -1.64058484e+01]
 [ 5.61930224e-01  2.84335109e-02  8.26695808e-01  5.59636166e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.52327356
Centerline is valid?  [True, True]
Translation: X:85.40, Y:-16.42, Z:56.00
[[ 8.14274038e-01  1.58824109e-01 -5.58330272e-01  8.53992078e+01]
 [-1.44806959e-01  9.87010434e-01  6.95797947e-02 -1.64151776e+01]
 [ 5.62128753e-01  2.41930885e-02  8.26695808e-01  5.59976898e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.58327356
Centerline is valid?  [True, True]
Translation: X:85.45, Y:-16.42, Z:56.03
[[ 8.15463220e-01  1.52598458e-01 -5.58330948e-01  8.54473811e+01]
 [-1.37265725e-01  9.88087814e-01  6.95743735e-02 -1.64207380e+01]
 [ 5.62296948e-01  1.99043598e-02  8.26695808e-01  5.60306904e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.64327356
Centerline is valid?  [True, True]
Translation: X:85.50, Y:-16.43, Z:56.06
[[ 8.15719775e-01  1.51207280e-01 -5.58334673e-01  8.54953132e+01]
 [-1.35600566e-01  9.88319813e-01  6.95444680e-02 -1.64274119e+01]
 [ 5.62328850e-01  1.89816997e-02  8.26695809e-01  5.60636106e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.70327356
Centerline is valid?  [True, True]
Translation: X:85.54, Y:-16.43, Z:56.10
[[ 8.15841679e-01  1.50525990e-01 -5.58340650e-01  8.55444065e+01]
 [-1.34807961e-01  9.88431615e-01  6.94964521e-02 -1.64332911e+01]
 [ 5.62342573e-01  1.85706626e-02  8.26695810e-01  5.60972399e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.76327356
Centerline is valid?  [True, True]
Translation: X:85.59, Y:-16.44, Z:56.13
[[ 8.15086460e-01  1.54552545e-01 -5.58343598e-01  8.55927671e+01]
 [-1.39703109e-01  9.87753297e-01  6.94727643e-02 -1.64404987e+01]
 [ 5.62242922e-01  2.13760269e-02  8.26695810e-01  5.61304972e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.82327356
Centerline is valid?  [True, True]
Translation: X:85.64, Y:-16.45, Z:56.16
[[ 8.14560107e-01  1.57227912e-01 -5.58364769e-01  8.56420445e+01]
 [-1.43062152e-01  9.87284365e-01  6.93022556e-02 -1.64473394e+01]
 [ 5.62161056e-01  2.34300127e-02  8.26695822e-01  5.61642754e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.88327356
Centerline is valid?  [True, True]
Translation: X:85.69, Y:-16.45, Z:56.20
[[ 8.14289211e-01  1.58617508e-01 -5.58366874e-01  8.56897771e+01]
 [-1.44758086e-01  9.87038320e-01  6.92852903e-02 -1.64513171e+01]
 [ 5.62119362e-01  2.44098557e-02  8.26695822e-01  5.61968405e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.94327356
Centerline is valid?  [True, True]
Translation: X:85.74, Y:-16.46, Z:56.23
[[ 8.14065086e-01  1.59737297e-01 -5.58374455e-01  8.57384063e+01]
 [-1.46157330e-01  9.86836385e-01  6.92241511e-02 -1.64551649e+01]
 [ 5.62081908e-01  2.52575551e-02  8.26695824e-01  5.62299804e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.00327356
Centerline is valid?  [True, True]
Translation: X:85.79, Y:-16.46, Z:56.26
[[ 8.13499864e-01  1.62519568e-01 -5.58395345e-01  8.57869917e+01]
 [-1.49645988e-01  9.86325222e-01  6.90552999e-02 -1.64625817e+01]
 [ 5.61982250e-01  2.73851458e-02  8.26695836e-01  5.62633404e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.06327356
Centerline is valid?  [True, True]
Translation: X:85.84, Y:-16.46, Z:56.30
[[ 8.10354191e-01  1.77526547e-01 -5.58399866e-01  8.58382140e+01]
 [-1.67874336e-01  9.83389355e-01  6.90187209e-02 -1.64571398e+01]
 [ 5.61377139e-01  3.78113970e-02  8.26695836e-01  5.62974680e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.12327356
Centerline is valid?  [True, True]
Translation: X:85.89, Y:-16.47, Z:56.33
[[ 8.09742537e-01  1.80291350e-01 -5.58401337e-01  8.58870859e+01]
 [-1.71237949e-01  9.82810065e-01  6.90068223e-02 -1.64656173e+01]
 [ 5.61243787e-01  3.97417402e-02  8.26695836e-01  5.63311815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.18327356
Centerline is valid?  [True, True]
Translation: X:85.93, Y:-16.48, Z:56.36
[[ 8.12769701e-01  1.66109265e-01 -5.58402296e-01  8.59348391e+01]
 [-1.54037296e-01  9.85652901e-01  6.89990561e-02 -1.64816054e+01]
 [ 5.61852226e-01  2.99344377e-02  8.26695836e-01  5.63647680e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.24327356
Centerline is valid?  [True, True]
Translation: X:85.98, Y:-16.49, Z:56.40
[[ 8.13181391e-01  1.64077350e-01 -5.58403661e-01  8.59839704e+01]
 [-1.51580891e-01  9.86034425e-01  6.89880071e-02 -1.64907358e+01]
 [ 5.61924603e-01  2.85435612e-02  8.26695836e-01  5.63987113e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.30327356
Centerline is valid?  [True, True]
Translation: X:86.03, Y:-16.49, Z:56.43
[[ 8.12457888e-01  1.67608974e-01 -5.58407926e-01  8.60337691e+01]
 [-1.55887322e-01  9.85365192e-01  6.89534709e-02 -1.64882694e+01]
 [ 5.61792954e-01  3.10269249e-02  8.26695837e-01  5.64321272e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.36327356
Centerline is valid?  [True, True]
Translation: X:86.08, Y:-16.51, Z:56.47
[[ 8.14811567e-01  1.55754065e-01 -5.58410944e-01  8.60813852e+01]
 [-1.41531203e-01  9.87531117e-01  6.89290295e-02 -1.65086547e+01]
 [ 5.62184160e-01  2.28684022e-02  8.26695837e-01  5.64659793e+01]
 [ 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 182.42327356
Centerline is valid?  [True, True]
Translation: X:86.13, Y:-16.52, Z:56.50
[[ 8.15771953e-01  1.50637717e-01 -5.58412391e-01  8.61304170e+01]
 [-1.35339269e-01  9.88399559e-01  6.89172991e-02 -1.65160315e+01]
 [ 5.62316106e-01  1.93543249e-02  8.26695837e-01  5.64997085e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.48327356
Centerline is valid?  [True, True]
Translation: X:86.18, Y:-16.52, Z:56.53
[[ 8.16165695e-01  1.48485879e-01 -5.58413379e-01  8.61797035e+01]
 [-1.32737706e-01  9.88752856e-01  6.89092995e-02 -1.65239341e+01]
 [ 5.62364881e-01  1.78811045e-02  8.26695837e-01  5.65336554e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.54327356
Centerline is valid?  [True, True]
Translation: X:86.23, Y:-16.53, Z:56.57
[[ 8.16453245e-01  1.46890949e-01 -5.58414853e-01  8.62272489e+01]
 [-1.30813766e-01  9.89010068e-01  6.88973513e-02 -1.65308527e+01]
 [ 5.62398309e-01  1.67968837e-02  8.26695837e-01  5.65663422e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.60327356
Centerline is valid?  [True, True]
Translation: X:86.27, Y:-16.54, Z:56.60
[[ 8.16850251e-01  1.44576594e-01 -5.58438248e-01  8.62748556e+01]
 [-1.28140298e-01  9.89373222e-01  6.87072860e-02 -1.65354819e+01]
 [ 5.62437314e-01  1.54348797e-02  8.26695852e-01  5.65987957e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.66327356
Centerline is valid?  [True, True]
Translation: X:86.32, Y:-16.54, Z:56.63
[[ 8.15922295e-01  1.49698107e-01 -5.58445418e-01  8.63227190e+01]
 [-1.34384297e-01  9.88548522e-01  6.86489626e-02 -1.65400816e+01]
 [ 5.62327013e-01  1.90340759e-02  8.26695854e-01  5.66314826e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.72327356
Centerline is valid?  [True, True]
Translation: X:86.37, Y:-16.54, Z:56.66
[[ 8.15444176e-01  1.52259686e-01 -5.58451237e-01  8.63716254e+01]
 [-1.37520455e-01  9.88120410e-01  6.86016016e-02 -1.65448590e+01]
 [ 5.62262324e-01  2.08576915e-02  8.26695855e-01  5.66648941e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.78327356
Centerline is valid?  [True, True]
Translation: X:86.42, Y:-16.55, Z:56.70
[[ 8.15005071e-01  1.54583792e-01 -5.58453746e-01  8.64193480e+01]
 [-1.40350872e-01  9.87723775e-01  6.85811745e-02 -1.65514453e+01]
 [ 5.62199580e-01  2.24854655e-02  8.26695855e-01  5.66976687e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.84327356
Centerline is valid?  [True, True]
Translation: X:86.47, Y:-16.56, Z:56.73
[[ 8.14533318e-01  1.56972767e-01 -5.58475625e-01  8.64671798e+01]
 [-1.43368524e-01  9.87302663e-01  6.84026118e-02 -1.65583325e+01]
 [ 5.62121820e-01  2.43516196e-02  8.26695868e-01  5.67304676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.90327356
Centerline is valid?  [True, True]
Translation: X:86.52, Y:-16.57, Z:56.76
[[ 8.14770961e-01  1.55708041e-01 -5.58483024e-01  8.65155566e+01]
 [-1.41876957e-01  9.87522292e-01  6.83421617e-02 -1.65663298e+01]
 [ 5.62155860e-01  2.35526630e-02  8.26695870e-01  5.67637817e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.96327356
Centerline is valid?  [True, True]
Translation: X:86.56, Y:-16.57, Z:56.80
[[ 8.15300270e-01  1.52842625e-01 -5.58502105e-01  8.65634633e+01]
 [-1.38511153e-01  9.88010799e-01  6.81859269e-02 -1.65739162e+01]
 [ 5.62227827e-01  2.17667661e-02  8.26695880e-01  5.67966985e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.02327356
Centerline is valid?  [True, True]
Translation: X:86.61, Y:-16.58, Z:56.83
[[ 8.16588266e-01  1.45726684e-01 -5.58522459e-01  8.66117982e+01]
 [-1.30003731e-01  9.89177671e-01  6.80188605e-02 -1.65844804e+01]
 [ 5.62390108e-01  1.70666000e-02  8.26695892e-01  5.68301437e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.08327356
Centerline is valid?  [True, True]
Translation: X:86.66, Y:-16.59, Z:56.86
[[ 8.18303179e-01  1.35754371e-01 -5.58525431e-01  8.66606157e+01]
 [-1.17943847e-01  9.90689661e-01  6.79944453e-02 -1.65944999e+01]
 [ 5.62555913e-01  1.02345670e-02  8.26695892e-01  5.68639377e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.14327356
Centerline is valid?  [True, True]
Translation: X:86.71, Y:-16.60, Z:56.90
[[ 8.19351562e-01  1.29266383e-01 -5.58527725e-01  8.67095274e+01]
 [-1.10103378e-01  9.91592943e-01  6.79756025e-02 -1.66018490e+01]
 [ 5.62619110e-01  5.79987313e-03  8.26695892e-01  5.68975782e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.20327356
Centerline is valid?  [True, True]
Translation: X:86.76, Y:-16.61, Z:56.93
[[ 8.20133251e-01  1.24196956e-01 -5.58530721e-01  8.67569584e+01]
 [-1.03985931e-01  9.92254802e-01  6.79509726e-02 -1.66103975e+01]
 [ 5.62644094e-01  2.35048523e-03  8.26695892e-01  5.69303141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.26327356
Centerline is valid?  [True, True]
Translation: X:86.81, Y:-16.61, Z:56.96
[[ 8.19964136e-01  1.25275837e-01 -5.58538074e-01  8.68066232e+01]
 [-1.05332474e-01  9.92116904e-01  6.78904910e-02 -1.66143268e+01]
 [ 5.62640103e-01  3.16442956e-03  8.26695894e-01  5.69641619e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.32327356
Centerline is valid?  [True, True]
Translation: X:86.86, Y:-16.62, Z:57.00
[[ 8.19680980e-01  1.27108851e-01 -5.58539552e-01  8.68557947e+01]
 [-1.07558737e-01  9.91878849e-01  6.78783264e-02 -1.66192747e+01]
 [ 5.62631504e-01  4.43723580e-03  8.26695894e-01  5.69977840e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.38327356
Centerline is valid?  [True, True]
Translation: X:86.91, Y:-16.62, Z:57.03
[[ 8.19070749e-01  1.30977124e-01 -5.58541047e-01  8.69050396e+01]
 [-1.12248553e-01  9.91359907e-01  6.78660285e-02 -1.66221470e+01]
 [ 5.62604097e-01  7.10834544e-03  8.26695894e-01  5.70312851e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.44327356
Centerline is valid?  [True, True]
Translation: X:86.95, Y:-16.62, Z:57.06
[[ 8.17034610e-01  1.43119005e-01 -5.58543997e-01  8.69537630e+01]
 [-1.26966134e-01  9.89584306e-01  6.78417388e-02 -1.66217058e+01]
 [ 5.62435816e-01  1.54871233e-02  8.26695894e-01  5.70641564e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.50327356
Centerline is valid?  [True, True]
Translation: X:87.00, Y:-16.63, Z:57.10
[[ 8.16070442e-01  1.48476863e-01 -5.58554971e-01  8.70034029e+01]
 [-1.33518348e-01  9.88727775e-01  6.77512913e-02 -1.66251871e+01]
 [ 5.62318313e-01  1.92875109e-02  8.26695898e-01  5.70979377e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.56327356
Centerline is valid?  [True, True]
Translation: X:87.05, Y:-16.63, Z:57.13
[[ 8.14541031e-01  1.56644773e-01 -5.58556464e-01  8.70536261e+01]
 [-1.43425111e-01  9.87340199e-01  6.77389763e-02 -1.66267924e+01]
 [ 5.62096207e-01  2.49348473e-02  8.26695898e-01  5.71319966e+01]
 [ 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 183.62327356
Centerline is valid?  [True, True]
Translation: X:87.10, Y:-16.63, Z:57.17
[[ 8.13371323e-01  1.62608503e-01 -5.58556681e-01  8.71024218e+01]
 [-1.50656474e-01  9.86262794e-01  6.77371916e-02 -1.66291015e+01]
 [ 5.61898316e-01  2.90546909e-02  8.26695898e-01  5.71651538e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.68327356
Centerline is valid?  [True, True]
Translation: X:87.15, Y:-16.63, Z:57.20
[[ 8.12633466e-01  1.66246948e-01 -5.58559578e-01  8.71520050e+01]
 [-1.55085152e-01  9.85577752e-01  6.77132930e-02 -1.66331516e+01]
 [ 5.61761022e-01  3.15982089e-02  8.26695898e-01  5.71989755e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.74327356
Centerline is valid?  [True, True]
Translation: X:87.20, Y:-16.65, Z:57.23
[[ 8.14525977e-01  1.56706734e-01 -5.58561037e-01  8.72008339e+01]
 [-1.43526035e-01  9.87328121e-01  6.77012519e-02 -1.66452073e+01]
 [ 5.62092261e-01  2.50236227e-02  8.26695898e-01  5.72329487e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.80327356
Centerline is valid?  [True, True]
Translation: X:87.25, Y:-16.65, Z:57.27
[[ 8.14303659e-01  1.57855858e-01 -5.58561616e-01  8.72499753e+01]
 [-1.44922259e-01  9.87124473e-01  6.76964782e-02 -1.66542741e+01]
 [ 5.62056127e-01  2.58225215e-02  8.26695898e-01  5.72668916e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.86327356
Centerline is valid?  [True, True]
Translation: X:87.30, Y:-16.66, Z:57.30
[[ 8.13902963e-01  1.59904534e-01 -5.58562894e-01  8.72980409e+01]
 [-1.47413098e-01  9.86756299e-01  6.76859297e-02 -1.66640673e+01]
 [ 5.61988741e-01  2.72497078e-02  8.26695898e-01  5.73001643e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.92327356
Centerline is valid?  [True, True]
Translation: X:87.35, Y:-16.67, Z:57.33
[[ 8.15361484e-01  1.52272257e-01 -5.58568536e-01  8.73466470e+01]
 [-1.38193812e-01  9.88092804e-01  6.76393441e-02 -1.66673455e+01]
 [ 5.62217147e-01  2.20401993e-02  8.26695899e-01  5.73332517e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.98327356
Centerline is valid?  [True, True]
Translation: X:87.40, Y:-16.67, Z:57.37
[[ 8.15653113e-01  1.50694860e-01 -5.58570549e-01  8.73951066e+01]
 [-1.36293707e-01  9.88357827e-01  6.76227161e-02 -1.66748513e+01]
 [ 5.62257970e-01  2.09729718e-02  8.26695899e-01  5.73666002e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.04327356
Centerline is valid?  [True, True]
Translation: X:87.44, Y:-16.68, Z:57.40
[[ 8.17430750e-01  1.40656227e-01 -5.58590006e-01  8.74449324e+01]
 [-1.24242986e-01  9.89955859e-01  6.74616781e-02 -1.66779113e+01]
 [ 5.62468354e-01  1.42556401e-02  8.26695910e-01  5.74004401e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.10327356
Centerline is valid?  [True, True]
Translation: X:87.49, Y:-16.68, Z:57.43
[[ 8.18089686e-01  1.36768192e-01 -5.58590840e-01  8.74937103e+01]
 [-1.19539588e-01  9.90535280e-01  6.74547680e-02 -1.66807403e+01]
 [ 5.62529601e-01  1.15896688e-02  8.26695910e-01  5.74336264e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.16327356
Centerline is valid?  [True, True]
Translation: X:87.54, Y:-16.70, Z:57.47
[[ 8.19159403e-01  1.30121209e-01 -5.58611084e-01  8.75410784e+01]
 [-1.11607544e-01  9.91471758e-01  6.72867683e-02 -1.66966128e+01]
 [ 5.62602549e-01  7.22662241e-03  8.26695922e-01  5.74668470e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.22327356
Centerline is valid?  [True, True]
Translation: X:87.59, Y:-16.69, Z:57.50
[[ 8.17845772e-01  1.38055242e-01 -5.58631402e-01  8.75907677e+01]
 [-1.21328075e-01  9.90340703e-01  6.71177311e-02 -1.66900299e+01]
 [ 5.62501370e-01  1.28857202e-02  8.26695934e-01  5.74998082e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.28327356
Centerline is valid?  [True, True]
Translation: X:87.64, Y:-16.70, Z:57.53
[[ 8.19182350e-01  1.29870971e-01 -5.58635667e-01  8.76397049e+01]
 [-1.11444137e-01  9.91503999e-01  6.70822142e-02 -1.66965558e+01]
 [ 5.62601530e-01  7.30410365e-03  8.26695934e-01  5.75333903e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.34327356
Centerline is valid?  [True, True]
Translation: X:87.69, Y:-16.72, Z:57.57
[[ 8.18490407e-01  1.34152294e-01 -5.58638179e-01  8.76877075e+01]
 [-1.16640975e-01  9.90907497e-01  6.70612869e-02 -1.67159301e+01]
 [ 5.62555185e-01  1.02710817e-02  8.26695935e-01  5.75673899e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.40327356
Centerline is valid?  [True, True]
Translation: X:87.74, Y:-16.72, Z:57.60
[[ 8.18128654e-01  1.36337230e-01 -5.58639120e-01  8.77357509e+01]
 [-1.19291682e-01  9.90592413e-01  6.70534534e-02 -1.67212880e+01]
 [ 5.62525556e-01  1.17826485e-02  8.26695935e-01  5.76002859e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.46327356
Centerline is valid?  [True, True]
Translation: X:87.78, Y:-16.73, Z:57.63
[[ 8.16741807e-01  1.44333105e-01 -5.58659803e-01  8.77843183e+01]
 [-1.29093311e-01  9.89374490e-01  6.68807527e-02 -1.67277410e+01]
 [ 5.62376865e-01  1.74949370e-02  8.26695947e-01  5.76335452e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.52327356
Centerline is valid?  [True, True]
Translation: X:87.83, Y:-16.73, Z:57.67
[[ 8.15654034e-01  1.50355528e-01 -5.58660642e-01  8.78346256e+01]
 [-1.36394714e-01  9.88394852e-01  6.68737471e-02 -1.67295216e+01]
 [ 5.62232140e-01  2.16525172e-02  8.26695947e-01  5.76676823e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.58327356
Centerline is valid?  [True, True]
Translation: X:87.88, Y:-16.74, Z:57.70
[[ 8.14334832e-01  1.57345264e-01 -5.58660226e-01  8.78837081e+01]
 [-1.44864060e-01  9.87188858e-01  6.68772185e-02 -1.67365554e+01]
 [ 5.62025965e-01  2.64693398e-02  8.26695947e-01  5.77014217e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.64327356
Centerline is valid?  [True, True]
Translation: X:87.93, Y:-16.74, Z:57.74
[[ 8.13056360e-01  1.63818952e-01 -5.58661531e-01  8.79330957e+01]
 [-1.52720800e-01  9.86004692e-01  6.68663150e-02 -1.67440293e+01]
 [ 5.61796861e-01  3.09531533e-02  8.26695947e-01  5.77353959e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.70327356
Centerline is valid?  [True, True]
Translation: X:87.98, Y:-16.75, Z:57.77
[[ 8.12538863e-01  1.66361967e-01 -5.58662950e-01  8.79803663e+01]
 [-1.55813095e-01  9.85521568e-01  6.68544615e-02 -1.67497566e+01]
 [ 5.61696426e-01  3.27251554e-02  8.26695947e-01  5.77677978e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.76327356
Centerline is valid?  [True, True]
Translation: X:88.03, Y:-16.75, Z:57.80
[[ 8.12829289e-01  1.64912676e-01 -5.58670168e-01  8.80292333e+01]
 [-1.54096689e-01  9.85795495e-01  6.67940991e-02 -1.67542551e+01]
 [ 5.61749729e-01  3.17970231e-02  8.26695949e-01  5.78011559e+01]
 [ 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 184.82327356
Centerline is valid?  [True, True]
Translation: X:88.08, Y:-16.76, Z:57.83
[[ 8.12724235e-01  1.65359281e-01 -5.58690994e-01  8.80762757e+01]
 [-1.54757943e-01  9.85703717e-01  6.66195232e-02 -1.67618218e+01]
 [ 5.61719946e-01  3.23185678e-02  8.26695962e-01  5.78334736e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.88327356
Centerline is valid?  [True, True]
Translation: X:88.13, Y:-16.77, Z:57.87
[[ 8.13364838e-01  1.62153780e-01 -5.58698302e-01  8.81256526e+01]
 [-1.50912551e-01  9.86303914e-01  6.65581852e-02 -1.67675603e+01]
 [ 5.61838983e-01  3.01784985e-02  8.26695963e-01  5.78672759e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.94327356
Centerline is valid?  [True, True]
Translation: X:88.17, Y:-16.77, Z:57.90
[[ 8.14746836e-01  1.55054730e-01 -5.58699941e-01  8.81744073e+01]
 [-1.42315244e-01  9.87582002e-01  6.65444247e-02 -1.67731530e+01]
 [ 5.62080034e-01  2.52946589e-02  8.26695963e-01  5.79006690e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.00327356
Centerline is valid?  [True, True]
Translation: X:88.22, Y:-16.77, Z:57.93
[[ 8.15215474e-01  1.52562858e-01 -5.58702341e-01  8.82240907e+01]
 [-1.39308763e-01  9.88011938e-01  6.65242706e-02 -1.67728389e+01]
 [ 5.62153715e-01  2.36005173e-02  8.26695963e-01  5.79342113e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.06327356
Centerline is valid?  [True, True]
Translation: X:88.27, Y:-16.78, Z:57.97
[[ 8.19014477e-01  1.30628206e-01 -5.58705252e-01  8.82721520e+01]
 [-1.12757855e-01  9.91394695e-01  6.64998141e-02 -1.67811766e+01]
 [ 5.62584174e-01  8.53409508e-03  8.26695964e-01  5.79673517e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.12327356
Centerline is valid?  [True, True]
Translation: X:88.32, Y:-16.80, Z:58.00
[[ 8.19485480e-01  1.27628067e-01 -5.58707996e-01  8.83197622e+01]
 [-1.09142291e-01  9.91800787e-01  6.64767551e-02 -1.67970284e+01]
 [ 5.62611330e-01  6.50193520e-03  8.26695964e-01  5.80007918e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.18327356
Centerline is valid?  [True, True]
Translation: X:88.37, Y:-16.80, Z:58.03
[[ 8.19810782e-01  1.25439555e-01 -5.58726409e-01  8.83679257e+01]
 [-1.06599425e-01  9.92087696e-01  6.63216919e-02 -1.68025299e+01]
 [ 5.62624959e-01  5.18867591e-03  8.26695974e-01  5.80337087e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.24327356
Centerline is valid?  [True, True]
Translation: X:88.42, Y:-16.81, Z:58.07
[[ 8.19367361e-01  1.28212758e-01 -5.58747363e-01  8.84154848e+01]
 [-1.10076286e-01  9.91719760e-01  6.61447596e-02 -1.68053209e+01]
 [ 5.62601403e-01  7.30797716e-03  8.26695987e-01  5.80659895e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.30327356
Centerline is valid?  [True, True]
Translation: X:88.46, Y:-16.81, Z:58.10
[[ 8.19036225e-01  1.30281963e-01 -5.58754215e-01  8.84644615e+01]
 [-1.12620392e-01  9.91437934e-01  6.60868388e-02 -1.68065202e+01]
 [ 5.62580047e-01  8.79960372e-03  8.26695988e-01  5.80991599e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.36327356
Centerline is valid?  [True, True]
Translation: X:88.51, Y:-16.81, Z:58.13
[[ 8.17804839e-01  1.37724256e-01 -5.58773008e-01  8.85138358e+01]
 [-1.21739824e-01  9.90370115e-01  6.59276120e-02 -1.68055546e+01]
 [ 5.62471920e-01  1.41090074e-02  8.26695999e-01  5.81323790e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.42327356
Centerline is valid?  [True, True]
Translation: X:88.56, Y:-16.81, Z:58.17
[[ 8.17443219e-01  1.39775669e-01 -5.58792758e-01  8.85637027e+01]
 [-1.24338827e-01  9.90058330e-01  6.57598621e-02 -1.68086542e+01]
 [ 5.62429053e-01  1.57246829e-02  8.26696011e-01  5.81662529e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.48327356
Centerline is valid?  [True, True]
Translation: X:88.61, Y:-16.81, Z:58.20
[[ 8.16685158e-01  1.44135300e-01 -5.58793672e-01  8.86134647e+01]
 [-1.29625011e-01  9.89380624e-01  6.57520886e-02 -1.68085180e+01]
 [ 5.62336829e-01  1.87348810e-02  8.26696011e-01  5.81998744e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.54327356
Centerline is valid?  [True, True]
Translation: X:88.66, Y:-16.81, Z:58.23
[[ 8.17651246e-01  1.38538261e-01 -5.58796555e-01  8.86629648e+01]
 [-1.22862217e-01  9.90244798e-01  6.57275835e-02 -1.68148628e+01]
 [ 5.62451167e-01  1.49127430e-02  8.26696011e-01  5.82338266e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.60327356
Centerline is valid?  [True, True]
Translation: X:88.71, Y:-16.81, Z:58.27
[[ 8.15394434e-01  1.51249411e-01 -5.58798293e-01  8.87121419e+01]
 [-1.38272045e-01  9.88211854e-01  6.57128080e-02 -1.68134560e+01]
 [ 5.62150120e-01  2.36843250e-02  8.26696011e-01  5.82669488e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.66327356
Centerline is valid?  [True, True]
Translation: X:88.76, Y:-16.81, Z:58.30
[[ 8.14280607e-01  1.57126967e-01 -5.58800689e-01  8.87620113e+01]
 [-1.45410433e-01  9.87188083e-01  6.56924272e-02 -1.68146872e+01]
 [ 5.61963432e-01  2.77633806e-02  8.26696011e-01  5.83007462e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.72327356
Centerline is valid?  [True, True]
Translation: X:88.81, Y:-16.82, Z:58.33
[[ 8.13847833e-01  1.59349371e-01 -5.58801828e-01  8.88109286e+01]
 [-1.48111557e-01  9.86787082e-01  6.56827326e-02 -1.68189266e+01]
 [ 5.61884928e-01  2.93092594e-02  8.26696011e-01  5.83341442e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.78327356
Centerline is valid?  [True, True]
Translation: X:88.86, Y:-16.83, Z:58.37
[[ 8.14731571e-01  1.54763370e-01 -5.58802977e-01  8.88587690e+01]
 [-1.42558455e-01  9.87605260e-01  6.56729588e-02 -1.68315880e+01]
 [ 5.62040528e-01  2.61562561e-02  8.26696012e-01  5.83674832e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.84327356
Centerline is valid?  [True, True]
Translation: X:88.91, Y:-16.83, Z:58.40
[[ 8.13400217e-01  1.61606591e-01 -5.58805329e-01  8.89093040e+01]
 [-1.50869007e-01  9.86371246e-01  6.56529366e-02 -1.68315229e+01]
 [ 5.61799456e-01  3.09042923e-02  8.26696012e-01  5.84016281e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.90327356
Centerline is valid?  [True, True]
Translation: X:88.96, Y:-16.84, Z:58.43
[[ 8.13291999e-01  1.62145729e-01 -5.58806663e-01  8.89574590e+01]
 [-1.51530582e-01  9.86270584e-01  6.56415803e-02 -1.68377789e+01]
 [ 5.61778076e-01  3.12905270e-02  8.26696012e-01  5.84346702e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.96327356
Centerline is valid?  [True, True]
Translation: X:89.01, Y:-16.85, Z:58.47
[[ 8.12933962e-01  1.63863619e-01 -5.58826528e-01  8.90069989e+01]
 [-1.53730055e-01  9.85941415e-01  6.54720980e-02 -1.68464340e+01]
 [ 5.61698713e-01  3.26839410e-02  8.26696024e-01  5.84687673e+01]
 [ 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 186.02327356
Centerline is valid?  [True, True]
Translation: X:89.05, Y:-16.85, Z:58.50
[[ 8.12571637e-01  1.65650979e-01 -5.58826528e-01  8.90540894e+01]
 [-1.55897908e-01  9.85600957e-01  6.54720980e-02 -1.68541019e+01]
 [ 5.61625478e-01  3.39191169e-02  8.26696024e-01  5.85012066e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.08327356
Centerline is valid?  [True, True]
Translation: X:89.10, Y:-16.86, Z:58.53
[[ 8.12368302e-01  1.66621991e-01 -5.58833477e-01  8.91022496e+01]
 [-1.57116391e-01  9.85411392e-01  6.54127461e-02 -1.68622594e+01]
 [ 5.61580076e-01  3.46626578e-02  8.26696025e-01  5.85343806e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.14327356
Centerline is valid?  [True, True]
Translation: X:89.15, Y:-16.87, Z:58.57
[[ 8.12413846e-01  1.66390633e-01 -5.58836202e-01  8.91504830e+01]
 [-1.56851714e-01  9.85455103e-01  6.53894531e-02 -1.68690325e+01]
 [ 5.61588179e-01  3.45311193e-02  8.26696026e-01  5.85675108e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.20327356
Centerline is valid?  [True, True]
Translation: X:89.20, Y:-16.88, Z:58.60
[[ 8.12873732e-01  1.64061502e-01 -5.58856081e-01  8.91988167e+01]
 [-1.54143318e-01  9.85893653e-01  6.52191858e-02 -1.68776187e+01]
 [ 5.61672621e-01  3.31289679e-02  8.26696038e-01  5.86007840e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.26327356
Centerline is valid?  [True, True]
Translation: X:89.25, Y:-16.89, Z:58.63
[[ 8.13905610e-01  1.58831290e-01 -5.58865170e-01  8.92473379e+01]
 [-1.47854169e-01  9.86861574e-01  6.51412213e-02 -1.68877730e+01]
 [ 5.61869026e-01  2.96117397e-02  8.26696040e-01  5.86343495e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.32327356
Centerline is valid?  [True, True]
Translation: X:89.30, Y:-16.90, Z:58.67
[[ 8.15224242e-01  1.51909578e-01 -5.58867529e-01  8.92967481e+01]
 [-1.39477050e-01  9.88081682e-01  6.51209751e-02 -1.68970804e+01]
 [ 5.62099269e-01  2.48609970e-02  8.26696040e-01  5.86684757e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.38327356
Centerline is valid?  [True, True]
Translation: X:89.34, Y:-16.91, Z:58.70
[[ 8.16102549e-01  1.47113141e-01 -5.58868816e-01  8.93449339e+01]
 [-1.33671913e-01  9.88884481e-01  6.51099365e-02 -1.69147038e+01]
 [ 5.62235226e-01  2.15686785e-02  8.26696040e-01  5.87024334e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.44327356
Centerline is valid?  [True, True]
Translation: X:89.39, Y:-16.92, Z:58.74
[[ 8.17012865e-01  1.41967032e-01 -5.58869699e-01  8.93943391e+01]
 [-1.27442356e-01  9.89707093e-01  6.51023564e-02 -1.69163294e+01]
 [ 5.62359693e-01  1.80342084e-02  8.26696040e-01  5.87359570e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.50327356
Centerline is valid?  [True, True]
Translation: X:89.44, Y:-16.92, Z:58.77
[[ 8.18556204e-01  1.32767491e-01 -5.58872556e-01  8.94435194e+01]
 [-1.16317848e-01  9.91077714e-01  6.50778165e-02 -1.69239645e+01]
 [ 5.62526354e-01  1.17370025e-02  8.26696041e-01  5.87697936e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.56327356
Centerline is valid?  [True, True]
Translation: X:89.49, Y:-16.92, Z:58.80
[[ 8.16996735e-01  1.42043575e-01 -5.58873829e-01  8.94925201e+01]
 [-1.27559318e-01  9.89694357e-01  6.50668829e-02 -1.69246636e+01]
 [ 5.62356608e-01  1.81301338e-02  8.26696041e-01  5.88029694e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.62327356
Centerline is valid?  [True, True]
Translation: X:89.54, Y:-16.93, Z:58.84
[[ 8.16367196e-01  1.45617852e-01 -5.58873906e-01  8.95413820e+01]
 [-1.31890004e-01  9.89126591e-01  6.50662275e-02 -1.69296651e+01]
 [ 5.62271845e-01  2.05919480e-02  8.26696041e-01  5.88363950e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.68327356
Centerline is valid?  [True, True]
Translation: X:89.59, Y:-16.94, Z:58.87
[[ 8.16006845e-01  1.47613392e-01 -5.58876655e-01  8.95897202e+01]
 [-1.34324127e-01  9.88800530e-01  6.50426046e-02 -1.69373152e+01]
 [ 5.62218692e-01  2.19954082e-02  8.26696041e-01  5.88696640e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.74327356
Centerline is valid?  [True, True]
Translation: X:89.64, Y:-16.94, Z:58.90
[[ 8.15412128e-01  1.50847934e-01 -5.58880991e-01  8.96386073e+01]
 [-1.38269452e-01  9.88259008e-01  6.50053257e-02 -1.69414709e+01]
 [ 5.62125093e-01  2.42700377e-02  8.26696042e-01  5.89030226e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.80327356
Centerline is valid?  [True, True]
Translation: X:89.69, Y:-16.94, Z:58.94
[[ 8.13883419e-01  1.58881179e-01 -5.58883307e-01  8.96883879e+01]
 [-1.48021345e-01  9.86846785e-01  6.49854120e-02 -1.69430066e+01]
 [ 5.61857154e-01  2.98361097e-02  8.26696042e-01  5.89367876e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.86327356
Centerline is valid?  [True, True]
Translation: X:89.74, Y:-16.96, Z:58.97
[[ 8.14174013e-01  1.57381323e-01 -5.58884420e-01  8.97363307e+01]
 [-1.46209377e-01  9.87117500e-01  6.49758371e-02 -1.69580082e+01]
 [ 5.61910575e-01  2.88125048e-02  8.26696042e-01  5.89703737e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.92327356
Centerline is valid?  [True, True]
Translation: X:89.79, Y:-16.95, Z:59.00
[[ 8.12500769e-01  1.65793745e-01 -5.58887230e-01  8.97866399e+01]
 [-1.56427679e-01  9.85551451e-01  6.49516652e-02 -1.69514942e+01]
 [ 5.61580700e-01  3.46521543e-02  8.26696042e-01  5.90038617e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.98327356
Centerline is valid?  [True, True]
Translation: X:89.84, Y:-16.96, Z:59.04
[[ 8.12996315e-01  1.63340900e-01 -5.58888847e-01  8.98355240e+01]
 [-1.53462152e-01  9.86018487e-01  6.49377487e-02 -1.69582894e+01]
 [ 5.61681725e-01  3.29741347e-02  8.26696042e-01  5.90374371e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.04327356
Centerline is valid?  [True, True]
Translation: X:89.88, Y:-16.97, Z:59.07
[[ 8.15376353e-01  1.51002229e-01 -5.58891519e-01  8.98836170e+01]
 [-1.38518427e-01  9.88230096e-01  6.49147394e-02 -1.69705723e+01]
 [ 5.62115690e-01  2.44868308e-02  8.26696042e-01  5.90709042e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.10327356
Centerline is valid?  [True, True]
Translation: X:89.93, Y:-16.98, Z:59.10
[[ 8.16600588e-01  1.44227966e-01 -5.58893347e-01  8.99324039e+01]
 [-1.30320361e-01  9.89345603e-01  6.48990014e-02 -1.69789038e+01]
 [ 5.62298926e-01  1.98386201e-02  8.26696042e-01  5.91045334e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.16327356
Centerline is valid?  [True, True]
Translation: X:89.98, Y:-16.99, Z:59.14
[[ 8.17457938e-01  1.39276660e-01 -5.58895815e-01  8.99808194e+01]
 [-1.24336986e-01  9.90116757e-01  6.48777425e-02 -1.69864391e+01]
 [ 5.62408067e-01  1.64565954e-02  8.26696043e-01  5.91378463e+01]
 [ 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 187.22327356
Centerline is valid?  [True, True]
Translation: X:90.03, Y:-17.01, Z:59.17
[[ 8.17784447e-01  1.37265831e-01 -5.58915637e-01  9.00281488e+01]
 [-1.22018457e-01  9.90416353e-01  6.47065940e-02 -1.70120642e+01]
 [ 5.62441192e-01  1.52819773e-02  8.26696055e-01  5.91717676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.28327356
Centerline is valid?  [True, True]
Translation: X:90.08, Y:-17.01, Z:59.20
[[ 8.18624201e-01  1.32159641e-01 -5.58917030e-01  9.00778292e+01]
 [-1.15843437e-01  9.91158369e-01  6.46945638e-02 -1.70058216e+01]
 [ 5.62525302e-01  1.17863338e-02  8.26696055e-01  5.92048611e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.34327356
Centerline is valid?  [True, True]
Translation: X:90.12, Y:-17.03, Z:59.24
[[ 8.18671886e-01  1.31840587e-01 -5.58922538e-01  9.01238651e+01]
 [-1.15489634e-01  9.91202762e-01  6.46469505e-02 -1.70302485e+01]
 [ 5.62528655e-01  1.16251183e-02  8.26696056e-01  5.92378722e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.40327356
Centerline is valid?  [True, True]
Translation: X:90.17, Y:-17.04, Z:59.27
[[ 8.19162725e-01  1.28670926e-01 -5.58942056e-01  9.01732067e+01]
 [-1.11767681e-01  9.91640356e-01  6.44778193e-02 -1.70365607e+01]
 [ 5.62565921e-01  9.65383139e-03  8.26696068e-01  5.92716375e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.46327356
Centerline is valid?  [True, True]
Translation: X:90.22, Y:-17.03, Z:59.31
[[ 8.18721581e-01  1.31445013e-01 -5.58942914e-01  9.02228157e+01]
 [-1.15131190e-01  9.91255960e-01  6.44703810e-02 -1.70345131e+01]
 [ 5.62529805e-01  1.15684706e-02  8.26696068e-01  5.93050154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.52327356
Centerline is valid?  [True, True]
Translation: X:90.27, Y:-17.04, Z:59.34
[[ 8.19255138e-01  1.27993893e-01 -5.58962058e-01  9.02707807e+01]
 [-1.11066639e-01  9.91730403e-01  6.43040438e-02 -1.70411821e+01]
 [ 5.62570192e-01  9.40061874e-03  8.26696079e-01  5.93378803e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.58327356
Centerline is valid?  [True, True]
Translation: X:90.32, Y:-17.05, Z:59.37
[[ 8.18300147e-01  1.33882868e-01 -5.58981438e-01  9.03201524e+01]
 [-1.18311798e-01  9.90903120e-01  6.41352075e-02 -1.70509762e+01]
 [ 5.62483056e-01  1.36522492e-02  8.26696091e-01  5.93719372e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.64327356
Centerline is valid?  [True, True]
Translation: X:90.37, Y:-17.06, Z:59.40
[[ 8.17500389e-01  1.38679116e-01 -5.58982305e-01  9.03671266e+01]
 [-1.24125630e-01  9.90192139e-01  6.41276466e-02 -1.70580520e+01]
 [ 5.62393050e-01  1.69596550e-02  8.26696091e-01  5.94042444e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.70327356
Centerline is valid?  [True, True]
Translation: X:90.42, Y:-17.06, Z:59.44
[[ 8.17221104e-01  1.40275199e-01 -5.58992428e-01  9.04159332e+01]
 [-1.26119324e-01  9.89945899e-01  6.40393013e-02 -1.70587631e+01]
 [ 5.62355388e-01  1.81654789e-02  8.26696095e-01  5.94372556e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.76327356
Centerline is valid?  [True, True]
Translation: X:90.47, Y:-17.06, Z:59.47
[[ 8.16813561e-01  1.42553375e-01 -5.59011754e-01  9.04656945e+01]
 [-1.28994740e-01  9.89586253e-01  6.38702255e-02 -1.70648798e+01]
 [ 5.62295263e-01  1.99395096e-02  8.26696107e-01  5.94712901e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.82327356
Centerline is valid?  [True, True]
Translation: X:90.52, Y:-17.06, Z:59.50
[[ 8.17331455e-01  1.39553401e-01 -5.59011754e-01  9.05154326e+01]
 [-1.25360506e-01  9.90053200e-01  6.38702255e-02 -1.70557133e+01]
 [ 5.62364683e-01  1.78748519e-02  8.26696107e-01  5.95042148e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.88327356
Centerline is valid?  [True, True]
Translation: X:90.57, Y:-17.06, Z:59.54
[[ 8.16843086e-01  1.42308522e-01 -5.59030999e-01  9.05654045e+01]
 [-1.28813480e-01  9.89620744e-01  6.37014123e-02 -1.70592175e+01]
 [ 5.62293927e-01  1.99766704e-02  8.26696119e-01  5.95381934e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.94327356
Centerline is valid?  [True, True]
Translation: X:90.61, Y:-17.08, Z:59.57
[[ 8.16479849e-01  1.44377971e-01 -5.59030999e-01  9.06124025e+01]
 [-1.31320797e-01  9.89291149e-01  6.37014123e-02 -1.70754641e+01]
 [ 5.62241500e-01  2.14014769e-02  8.26696119e-01  5.95712264e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.00327356
Centerline is valid?  [True, True]
Translation: X:90.66, Y:-17.08, Z:59.60
[[ 8.16537309e-01  1.44031267e-01 -5.59036509e-01  9.06611969e+01]
 [-1.30933794e-01  9.89345558e-01  6.36530284e-02 -1.70789675e+01]
 [ 5.62248313e-01  2.12216983e-02  8.26696120e-01  5.96044679e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.06327356
Centerline is valid?  [True, True]
Translation: X:90.71, Y:-17.08, Z:59.64
[[ 8.16957453e-01  1.41553769e-01 -5.59055498e-01  9.07097579e+01]
 [-1.28046408e-01  9.89734136e-01  6.34858787e-02 -1.70841412e+01]
 [ 5.62302976e-01  1.97197868e-02  8.26696131e-01  5.96376206e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.12327356
Centerline is valid?  [True, True]
Translation: X:90.76, Y:-17.09, Z:59.67
[[ 8.17856657e-01  1.36185129e-01 -5.59074323e-01  9.07589527e+01]
 [-1.21656780e-01  9.90550473e-01  6.33197311e-02 -1.70928321e+01]
 [ 5.62414541e-01  1.62287186e-02  8.26696143e-01  5.96714719e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.18327356
Centerline is valid?  [True, True]
Translation: X:90.81, Y:-17.10, Z:59.70
[[ 8.18583071e-01  1.31742774e-01 -5.59075664e-01  9.08075673e+01]
 [-1.16285121e-01  9.91196187e-01  6.33078965e-02 -1.70977812e+01]
 [ 5.62494024e-01  1.31894089e-02  8.26696143e-01  5.97047219e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.24327356
Centerline is valid?  [True, True]
Translation: X:90.86, Y:-17.10, Z:59.74
[[ 8.19047345e-01  1.28801304e-01 -5.59081095e-01  9.08563837e+01]
 [-1.12756414e-01  9.91606866e-01  6.32599023e-02 -1.70994702e+01]
 [ 5.62536610e-01  1.12271245e-02  8.26696144e-01  5.97378406e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.30327356
Centerline is valid?  [True, True]
Translation: X:90.90, Y:-17.10, Z:59.77
[[ 8.18959902e-01  1.29332044e-01 -5.59086668e-01  9.09043769e+01]
 [-1.13432613e-01  9.91532884e-01  6.32106176e-02 -1.70992805e+01]
 [ 5.62527974e-01  1.16517002e-02  8.26696145e-01  5.97702587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.36327356
Centerline is valid?  [True, True]
Translation: X:90.95, Y:-17.10, Z:59.80
[[ 8.17763388e-01  1.36654212e-01 -5.59096296e-01  9.09537243e+01]
 [-1.22357689e-01  9.90476544e-01  6.31253580e-02 -1.71048952e+01]
 [ 5.62398113e-01  1.67881242e-02  8.26696148e-01  5.98040189e+01]
 [ 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 188.42327356
Centerline is valid?  [True, True]
Translation: X:91.00, Y:-17.11, Z:59.84
[[ 8.17012151e-01  1.41074095e-01 -5.59096812e-01  9.10025918e+01]
 [-1.27714816e-01  9.89800330e-01  6.31207835e-02 -1.71086807e+01]
 [ 5.62298917e-01  1.98344996e-02  8.26696148e-01  5.98373549e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.48327356
Centerline is valid?  [True, True]
Translation: X:91.05, Y:-17.12, Z:59.87
[[ 8.15523696e-01  1.49366907e-01 -5.59115934e-01  9.10521520e+01]
 [-1.37879827e-01  9.88446419e-01  6.29510196e-02 -1.71168039e+01]
 [ 5.62058942e-01  2.57527603e-02  8.26696160e-01  5.98714087e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.54327356
Centerline is valid?  [True, True]
Translation: X:91.10, Y:-17.12, Z:59.90
[[ 8.13926189e-01  1.57837626e-01 -5.59116662e-01  9.11012655e+01]
 [-1.48153426e-01  9.86959242e-01  6.29445564e-02 -1.71188473e+01]
 [ 5.61760376e-01  3.16028262e-02  8.26696160e-01  5.99047778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.60327356
Centerline is valid?  [True, True]
Translation: X:91.15, Y:-17.13, Z:59.94
[[ 8.15069485e-01  1.51817824e-01 -5.59118129e-01  9.11507736e+01]
 [-1.40863971e-01  9.88026804e-01  6.29315238e-02 -1.71259374e+01]
 [ 5.61977825e-01  2.74660350e-02  8.26696160e-01  5.99387949e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.66327356
Centerline is valid?  [True, True]
Translation: X:91.20, Y:-17.13, Z:59.97
[[ 8.14859919e-01  1.52935215e-01 -5.59119069e-01  9.11992499e+01]
 [-1.42224226e-01  9.87832447e-01  6.29231738e-02 -1.71317562e+01]
 [ 5.61939127e-01  2.82467047e-02  8.26696160e-01  5.99720196e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.72327356
Centerline is valid?  [True, True]
Translation: X:91.25, Y:-17.14, Z:60.01
[[ 8.16197533e-01  1.45555945e-01 -5.59137777e-01  9.12486237e+01]
 [-1.33394244e-01  9.89074107e-01  6.27565606e-02 -1.71367566e+01]
 [ 5.62163288e-01  2.33640112e-02  8.26696172e-01  6.00057109e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.78327356
Centerline is valid?  [True, True]
Translation: X:91.30, Y:-17.14, Z:60.04
[[ 8.16587225e-01  1.43348243e-01 -5.59139146e-01  9.12971394e+01]
 [-1.30727431e-01  9.89430889e-01  6.27443634e-02 -1.71448755e+01]
 [ 5.62223836e-01  2.18585785e-02  8.26696172e-01  6.00391349e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.84327356
Centerline is valid?  [True, True]
Translation: X:91.35, Y:-17.15, Z:60.07
[[ 8.17827055e-01  1.36024006e-01 -5.59156845e-01  9.13467111e+01]
 [-1.21962599e-01  9.90559478e-01  6.25862958e-02 -1.71522119e+01]
 [ 5.62391352e-01  1.70114561e-02  8.26696182e-01  6.00731409e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.90327356
Centerline is valid?  [True, True]
Translation: X:91.39, Y:-17.16, Z:60.11
[[ 8.18031631e-01  1.34785305e-01 -5.59157556e-01  9.13942281e+01]
 [-1.20466656e-01  9.90742921e-01  6.25799506e-02 -1.71599097e+01]
 [ 5.62416247e-01  1.61674617e-02  8.26696182e-01  6.01058599e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.96327356
Centerline is valid?  [True, True]
Translation: X:91.44, Y:-17.17, Z:60.14
[[ 8.18548994e-01  1.31578579e-01 -5.59164217e-01  9.14423440e+01]
 [-1.16623889e-01  9.91206371e-01  6.25203790e-02 -1.71688199e+01]
 [ 5.62473478e-01  1.40359123e-02  8.26696184e-01  6.01390487e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.02327356
Centerline is valid?  [True, True]
Translation: X:91.49, Y:-17.17, Z:60.17
[[ 8.18551744e-01  1.31482387e-01 -5.59182818e-01  9.14915339e+01]
 [-1.16621237e-01  9.91217186e-01  6.23536411e-02 -1.71745716e+01]
 [ 5.62470025e-01  1.41729102e-02  8.26696195e-01  6.01726704e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.08327356
Centerline is valid?  [True, True]
Translation: X:91.54, Y:-17.18, Z:60.21
[[ 8.17862344e-01  1.35693635e-01 -5.59185501e-01  9.15407892e+01]
 [-1.21737810e-01  9.90603316e-01  6.23295752e-02 -1.71806652e+01]
 [ 5.62388738e-01  1.70970056e-02  8.26696196e-01  6.02064345e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.14327356
Centerline is valid?  [True, True]
Translation: X:91.59, Y:-17.18, Z:60.24
[[ 8.17170189e-01  1.39799287e-01 -5.59186052e-01  9.15894523e+01]
 [-1.26714537e-01  9.89979327e-01  6.23246261e-02 -1.71842326e+01]
 [ 5.62295570e-01  1.99271753e-02  8.26696196e-01  6.02396171e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.20327356
Centerline is valid?  [True, True]
Translation: X:91.64, Y:-17.19, Z:60.27
[[ 8.16302119e-01  1.44760244e-01 -5.59191669e-01  9.16384879e+01]
 [-1.32759871e-01  9.89189942e-01  6.22741988e-02 -1.71900615e+01]
 [ 5.62161603e-01  2.34036535e-02  8.26696197e-01  6.02731992e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.26327356
Centerline is valid?  [True, True]
Translation: X:91.69, Y:-17.19, Z:60.31
[[ 8.14866488e-01  1.52624584e-01 -5.59194370e-01  9.16883668e+01]
 [-1.42308420e-01  9.87862976e-01  6.22499347e-02 -1.71930110e+01]
 [ 5.61908285e-01  2.88526815e-02  8.26696197e-01  6.03071482e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.32327356
Centerline is valid?  [True, True]
Translation: X:91.74, Y:-17.19, Z:60.34
[[ 8.14646532e-01  1.53790850e-01 -5.59195317e-01  9.17366301e+01]
 [-1.43728149e-01  9.87657949e-01  6.22414314e-02 -1.71949099e+01]
 [ 5.61865862e-01  2.96673416e-02  8.26696197e-01  6.03399333e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.38327356
Centerline is valid?  [True, True]
Translation: X:91.79, Y:-17.20, Z:60.37
[[ 8.14768357e-01  1.53123966e-01 -5.59200836e-01  9.17858555e+01]
 [-1.42953611e-01  9.87773478e-01  6.21918132e-02 -1.72017236e+01]
 [ 5.61886811e-01  2.92678572e-02  8.26696198e-01  6.03737186e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.44327356
Centerline is valid?  [True, True]
Translation: X:91.84, Y:-17.21, Z:60.41
[[ 8.15042048e-01  1.51655636e-01 -5.59202135e-01  9.18351643e+01]
 [-1.41181567e-01  9.88029047e-01  6.21801275e-02 -1.72078266e+01]
 [ 5.61937919e-01  2.82696149e-02  8.26696198e-01  6.04075257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.50327356
Centerline is valid?  [True, True]
Translation: X:91.88, Y:-17.22, Z:60.44
[[ 8.17229114e-01  1.39384572e-01 -5.59203467e-01  9.18843238e+01]
 [-1.26319061e-01  9.90039704e-01  6.21681513e-02 -1.72162260e+01]
 [ 5.62298916e-01  1.98324336e-02  8.26696198e-01  6.04414045e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.56327356
Centerline is valid?  [True, True]
Translation: X:91.93, Y:-17.22, Z:60.47
[[ 8.18439394e-01  1.32086594e-01 -5.59204874e-01  9.19328827e+01]
 [-1.17488197e-01  9.91127246e-01  6.21554919e-02 -1.72236290e+01]
 [ 5.62453094e-01  1.48294691e-02  8.26696198e-01  6.04748015e+01]
 [ 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 189.62327356
Centerline is valid?  [True, True]
Translation: X:91.98, Y:-17.23, Z:60.51
[[ 8.19434727e-01  1.25752636e-01 -5.59207478e-01  9.19811406e+01]
 [-1.09835055e-01  9.92005982e-01  6.21320525e-02 -1.72303072e+01]
 [ 5.62550433e-01  1.05074230e-02  8.26696198e-01  6.05079350e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.68327356
Centerline is valid?  [True, True]
Translation: X:92.03, Y:-17.23, Z:60.54
[[ 8.20100314e-01  1.21253159e-01 -5.59225488e-01  9.20310673e+01]
 [-1.04499391e-01  9.92592387e-01  6.19695987e-02 -1.72311736e+01]
 [ 5.62596971e-01  7.61743567e-03  8.26696209e-01  6.05416907e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.74327356
Centerline is valid?  [True, True]
Translation: X:92.08, Y:-17.24, Z:60.57
[[ 8.20131081e-01  1.21036445e-01 -5.59227315e-01  9.20784670e+01]
 [-1.04248341e-01  9.92619814e-01  6.19531066e-02 -1.72351575e+01]
 [ 5.62598697e-01  7.48885152e-03  8.26696210e-01  6.05740450e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.80327356
Centerline is valid?  [True, True]
Translation: X:92.13, Y:-17.24, Z:60.61
[[ 8.19756968e-01  1.23495357e-01 -5.59238240e-01  9.21255496e+01]
 [-1.07291948e-01  9.92301606e-01  6.18543530e-02 -1.72426234e+01]
 [ 5.62571729e-01  9.29622320e-03  8.26696214e-01  6.06064042e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.86327356
Centerline is valid?  [True, True]
Translation: X:92.17, Y:-17.25, Z:60.64
[[ 8.18926531e-01  1.28861212e-01 -5.59244244e-01  9.21743924e+01]
 [-1.13825203e-01  9.91576815e-01  6.18000310e-02 -1.72453051e+01]
 [ 5.62497253e-01  1.30464043e-02  8.26696215e-01  6.06396185e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.92327356
Centerline is valid?  [True, True]
Translation: X:92.22, Y:-17.25, Z:60.67
[[ 8.18016033e-01  1.34503308e-01 -5.59248272e-01  9.22242059e+01]
 [-1.20682706e-01  9.90767857e-01  6.17635628e-02 -1.72484573e+01]
 [ 5.62392616e-01  1.69680103e-02  8.26696215e-01  6.06735339e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.98327356
Centerline is valid?  [True, True]
Translation: X:92.27, Y:-17.25, Z:60.71
[[ 8.16291241e-01  1.44599816e-01 -5.59249052e-01  9.22739261e+01]
 [-1.32919490e-01  9.89200963e-01  6.17564967e-02 -1.72486862e+01]
 [ 5.62139679e-01  2.39238114e-02  8.26696215e-01  6.07071825e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.04327356
Centerline is valid?  [True, True]
Translation: X:92.32, Y:-17.25, Z:60.74
[[ 8.15088067e-01  1.51230219e-01 -5.59250270e-01  9.23240135e+01]
 [-1.40963311e-01  9.88087467e-01  6.17454711e-02 -1.72497631e+01]
 [ 5.61925963e-01  2.85057729e-02  8.26696216e-01  6.07411411e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.10327356
Centerline is valid?  [True, True]
Translation: X:92.37, Y:-17.25, Z:60.77
[[ 8.13965621e-01  1.57155170e-01 -5.59251482e-01  9.23733004e+01]
 [-1.48154454e-01  9.87035517e-01  6.17344851e-02 -1.72534044e+01]
 [ 5.61702969e-01  3.26058497e-02  8.26696216e-01  6.07747497e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.16327356
Centerline is valid?  [True, True]
Translation: X:92.42, Y:-17.26, Z:60.81
[[ 8.13898835e-01  1.57495954e-01 -5.59252814e-01  9.24214428e+01]
 [-1.48575966e-01  9.86972910e-01  6.17224152e-02 -1.72585770e+01]
 [ 5.61688409e-01  3.28557254e-02  8.26696216e-01  6.08076980e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.22327356
Centerline is valid?  [True, True]
Translation: X:92.47, Y:-17.27, Z:60.84
[[ 8.14057767e-01  1.56606752e-01 -5.59271202e-01  9.24697634e+01]
 [-1.47612040e-01  9.87127963e-01  6.15554263e-02 -1.72656459e+01]
 [ 5.61712238e-01  3.24454899e-02  8.26696227e-01  6.08408331e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.28327356
Centerline is valid?  [True, True]
Translation: X:92.52, Y:-17.27, Z:60.87
[[ 8.14771512e-01  1.52830455e-01 -5.59276529e-01  9.25185530e+01]
 [-1.43066498e-01  9.87800013e-01  6.15069963e-02 -1.72730313e+01]
 [ 5.61853505e-01  2.98995859e-02  8.26696228e-01  6.08743661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.34327356
Centerline is valid?  [True, True]
Translation: X:92.57, Y:-17.28, Z:60.91
[[ 8.15598941e-01  1.48341245e-01 -5.59279217e-01  9.25670187e+01]
 [-1.37641311e-01  9.88572085e-01  6.14825402e-02 -1.72814863e+01]
 [ 5.62008218e-01  2.68348298e-02  8.26696229e-01  6.09077712e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.40327356
Centerline is valid?  [True, True]
Translation: X:92.62, Y:-17.29, Z:60.94
[[ 8.16650738e-01  1.42428140e-01 -5.59281502e-01  9.26159463e+01]
 [-1.30489463e-01  9.89542800e-01  6.14617563e-02 -1.72885274e+01]
 [ 5.62186866e-01  2.27875544e-02  8.26696229e-01  6.09413853e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.46327356
Centerline is valid?  [True, True]
Translation: X:92.66, Y:-17.30, Z:60.98
[[ 8.17408681e-01  1.38002836e-01 -5.59283708e-01  9.26649097e+01]
 [-1.25141626e-01  9.90234565e-01  6.14416730e-02 -1.72952926e+01]
 [ 5.62301185e-01  1.97667157e-02  8.26696229e-01  6.09750032e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.52327356
Centerline is valid?  [True, True]
Translation: X:92.71, Y:-17.30, Z:61.01
[[ 8.17992403e-01  1.34488742e-01 -5.59286338e-01  9.27133345e+01]
 [-1.20901286e-01  9.90762707e-01  6.14177288e-02 -1.73034234e+01]
 [ 5.62380039e-01  1.73792019e-02  8.26696229e-01  6.10083563e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.58327356
Centerline is valid?  [True, True]
Translation: X:92.76, Y:-17.31, Z:61.04
[[ 8.18832427e-01  1.29194327e-01 -5.59305178e-01  9.27621767e+01]
 [-1.14606899e-01  9.91521163e-01  6.12457482e-02 -1.73105154e+01]
 [ 5.62475524e-01  1.39502274e-02  8.26696242e-01  6.10418403e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.64327356
Centerline is valid?  [True, True]
Translation: X:92.81, Y:-17.32, Z:61.08
[[ 8.18854285e-01  1.29046792e-01 -5.59307237e-01  9.28105394e+01]
 [-1.14441088e-01  9.91541476e-01  6.12269409e-02 -1.73188560e+01]
 [ 5.62477464e-01  1.38717858e-02  8.26696242e-01  6.10751687e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.70327356
Centerline is valid?  [True, True]
Translation: X:92.86, Y:-17.33, Z:61.11
[[ 8.18448899e-01  1.31515192e-01 -5.59325625e-01  9.28590489e+01]
 [-1.17545203e-01  9.91188668e-01  6.10585749e-02 -1.73256831e+01]
 [ 5.62427352e-01  1.57727209e-02  8.26696254e-01  6.11084084e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.76327356
Centerline is valid?  [True, True]
Translation: X:92.91, Y:-17.33, Z:61.14
[[ 8.17922679e-01  1.34673297e-01 -5.59343896e-01  9.29085448e+01]
 [-1.21484766e-01  9.90723857e-01  6.08908100e-02 -1.73323513e+01]
 [ 5.62355708e-01  1.81477878e-02  8.26696265e-01  6.11423034e+01]
 [ 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 190.82327356
Centerline is valid?  [True, True]
Translation: X:92.96, Y:-17.34, Z:61.18
[[ 8.16065020e-01  1.45501924e-01 -5.59345218e-01  9.29578641e+01]
 [-1.34613102e-01  9.89026340e-01  6.08786685e-02 -1.73386563e+01]
 [ 5.62065117e-01  2.56142429e-02  8.26696265e-01  6.11761311e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.88327356
Centerline is valid?  [True, True]
Translation: X:93.01, Y:-17.34, Z:61.21
[[ 8.15172448e-01  1.50417720e-01 -5.59346395e-01  9.30062767e+01]
 [-1.40578937e-01  9.88196674e-01  6.08678539e-02 -1.73440980e+01]
 [ 5.61899851e-01  2.90145239e-02  8.26696265e-01  6.12092825e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.94327356
Centerline is valid?  [True, True]
Translation: X:93.05, Y:-17.35, Z:61.24
[[ 8.14615221e-01  1.53411804e-01 -5.59345028e-01  9.30540160e+01]
 [-1.44200214e-01  9.87673971e-01  6.08804135e-02 -1.73516831e+01]
 [ 5.61790299e-01  3.10635614e-02  8.26696265e-01  6.12421480e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.00327356
Centerline is valid?  [True, True]
Translation: X:93.10, Y:-17.36, Z:61.27
[[ 8.14579565e-01  1.53587301e-01 -5.59348794e-01  9.31013708e+01]
 [-1.44436694e-01  9.87641550e-01  6.08457924e-02 -1.73590027e+01]
 [ 5.61781251e-01  3.12267516e-02  8.26696266e-01  6.12747096e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.06327356
Centerline is valid?  [True, True]
Translation: X:93.15, Y:-17.37, Z:61.31
[[ 8.14950987e-01  1.51581746e-01 -5.59354863e-01  9.31497604e+01]
 [-1.42043388e-01  9.87992033e-01  6.07899576e-02 -1.73678417e+01]
 [ 5.61852796e-01  2.99118239e-02  8.26696267e-01  6.13080719e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.12327356
Centerline is valid?  [True, True]
Translation: X:93.20, Y:-17.38, Z:61.34
[[ 8.15044637e-01  1.51010415e-01 -5.59372948e-01  9.31974905e+01]
 [-1.41464903e-01  9.88085276e-01  6.06231629e-02 -1.73767761e+01]
 [ 5.61862903e-01  2.97210560e-02  8.26696279e-01  6.13409362e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.18327356
Centerline is valid?  [True, True]
Translation: X:93.24, Y:-17.39, Z:61.37
[[ 8.15306006e-01  1.49578606e-01 -5.59376758e-01  9.32442928e+01]
 [-1.39753241e-01  9.88330980e-01  6.05879901e-02 -1.73902332e+01]
 [ 5.61912047e-01  2.87769628e-02  8.26696279e-01  6.13735723e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.24327356
Centerline is valid?  [True, True]
Translation: X:93.29, Y:-17.40, Z:61.41
[[ 8.15894187e-01  1.46258308e-01 -5.59397160e-01  9.32923902e+01]
 [-1.35857847e-01  9.88885530e-01  6.03991209e-02 -1.73964759e+01]
 [ 5.62013631e-01  2.67192019e-02  8.26696294e-01  6.14064732e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.30327356
Centerline is valid?  [True, True]
Translation: X:93.34, Y:-17.41, Z:61.44
[[ 8.15535296e-01  1.48180105e-01 -5.59414728e-01  9.33386625e+01]
 [-1.38298807e-01  9.88557059e-01  6.02360431e-02 -1.74122238e+01]
 [ 5.61939161e-01  2.82417704e-02  8.26696305e-01  6.14388452e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.36327356
Centerline is valid?  [True, True]
Translation: X:93.39, Y:-17.42, Z:61.47
[[ 8.15766462e-01  1.46869308e-01 -5.59423351e-01  9.33868420e+01]
 [-1.36764818e-01  9.88775332e-01  6.01558676e-02 -1.74209192e+01]
 [ 5.61979060e-01  2.74362932e-02  8.26696308e-01  6.14720368e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.42327356
Centerline is valid?  [True, True]
Translation: X:93.43, Y:-17.43, Z:61.50
[[ 8.16194353e-01  1.44452808e-01 -5.59428427e-01  9.34344240e+01]
 [-1.33868308e-01  9.89174518e-01  6.01086363e-02 -1.74275029e+01]
 [ 5.62055206e-01  2.58294076e-02  8.26696309e-01  6.15046882e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.48327356
Centerline is valid?  [True, True]
Translation: X:93.48, Y:-17.44, Z:61.54
[[ 8.17064304e-01  1.39423047e-01 -5.59434658e-01  9.34830439e+01]
 [-1.27813024e-01  9.89978665e-01  6.00505924e-02 -1.74362764e+01]
 [ 5.62200813e-01  2.24378396e-02  8.26696310e-01  6.15381949e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.54327356
Centerline is valid?  [True, True]
Translation: X:93.53, Y:-17.44, Z:61.57
[[ 8.17349301e-01  1.37731835e-01 -5.59437272e-01  9.35323190e+01]
 [-1.25780641e-01  9.90240416e-01  6.00262304e-02 -1.74423311e+01]
 [ 5.62244920e-01  2.13039810e-02  8.26696311e-01  6.15719661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.60327356
Centerline is valid?  [True, True]
Translation: X:93.58, Y:-17.45, Z:61.60
[[ 8.17468894e-01  1.37014951e-01 -5.59438568e-01  9.35799204e+01]
 [-1.24920387e-01  9.90350038e-01  6.00141511e-02 -1.74467363e+01]
 [ 5.62262843e-01  2.08255810e-02  8.26696311e-01  6.16044917e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.66327356
Centerline is valid?  [True, True]
Translation: X:93.63, Y:-17.45, Z:61.64
[[ 8.17363720e-01  1.37615200e-01 -5.59444909e-01  9.36278434e+01]
 [-1.25688020e-01  9.90256492e-01  5.99549967e-02 -1.74513967e+01]
 [ 5.62244671e-01  2.13104835e-02  8.26696312e-01  6.16372272e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.72327356
Centerline is valid?  [True, True]
Translation: X:93.68, Y:-17.46, Z:61.67
[[ 8.18142962e-01  1.32816840e-01 -5.59465621e-01  9.36766549e+01]
 [-1.20007775e-01  9.90972620e-01  5.97611970e-02 -1.74566085e+01]
 [ 5.62352405e-01  1.82470219e-02  8.26696328e-01  6.16705286e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.78327356
Centerline is valid?  [True, True]
Translation: X:93.73, Y:-17.46, Z:61.70
[[ 8.18912004e-01  1.27978535e-01 -5.59468162e-01  9.37253620e+01]
 [-1.14164356e-01  9.91664229e-01  5.97374000e-02 -1.74595927e+01]
 [ 5.62449668e-01  1.49516483e-02  8.26696328e-01  6.17036935e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.84327356
Centerline is valid?  [True, True]
Translation: X:93.78, Y:-17.46, Z:61.74
[[ 8.20460924e-01  1.17555693e-01 -5.59485952e-01  9.37755956e+01]
 [-1.01659946e-01  9.93034050e-01  5.95703842e-02 -1.74609792e+01]
 [ 5.62591439e-01  8.00213909e-03  8.26696340e-01  6.17376972e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.90327356
Centerline is valid?  [True, True]
Translation: X:93.83, Y:-17.46, Z:61.77
[[ 8.20771916e-01  1.15351455e-01 -5.59488609e-01  9.38253584e+01]
 [-9.90092325e-02  9.93303334e-01  5.95454253e-02 -1.74607921e+01]
 [ 5.62610552e-01  6.52132492e-03  8.26696340e-01  6.17713482e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.96327356
Centerline is valid?  [True, True]
Translation: X:93.87, Y:-17.46, Z:61.80
[[ 8.22025099e-01  1.06039353e-01 -5.59491191e-01  9.38728679e+01]
 [-8.77587928e-02  9.94361919e-01  5.95211586e-02 -1.74630789e+01]
 [ 5.62648319e-01  1.72385174e-04  8.26696340e-01  6.18036531e+01]
 [ 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 192.02327356
Centerline is valid?  [True, True]
Translation: X:93.92, Y:-17.46, Z:61.84
[[ 8.22669521e-01  1.00883131e-01 -5.59497501e-01  9.39223845e+01]
 [-8.15627437e-02  9.94892866e-01  5.94617912e-02 -1.74648976e+01]
 [ 5.62638764e-01 -3.28325200e-03  8.26696342e-01  6.18372639e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.08327356
Centerline is valid?  [True, True]
Translation: X:93.97, Y:-17.47, Z:61.87
[[ 8.22556300e-01  1.01788065e-01 -5.59500065e-01  9.39716119e+01]
 [-8.26735626e-02  9.94802617e-01  5.94376588e-02 -1.74654518e+01]
 [ 5.62642173e-01 -2.63495704e-03  8.26696342e-01  6.18706074e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.14327356
Centerline is valid?  [True, True]
Translation: X:94.02, Y:-17.46, Z:61.90
[[ 8.21739815e-01  1.08097013e-01 -5.59516499e-01  9.40211340e+01]
 [-9.04103800e-02  9.94138589e-01  5.92826177e-02 -1.74616615e+01]
 [ 5.62645217e-01  1.87121202e-03  8.26696352e-01  6.19037701e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.20327356
Centerline is valid?  [True, True]
Translation: X:94.07, Y:-17.47, Z:61.94
[[ 8.21118082e-01  1.12697750e-01 -5.59521503e-01  9.40706560e+01]
 [-9.60091760e-02  9.93616330e-01  5.92353544e-02 -1.74651526e+01]
 [ 5.62625394e-01  5.07997788e-03  8.26696353e-01  6.19375129e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.26327356
Centerline is valid?  [True, True]
Translation: X:94.12, Y:-17.46, Z:61.97
[[ 8.19593593e-01  1.23289945e-01 -5.59522950e-01  9.41208082e+01]
 [-1.08839244e-01  9.92293712e-01  5.92216825e-02 -1.74608059e+01]
 [ 5.62512544e-01  1.23603435e-02  8.26696353e-01  6.19711383e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.32327356
Centerline is valid?  [True, True]
Translation: X:94.17, Y:-17.46, Z:62.00
[[ 8.17811851e-01  1.34597256e-01 -5.59524222e-01  9.41706082e+01]
 [-1.22541232e-01  9.90695645e-01  5.92096688e-02 -1.74558187e+01]
 [ 5.62287669e-01  2.01424187e-02  8.26696353e-01  6.20044806e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.38327356
Centerline is valid?  [True, True]
Translation: X:94.22, Y:-17.45, Z:62.04
[[ 8.16078857e-01  1.44729334e-01 -5.59525441e-01  9.42207410e+01]
 [-1.34826207e-01  9.89099324e-01  5.91981476e-02 -1.74524028e+01]
 [ 5.61993944e-01  2.71283362e-02  8.26696353e-01  6.20381612e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.44327356
Centerline is valid?  [True, True]
Translation: X:94.27, Y:-17.45, Z:62.07
[[ 8.15702462e-01  1.46832701e-01 -5.59526275e-01  9.42700436e+01]
 [-1.37381047e-01  9.88748179e-01  5.91902640e-02 -1.74505570e+01]
 [ 5.61921651e-01  2.85866613e-02  8.26696353e-01  6.20713943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.50327356
Centerline is valid?  [True, True]
Translation: X:94.32, Y:-17.45, Z:62.11
[[ 8.15371983e-01  1.48588640e-01 -5.59544409e-01  9.43204930e+01]
 [-1.39627179e-01  9.88443765e-01  5.90184172e-02 -1.74476365e+01]
 [ 5.61847649e-01  3.00056435e-02  8.26696366e-01  6.21052503e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.56327356
Centerline is valid?  [True, True]
Translation: X:94.37, Y:-17.45, Z:62.14
[[ 8.15366767e-01  1.48616732e-01 -5.59544549e-01  9.43700932e+01]
 [-1.39662145e-01  9.88438905e-01  5.90170865e-02 -1.74490454e+01]
 [ 5.61846528e-01  3.00266207e-02  8.26696366e-01  6.21389218e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.62327356
Centerline is valid?  [True, True]
Translation: X:94.42, Y:-17.45, Z:62.17
[[ 8.15929381e-01  1.45491332e-01 -5.59545814e-01  9.44188854e+01]
 [-1.35881837e-01  9.88966392e-01  5.90050963e-02 -1.74522103e+01]
 [ 5.61956735e-01  2.78881212e-02  8.26696366e-01  6.21721670e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.68327356
Centerline is valid?  [True, True]
Translation: X:94.47, Y:-17.46, Z:62.21
[[ 8.16230557e-01  1.43723799e-01 -5.59563354e-01  9.44684019e+01]
 [-1.33853595e-01  9.89252881e-01  5.88383563e-02 -1.74550186e+01]
 [ 5.62006133e-01  2.68739021e-02  8.26696377e-01  6.22058063e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.74327356
Centerline is valid?  [True, True]
Translation: X:94.52, Y:-17.46, Z:62.24
[[ 8.16481771e-01  1.42280464e-01 -5.59565713e-01  9.45172859e+01]
 [-1.32119711e-01  9.89487276e-01  5.88159216e-02 -1.74578568e+01]
 [ 5.62051509e-01  2.59075323e-02  8.26696378e-01  6.22390861e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.80327356
Centerline is valid?  [True, True]
Translation: X:94.57, Y:-17.46, Z:62.27
[[ 8.16734603e-01  1.40752446e-01 -5.59583181e-01  9.45673248e+01]
 [-1.30381902e-01  9.89727648e-01  5.86493254e-02 -1.74615784e+01]
 [ 5.62089982e-01  2.50585860e-02  8.26696389e-01  6.22731453e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.86327356
Centerline is valid?  [True, True]
Translation: X:94.62, Y:-17.47, Z:62.31
[[ 8.16557574e-01  1.41772344e-01 -5.59584070e-01  9.46166547e+01]
 [-1.31623654e-01  9.89563775e-01  5.86408483e-02 -1.74678906e+01]
 [ 5.62057775e-01  2.57708709e-02  8.26696389e-01  6.23069803e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.92327356
Centerline is valid?  [True, True]
Translation: X:94.67, Y:-17.47, Z:62.34
[[ 8.16890211e-01  1.39837763e-01 -5.59585367e-01  9.46651616e+01]
 [-1.29287764e-01  9.89872404e-01  5.86284692e-02 -1.74698566e+01]
 [ 5.62116586e-01  2.44545185e-02  8.26696389e-01  6.23399481e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.98327356
Centerline is valid?  [True, True]
Translation: X:94.71, Y:-17.47, Z:62.37
[[ 8.16533298e-01  1.41891901e-01 -5.59589190e-01  9.47127289e+01]
 [-1.31801975e-01  9.89542936e-01  5.85919596e-02 -1.74734934e+01]
 [ 5.62051254e-01  2.59126744e-02  8.26696390e-01  6.23723876e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.04327356
Centerline is valid?  [True, True]
Translation: X:94.76, Y:-17.47, Z:62.41
[[ 8.16011899e-01  1.44836712e-01 -5.59595307e-01  9.47624053e+01]
 [-1.35410997e-01  9.89058993e-01  5.85334923e-02 -1.74745229e+01]
 [ 5.61950569e-01  2.80113322e-02  8.26696391e-01  6.24060605e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.10327356
Centerline is valid?  [True, True]
Translation: X:94.81, Y:-17.48, Z:62.44
[[ 8.15726734e-01  1.46424555e-01 -5.59597842e-01  9.48119562e+01]
 [-1.37352231e-01  9.88792715e-01  5.85092437e-02 -1.74795794e+01]
 [ 5.61893459e-01  2.91344579e-02  8.26696391e-01  6.24399491e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.16327356
Centerline is valid?  [True, True]
Translation: X:94.86, Y:-17.48, Z:62.47
[[ 8.15077760e-01  1.49992327e-01 -5.59598559e-01  9.48601760e+01]
 [-1.41682026e-01  9.88182005e-01  5.85023836e-02 -1.74806747e+01]
 [ 5.61760135e-01  3.16010660e-02  8.26696391e-01  6.24726640e+01]
 [ 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 193.22327356
Centerline is valid?  [True, True]
Translation: X:94.91, Y:-17.49, Z:62.51
[[ 8.14878446e-01  1.51047711e-01 -5.59604956e-01  9.49088543e+01]
 [-1.43003500e-01  9.87995259e-01  5.84411422e-02 -1.74858987e+01]
 [ 5.61714444e-01  3.24030402e-02  8.26696393e-01  6.25059576e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.28327356
Centerline is valid?  [True, True]
Translation: X:94.96, Y:-17.49, Z:62.54
[[ 8.14752352e-01  1.51712316e-01 -5.59608772e-01  9.49582272e+01]
 [-1.43834333e-01  9.87876809e-01  5.84045848e-02 -1.74887911e+01]
 [ 5.61685222e-01  3.29056814e-02  8.26696394e-01  6.25395675e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.34327356
Centerline is valid?  [True, True]
Translation: X:95.01, Y:-17.49, Z:62.57
[[ 8.14994673e-01  1.50395807e-01 -5.59611280e-01  9.50063566e+01]
 [-1.42254589e-01  9.88106950e-01  5.83805434e-02 -1.74885094e+01]
 [ 5.61735984e-01  3.20274405e-02  8.26696394e-01  6.25721171e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.40327356
Centerline is valid?  [True, True]
Translation: X:95.05, Y:-17.50, Z:62.61
[[ 8.14858719e-01  1.51107792e-01 -5.59617461e-01  9.50539644e+01]
 [-1.43158408e-01  9.87979910e-01  5.83212428e-02 -1.74983690e+01]
 [ 5.61703603e-01  3.25903718e-02  8.26696395e-01  6.26050145e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.46327356
Centerline is valid?  [True, True]
Translation: X:95.10, Y:-17.50, Z:62.64
[[ 8.14329459e-01  1.53925717e-01 -5.59619877e-01  9.51034291e+01]
 [-1.46591129e-01  9.87477786e-01  5.82980570e-02 -1.75026189e+01]
 [ 5.61585767e-01  3.45614844e-02  8.26696396e-01  6.26387885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.52327356
Centerline is valid?  [True, True]
Translation: X:95.15, Y:-17.51, Z:62.67
[[ 8.14061750e-01  1.55329250e-01 -5.59621561e-01  9.51525831e+01]
 [-1.48304221e-01  9.87222913e-01  5.82818879e-02 -1.75093521e+01]
 [ 5.61524109e-01  3.55491841e-02  8.26696396e-01  6.26725303e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.58327356
Centerline is valid?  [True, True]
Translation: X:95.20, Y:-17.52, Z:62.71
[[ 8.13331633e-01  1.59106328e-01 -5.59622043e-01  9.52009905e+01]
 [-1.52888334e-01  9.86523653e-01  5.82772561e-02 -1.75161064e+01]
 [ 5.61352662e-01  3.81609461e-02  8.26696396e-01  6.27057732e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.64327356
Centerline is valid?  [True, True]
Translation: X:95.25, Y:-17.52, Z:62.74
[[ 8.13054975e-01  1.60510471e-01 -5.59623084e-01  9.52498827e+01]
 [-1.54598388e-01  9.86257707e-01  5.82672545e-02 -1.75249455e+01]
 [ 5.61285085e-01  3.91423456e-02  8.26696396e-01  6.27394889e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.70327356
Centerline is valid?  [True, True]
Translation: X:95.30, Y:-17.54, Z:62.77
[[ 8.12653338e-01  1.62527368e-01 -5.59624344e-01  9.52986028e+01]
 [-1.57053350e-01  9.85870469e-01  5.82551567e-02 -1.75351169e+01]
 [ 5.61185172e-01  4.05496302e-02  8.26696396e-01  6.27731809e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.76327356
Centerline is valid?  [True, True]
Translation: X:95.35, Y:-17.54, Z:62.81
[[ 8.12353355e-01  1.64011596e-01 -5.59626860e-01  9.53465727e+01]
 [-1.58870576e-01  9.85580689e-01  5.82309732e-02 -1.75445898e+01]
 [ 5.61107981e-01  4.16041150e-02  8.26696396e-01  6.28063102e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.82327356
Centerline is valid?  [True, True]
Translation: X:95.40, Y:-17.55, Z:62.84
[[ 8.12361806e-01  1.63909935e-01 -5.59644378e-01  9.53951129e+01]
 [-1.58862855e-01  9.85591890e-01  5.80622048e-02 -1.75538771e+01]
 [ 5.61097932e-01  4.17391861e-02  8.26696408e-01  6.28397457e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.88327356
Centerline is valid?  [True, True]
Translation: X:95.44, Y:-17.56, Z:62.87
[[ 8.12560469e-01  1.62913738e-01 -5.59646851e-01  9.54434596e+01]
 [-1.57670592e-01  9.85784730e-01  5.80383583e-02 -1.75628162e+01]
 [ 5.61146566e-01  4.10801746e-02  8.26696408e-01  6.28730915e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.94327356
Centerline is valid?  [True, True]
Translation: X:95.49, Y:-17.58, Z:62.91
[[ 8.12292203e-01  1.64237794e-01 -5.59649286e-01  9.54919126e+01]
 [-1.59293060e-01  9.85525239e-01  5.80148692e-02 -1.75753054e+01]
 [ 5.61076730e-01  4.20232212e-02  8.26696408e-01  6.29067582e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.00327356
Centerline is valid?  [True, True]
Translation: X:95.54, Y:-17.59, Z:62.94
[[ 8.12983853e-01  1.60774421e-01 -5.59650642e-01  9.55405300e+01]
 [-1.55100395e-01  9.86194535e-01  5.80017905e-02 -1.75876301e+01]
 [ 5.61249608e-01  3.96475162e-02  8.26696408e-01  6.29405294e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.06327356
Centerline is valid?  [True, True]
Translation: X:95.59, Y:-17.60, Z:62.97
[[ 8.13660789e-01  1.57310227e-01 -5.59651331e-01  9.55882982e+01]
 [-1.50903054e-01  9.86845901e-01  5.79951364e-02 -1.75976640e+01]
 [ 5.61412850e-01  3.72647264e-02  8.26696408e-01  6.29735679e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.12327356
Centerline is valid?  [True, True]
Translation: X:95.64, Y:-17.61, Z:63.01
[[ 8.14799967e-01  1.51232509e-01 -5.59669315e-01  9.56359279e+01]
 [-1.43651906e-01  9.87937672e-01  5.78211530e-02 -1.76102458e+01]
 [ 5.61662838e-01  3.32848900e-02  8.26696421e-01  6.30066080e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.18327356
Centerline is valid?  [True, True]
Translation: X:95.68, Y:-17.62, Z:63.04
[[ 8.15399729e-01  1.47952853e-01 -5.59672435e-01  9.56836529e+01]
 [-1.39696351e-01  9.88506519e-01  5.77909343e-02 -1.76235807e+01]
 [ 5.61790184e-01  3.10614848e-02  8.26696421e-01  6.30398349e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.24327356
Centerline is valid?  [True, True]
Translation: X:95.73, Y:-17.64, Z:63.07
[[ 8.16189626e-01  1.43520494e-01 -5.59675230e-01  9.57323909e+01]
 [-1.34342120e-01  9.89249984e-01  5.77638607e-02 -1.76356697e+01]
 [ 5.61949010e-01  2.80416928e-02  8.26696422e-01  6.30736615e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.30327356
Centerline is valid?  [True, True]
Translation: X:95.78, Y:-17.65, Z:63.11
[[ 8.17180685e-01  1.37761774e-01 -5.59676176e-01  9.57806593e+01]
 [-1.27369606e-01  9.90172399e-01  5.77546903e-02 -1.76490254e+01]
 [ 5.62132290e-01  2.40897166e-02  8.26696422e-01  6.31072677e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.36327356
Centerline is valid?  [True, True]
Translation: X:95.83, Y:-17.66, Z:63.14
[[ 8.18355166e-01  1.30594835e-01 -5.59678311e-01  9.58291382e+01]
 [-1.18701132e-01  9.91250134e-01  5.77339928e-02 -1.76552268e+01]
 [ 5.62320962e-01  1.91875376e-02  8.26696422e-01  6.31405104e+01]
 [ 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 194.42327356
Centerline is valid?  [True, True]
Translation: X:95.88, Y:-17.67, Z:63.17
[[ 8.18920872e-01  1.26920885e-01 -5.59696073e-01  9.58766128e+01]
 [-1.14369247e-01  9.91769310e-01  5.75613735e-02 -1.76675669e+01]
 [ 5.62395128e-01  1.68738084e-02  8.26696434e-01  6.31734200e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.48327356
Centerline is valid?  [True, True]
Translation: X:95.92, Y:-17.68, Z:63.21
[[ 8.18854972e-01  1.27331564e-01 -5.59699211e-01  9.59243600e+01]
 [-1.14887464e-01  9.91711184e-01  5.75308390e-02 -1.76755914e+01]
 [ 5.62385460e-01  1.71930094e-02  8.26696435e-01  6.32062883e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.54327356
Centerline is valid?  [True, True]
Translation: X:95.97, Y:-17.69, Z:63.24
[[ 8.17632234e-01  1.34934842e-01 -5.59705385e-01  9.59736838e+01]
 [-1.24138538e-01  9.90599182e-01  5.74707243e-02 -1.76869915e+01]
 [ 5.62198500e-01  2.24910914e-02  8.26696436e-01  6.32404424e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.60327356
Centerline is valid?  [True, True]
Translation: X:96.02, Y:-17.69, Z:63.27
[[ 8.17157109e-01  1.37783489e-01 -5.59705252e-01  9.60216967e+01]
 [-1.27589161e-01  9.90160580e-01  5.74720163e-02 -1.76899783e+01]
 [ 5.62116772e-01  2.44486571e-02  8.26696436e-01  6.32731573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.66327356
Centerline is valid?  [True, True]
Translation: X:96.07, Y:-17.70, Z:63.31
[[ 8.16444172e-01  1.41910687e-01 -5.59714455e-01  9.60712532e+01]
 [-1.32652020e-01  9.89500235e-01  5.73822768e-02 -1.76984186e+01]
 [ 5.61980743e-01  2.73978275e-02  8.26696440e-01  6.33072464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.72327356
Centerline is valid?  [True, True]
Translation: X:96.12, Y:-17.69, Z:63.34
[[ 8.16188420e-01  1.43371107e-01 -5.59715275e-01  9.61213096e+01]
 [-1.34427532e-01  9.89261053e-01  5.73742729e-02 -1.76910639e+01]
 [ 5.61930336e-01  2.84129262e-02  8.26696440e-01  6.33406222e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.78327356
Centerline is valid?  [True, True]
Translation: X:96.17, Y:-17.71, Z:63.37
[[ 8.15686845e-01  1.46177314e-01 -5.59720612e-01  9.61686896e+01]
 [-1.37864678e-01  9.88790928e-01  5.73221662e-02 -1.77091838e+01]
 [ 5.61825864e-01  3.04087651e-02  8.26696441e-01  6.33739297e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.84327356
Centerline is valid?  [True, True]
Translation: X:96.22, Y:-17.72, Z:63.41
[[ 8.15298531e-01  1.48324583e-01 -5.59721470e-01  9.62175032e+01]
 [-1.40473505e-01  9.88424162e-01  5.73137906e-02 -1.77151416e+01]
 [ 5.61743269e-01  3.18981874e-02  8.26696441e-01  6.34073877e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.90327356
Centerline is valid?  [True, True]
Translation: X:96.27, Y:-17.72, Z:63.44
[[ 8.15209698e-01  1.48798064e-01 -5.59725187e-01  9.62657660e+01]
 [-1.41072387e-01  9.88340970e-01  5.72774740e-02 -1.77204517e+01]
 [ 5.61722111e-01  3.22686161e-02  8.26696441e-01  6.34404125e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.96327356
Centerline is valid?  [True, True]
Translation: X:96.31, Y:-17.73, Z:63.47
[[ 8.15073076e-01  1.49525760e-01 -5.59730227e-01  9.63142390e+01]
 [-1.41988379e-01  9.88212647e-01  5.72281801e-02 -1.77288347e+01]
 [ 5.61689577e-01  3.28300388e-02  8.26696442e-01  6.34737851e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.02327356
Centerline is valid?  [True, True]
Translation: X:96.36, Y:-17.73, Z:63.51
[[ 8.15624697e-01  1.46482880e-01 -5.59731292e-01  9.63636677e+01]
 [-1.38306525e-01  9.88735269e-01  5.72177639e-02 -1.77340832e+01]
 [ 5.61807493e-01  3.07462684e-02  8.26696442e-01  6.35076092e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.08327356
Centerline is valid?  [True, True]
Translation: X:96.41, Y:-17.74, Z:63.54
[[ 8.16368444e-01  1.42273288e-01 -5.59732860e-01  9.64124222e+01]
 [-1.33214493e-01  9.89435082e-01  5.72024194e-02 -1.77430143e+01]
 [ 5.61957705e-01  2.78662790e-02  8.26696443e-01  6.35412290e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.14327356
Centerline is valid?  [True, True]
Translation: X:96.46, Y:-17.75, Z:63.57
[[ 8.16453248e-01  1.41776096e-01 -5.59735323e-01  9.64612368e+01]
 [-1.32628395e-01  9.89515209e-01  5.71783097e-02 -1.77484224e+01]
 [ 5.61973133e-01  2.75533809e-02  8.26696443e-01  6.35746405e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.20327356
Centerline is valid?  [True, True]
Translation: X:96.51, Y:-17.76, Z:63.61
[[ 8.17038050e-01  1.38300674e-01 -5.59751506e-01  9.65106910e+01]
 [-1.28525212e-01  9.90065677e-01  5.70195195e-02 -1.77554079e+01]
 [ 5.62076592e-01  2.53550637e-02  8.26696453e-01  6.36085181e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.26327356
Centerline is valid?  [True, True]
Translation: X:96.56, Y:-17.76, Z:63.64
[[ 8.17323841e-01  1.36596411e-01 -5.59752767e-01  9.65583570e+01]
 [-1.26468576e-01  9.90331200e-01  5.70071412e-02 -1.77616360e+01]
 [ 5.62127600e-01  2.41978397e-02  8.26696453e-01  6.36412150e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.32327356
Centerline is valid?  [True, True]
Translation: X:96.61, Y:-17.77, Z:63.67
[[ 8.17358114e-01  1.36365728e-01 -5.59758968e-01  9.66067313e+01]
 [-1.26230726e-01  9.90365051e-01  5.69461940e-02 -1.77676624e+01]
 [ 5.62131228e-01  2.41133474e-02  8.26696455e-01  6.36743499e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.38327356
Centerline is valid?  [True, True]
Translation: X:96.66, Y:-17.77, Z:63.71
[[ 8.17455678e-01  1.35707287e-01 -5.59776515e-01  9.66556126e+01]
 [-1.25551127e-01  9.90461362e-01  5.67732693e-02 -1.77716032e+01]
 [ 5.62141556e-01  2.38709411e-02  8.26696467e-01  6.37076209e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.44327356
Centerline is valid?  [True, True]
Translation: X:96.70, Y:-17.78, Z:63.74
[[ 8.17547874e-01  1.35078484e-01 -5.59793960e-01  9.67035485e+01]
 [-1.24907123e-01  9.90552653e-01  5.66008200e-02 -1.77760470e+01]
 [ 5.62150945e-01  2.36483731e-02  8.26696480e-01  6.37402870e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.50327356
Centerline is valid?  [True, True]
Translation: X:96.75, Y:-17.78, Z:63.77
[[ 8.17610829e-01  1.34676593e-01 -5.59798846e-01  9.67526577e+01]
 [-1.24453247e-01  9.90612542e-01  5.65524575e-02 -1.77807570e+01]
 [ 5.62160050e-01  2.34308823e-02  8.26696481e-01  6.37738361e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.56327356
Centerline is valid?  [True, True]
Translation: X:96.80, Y:-17.78, Z:63.81
[[ 8.17644548e-01  1.34461667e-01 -5.59801263e-01  9.68002397e+01]
 [-1.24209202e-01  9.90644538e-01  5.65285251e-02 -1.77838411e+01]
 [ 5.62164983e-01  2.33122275e-02  8.26696481e-01  6.38062537e+01]
 [ 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 195.62327356
Centerline is valid?  [True, True]
Translation: X:96.85, Y:-17.79, Z:63.84
[[ 8.17841865e-01  1.33173031e-01 -5.59821068e-01  9.68492275e+01]
 [-1.22782387e-01  9.90833595e-01  5.63318138e-02 -1.77879472e+01]
 [ 5.62191399e-01  2.26656517e-02  8.26696497e-01  6.38395960e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.68327356
Centerline is valid?  [True, True]
Translation: X:96.90, Y:-17.79, Z:63.87
[[ 8.18137397e-01  1.31334812e-01 -5.59823513e-01  9.68985892e+01]
 [-1.20572053e-01  9.91106374e-01  5.63075018e-02 -1.77917640e+01]
 [ 5.62239788e-01  2.14317971e-02  8.26696498e-01  6.38732690e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.74327356
Centerline is valid?  [True, True]
Translation: X:96.95, Y:-17.78, Z:63.91
[[ 8.19041399e-01  1.25568345e-01 -5.59824775e-01  9.69492488e+01]
 [-1.13595971e-01  9.91930861e-01  5.62949604e-02 -1.77759385e+01]
 [ 5.62376336e-01  1.74859356e-02  8.26696498e-01  6.39064901e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.80327356
Centerline is valid?  [True, True]
Translation: X:97.00, Y:-17.78, Z:63.94
[[ 8.18897038e-01  1.26432190e-01 -5.59841534e-01  9.69975235e+01]
 [-1.14756289e-01  9.91806763e-01  5.61278756e-02 -1.77768374e+01]
 [ 5.62350990e-01  1.82823857e-02  8.26696509e-01  6.39391532e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.86327356
Centerline is valid?  [True, True]
Translation: X:97.05, Y:-17.78, Z:63.97
[[ 8.18873222e-01  1.26499411e-01 -5.59861183e-01  9.70462378e+01]
 [-1.14971952e-01  9.91792892e-01  5.59313001e-02 -1.77780217e+01]
 [ 5.62341618e-01  1.85676891e-02  8.26696525e-01  6.39721193e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.92327356
Centerline is valid?  [True, True]
Translation: X:97.10, Y:-17.78, Z:64.01
[[ 8.18677819e-01  1.27736615e-01 -5.59866043e-01  9.70951035e+01]
 [-1.16503708e-01  9.91616871e-01  5.58826194e-02 -1.77798469e+01]
 [ 5.62310870e-01  1.94766091e-02  8.26696526e-01  6.40053104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.98327356
Centerline is valid?  [True, True]
Translation: X:97.14, Y:-17.78, Z:64.04
[[ 8.18502181e-01  1.28846855e-01 -5.59868438e-01  9.71441840e+01]
 [-1.17864906e-01  9.91457351e-01  5.58586200e-02 -1.77826601e+01]
 [ 5.62282886e-01  2.02684387e-02  8.26696527e-01  6.40387270e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.04327356
Centerline is valid?  [True, True]
Translation: X:97.19, Y:-17.78, Z:64.07
[[ 8.17833054e-01  1.32961785e-01 -5.59884148e-01  9.71930821e+01]
 [-1.22957702e-01  9.90847529e-01  5.57007803e-02 -1.77839703e+01]
 [ 5.62165900e-01  2.32881287e-02  8.26696537e-01  6.40718494e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.10327356
Centerline is valid?  [True, True]
Translation: X:97.24, Y:-17.78, Z:64.11
[[ 8.16764135e-01  1.39371026e-01 -5.59885760e-01  9.72428223e+01]
 [-1.30735092e-01  9.89852294e-01  5.56845659e-02 -1.77845752e+01]
 [ 5.61965020e-01  2.77155602e-02  8.26696537e-01  6.41055686e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.16327356
Centerline is valid?  [True, True]
Translation: X:97.29, Y:-17.79, Z:64.14
[[ 8.16073391e-01  1.43355364e-01 -5.59887007e-01  9.72930662e+01]
 [-1.35572817e-01  9.89202020e-01  5.56720318e-02 -1.77856275e+01]
 [ 5.61822242e-01  3.04729950e-02  8.26696537e-01  6.41396611e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.22327356
Centerline is valid?  [True, True]
Translation: X:97.34, Y:-17.79, Z:64.17
[[ 8.16145313e-01  1.42942586e-01 -5.59887708e-01  9.73422920e+01]
 [-1.35077300e-01  9.89270202e-01  5.56649757e-02 -1.77884393e+01]
 [ 5.61837122e-01  3.01974109e-02  8.26696537e-01  6.41731855e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.28327356
Centerline is valid?  [True, True]
Translation: X:97.39, Y:-17.79, Z:64.21
[[ 8.16653357e-01  1.40001149e-01 -5.59890143e-01  9.73910089e+01]
 [-1.31528910e-01  9.89749606e-01  5.56404800e-02 -1.77931360e+01]
 [ 5.61940779e-01  2.82027555e-02  8.26696537e-01  6.42064833e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.34327356
Centerline is valid?  [True, True]
Translation: X:97.44, Y:-17.80, Z:64.24
[[ 8.17631286e-01  1.34161823e-01 -5.59892566e-01  9.74400682e+01]
 [-1.24469539e-01  9.90663507e-01  5.56160854e-02 -1.77987234e+01]
 [ 5.62126689e-01  2.42161182e-02  8.26696538e-01  6.42400731e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.40327356
Centerline is valid?  [True, True]
Translation: X:97.49, Y:-17.80, Z:64.27
[[ 8.18454409e-01  1.29038722e-01 -5.59894087e-01  9.74897542e+01]
 [-1.18273463e-01  9.91423190e-01  5.56007734e-02 -1.78022104e+01]
 [ 5.62266634e-01  2.07139146e-02  8.26696538e-01  6.42739505e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.46327356
Centerline is valid?  [True, True]
Translation: X:97.54, Y:-17.80, Z:64.31
[[ 8.18946703e-01  1.25871236e-01 -5.59895285e-01  9.75373324e+01]
 [-1.14445097e-01  9.91873084e-01  5.55887093e-02 -1.78049650e+01]
 [ 5.62342082e-01  1.85530801e-02  8.26696538e-01  6.43063528e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.52327356
Centerline is valid?  [True, True]
Translation: X:97.59, Y:-17.81, Z:64.34
[[ 8.19497933e-01  1.22203447e-01 -5.59901291e-01  9.75860703e+01]
 [-1.10044546e-01  9.92374335e-01  5.55281568e-02 -1.78069923e+01]
 [ 5.62417404e-01  1.61088738e-02  8.26696539e-01  6.43394676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.58327356
Centerline is valid?  [True, True]
Translation: X:97.64, Y:-17.81, Z:64.37
[[ 8.19811310e-01  1.20004329e-01 -5.59918188e-01  9.76361913e+01]
 [-1.07498239e-01  9.92662931e-01  5.53573310e-02 -1.78085682e+01]
 [ 5.62453149e-01  1.48076532e-02  8.26696552e-01  6.43734347e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.64327356
Centerline is valid?  [True, True]
Translation: X:97.69, Y:-17.81, Z:64.41
[[ 8.20148069e-01  1.17677214e-01 -5.59918938e-01  9.76852755e+01]
 [-1.04685797e-01  9.92963891e-01  5.53497444e-02 -1.78079063e+01]
 [ 5.62492692e-01  1.32205744e-02  8.26696552e-01  6.44066313e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.70327356
Centerline is valid?  [True, True]
Translation: X:97.73, Y:-17.81, Z:64.44
[[ 8.20351481e-01  1.16171206e-01 -5.59935441e-01  9.77337126e+01]
 [-1.02976703e-01  9.93151904e-01  5.51823689e-02 -1.78104156e+01]
 [ 5.62511552e-01  1.23913675e-02  8.26696563e-01  6.44395244e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.76327356
Centerline is valid?  [True, True]
Translation: X:97.78, Y:-17.81, Z:64.47
[[ 8.20589725e-01  1.14392719e-01 -5.59952507e-01  9.77832047e+01]
 [-1.00942106e-01  9.93370389e-01  5.50087442e-02 -1.78105264e+01]
 [ 5.62532839e-01  1.13831751e-02  8.26696576e-01  6.44729703e+01]
 [ 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 196.82327356
Centerline is valid?  [True, True]
Translation: X:97.83, Y:-17.81, Z:64.51
[[ 8.19453094e-01  1.22258367e-01 -5.59954926e-01  9.78331898e+01]
 [-1.10482465e-01  9.92355971e-01  5.49841095e-02 -1.78117677e+01]
 [ 5.62396881e-01  1.68083019e-02  8.26696576e-01  6.45068980e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.88327356
Centerline is valid?  [True, True]
Translation: X:97.88, Y:-17.81, Z:64.54
[[ 8.19682404e-01  1.20705796e-01 -5.59956130e-01  9.78814959e+01]
 [-1.08610748e-01  9.92563249e-01  5.49718387e-02 -1.78141771e+01]
 [ 5.62427295e-01  1.57578053e-02  8.26696576e-01  6.45397722e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.94327356
Centerline is valid?  [True, True]
Translation: X:97.93, Y:-17.81, Z:64.57
[[ 8.20695771e-01  1.13516215e-01 -5.59975464e-01  9.79311950e+01]
 [-1.00040968e-01  9.93474499e-01  5.47743013e-02 -1.78117418e+01]
 [ 5.62539115e-01  1.10674502e-02  8.26696592e-01  6.45731819e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.00327356
Centerline is valid?  [True, True]
Translation: X:97.98, Y:-17.82, Z:64.61
[[ 8.22075848e-01  1.03034322e-01 -5.59977882e-01  9.79797551e+01]
 [-8.73722393e-02  9.94670084e-01  5.47495732e-02 -1.78174438e+01]
 [ 5.62634332e-01  3.91821966e-03  8.26696593e-01  6.46064412e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.06327356
Centerline is valid?  [True, True]
Translation: X:98.03, Y:-17.82, Z:64.64
[[ 8.19257955e-01  1.23446179e-01 -5.59979861e-01  9.80297220e+01]
 [-1.12094914e-01  9.92189212e-01  5.47293206e-02 -1.78158570e+01]
 [ 5.62362102e-01  1.79334630e-02  8.26696593e-01  6.46401728e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.12327356
Centerline is valid?  [True, True]
Translation: X:98.08, Y:-17.81, Z:64.67
[[ 8.22580643e-01  9.89067854e-02 -5.59980834e-01  9.80802139e+01]
 [-8.23991623e-02  9.95096060e-01  5.47193668e-02 -1.78145490e+01]
 [ 5.62646838e-01  1.13085970e-03  8.26696593e-01  6.46742835e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.18327356
Centerline is valid?  [True, True]
Translation: X:98.13, Y:-17.82, Z:64.71
[[ 8.21748203e-01  1.05589489e-01 -5.59982813e-01  9.81294738e+01]
 [-9.04984270e-02  9.94393304e-01  5.46991099e-02 -1.78188525e+01]
 [ 5.62618810e-01  5.72866846e-03  8.26696593e-01  6.47079265e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.24327356
Centerline is valid?  [True, True]
Translation: X:98.18, Y:-17.81, Z:64.74
[[ 8.19241505e-01  1.23531263e-01 -5.59985164e-01  9.81799642e+01]
 [-1.12235027e-01  9.92176365e-01  5.46750322e-02 -1.78119487e+01]
 [ 5.62358120e-01  1.80578944e-02  8.26696593e-01  6.47416601e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.30327356
Centerline is valid?  [True, True]
Translation: X:98.23, Y:-17.82, Z:64.78
[[ 8.21183775e-01  1.09876570e-01 -5.59986024e-01  9.82288264e+01]
 [-9.57091331e-02  9.93907122e-01  5.46662175e-02 -1.78167189e+01]
 [ 5.62580634e-01  8.70476606e-03  8.26696593e-01  6.47750699e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.36327356
Centerline is valid?  [True, True]
Translation: X:98.28, Y:-17.81, Z:64.81
[[ 8.20032237e-01  1.18157588e-01 -5.59987424e-01  9.82789224e+01]
 [-1.05743623e-01  9.92890457e-01  5.46518735e-02 -1.78123777e+01]
 [ 5.62463703e-01  1.43988012e-02  8.26696593e-01  6.48087107e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.42327356
Centerline is valid?  [True, True]
Translation: X:98.33, Y:-17.81, Z:64.84
[[ 8.18619726e-01  1.27571682e-01 -5.59988581e-01  9.83282674e+01]
 [-1.17152719e-01  9.91609656e-01  5.46400157e-02 -1.78120261e+01]
 [ 5.62260603e-01  2.08747901e-02  8.26696594e-01  6.48421078e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.48327356
Centerline is valid?  [True, True]
Translation: X:98.38, Y:-17.81, Z:64.88
[[ 8.17321699e-01  1.35632946e-01 -5.59990129e-01  9.83775373e+01]
 [-1.26930144e-01  9.90406452e-01  5.46241477e-02 -1.78107587e+01]
 [ 5.62026671e-01  2.64341266e-02  8.26696594e-01  6.48753920e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.54327356
Centerline is valid?  [True, True]
Translation: X:98.43, Y:-17.82, Z:64.91
[[ 8.16508543e-01  1.40441650e-01 -5.59991020e-01  9.84273974e+01]
 [-1.32764088e-01  9.89641803e-01  5.46150118e-02 -1.78152770e+01]
 [ 5.61860745e-01  2.97530733e-02  8.26696594e-01  6.49094613e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.60327356
Centerline is valid?  [True, True]
Translation: X:98.48, Y:-17.82, Z:64.94
[[ 8.15501791e-01  1.46172662e-01 -5.59991413e-01  9.84758849e+01]
 [-1.39713989e-01  9.88684804e-01  5.46109826e-02 -1.78209924e+01]
 [ 5.61637633e-01  3.37032798e-02  8.26696594e-01  6.49426818e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.66327356
Centerline is valid?  [True, True]
Translation: X:98.52, Y:-17.83, Z:64.98
[[ 8.14927805e-01  1.49335621e-01 -5.59992451e-01  9.85246120e+01]
 [-1.43556215e-01  9.88134817e-01  5.46003349e-02 -1.78266147e+01]
 [ 5.61501813e-01  3.58950658e-02  8.26696594e-01  6.49760558e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.72327356
Centerline is valid?  [True, True]
Translation: X:98.57, Y:-17.84, Z:65.01
[[ 8.14673985e-01  1.50696718e-01 -5.59997141e-01  9.85725920e+01]
 [-1.45239596e-01  9.87891450e-01  5.45522038e-02 -1.78356712e+01]
 [ 5.61437225e-01  3.68914975e-02  8.26696595e-01  6.50091349e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.78327356
Centerline is valid?  [True, True]
Translation: X:98.62, Y:-17.85, Z:65.04
[[ 8.15034722e-01  1.48722301e-01 -5.60000070e-01  9.86215242e+01]
 [-1.42866076e-01  9.88239153e-01  5.45221143e-02 -1.78470850e+01]
 [ 5.61522649e-01  3.55675965e-02  8.26696595e-01  6.50430215e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.84327356
Centerline is valid?  [True, True]
Translation: X:98.67, Y:-17.85, Z:65.08
[[ 8.13416776e-01  1.57322207e-01 -5.60002564e-01  9.86714198e+01]
 [-1.53313198e-01  9.86673804e-01  5.44964885e-02 -1.78478934e+01]
 [ 5.61113368e-01  4.15274262e-02  8.26696595e-01  6.50768631e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.90327356
Centerline is valid?  [True, True]
Translation: X:98.72, Y:-17.86, Z:65.11
[[ 8.13245349e-01  1.58202172e-01 -5.60003639e-01  9.87194470e+01]
 [-1.54388180e-01  9.86506780e-01  5.44854423e-02 -1.78567829e+01]
 [ 5.61067102e-01  4.21479102e-02  8.26696595e-01  6.51099779e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.96327356
Centerline is valid?  [True, True]
Translation: X:98.77, Y:-17.87, Z:65.14
[[ 8.13072957e-01  1.59082306e-01 -5.60004630e-01  9.87662341e+01]
 [-1.55462825e-01  9.86338561e-01  5.44752543e-02 -1.78683513e+01]
 [ 5.61020210e-01  4.27675455e-02  8.26696595e-01  6.51424295e+01]
 [ 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 198.02327356
Centerline is valid?  [True, True]
Translation: X:98.81, Y:-17.88, Z:65.18
[[ 8.12991174e-01  1.59479818e-01 -5.60010302e-01  9.88138149e+01]
 [-1.55985009e-01  9.86259336e-01  5.44168976e-02 -1.78771469e+01]
 [ 5.60993785e-01  4.31127547e-02  8.26696597e-01  6.51752148e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.08327356
Centerline is valid?  [True, True]
Translation: X:98.86, Y:-17.89, Z:65.21
[[ 8.13478414e-01  1.56955661e-01 -5.60015884e-01  9.88614685e+01]
 [-1.52962443e-01  9.86735804e-01  5.43593963e-02 -1.78894775e+01]
 [ 5.61119739e-01  4.14412023e-02  8.26696598e-01  6.52082815e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.14327356
Centerline is valid?  [True, True]
Translation: X:98.91, Y:-17.90, Z:65.24
[[ 8.13152226e-01  1.58620408e-01 -5.60020556e-01  9.89096095e+01]
 [-1.55014810e-01  9.86418116e-01  5.43112311e-02 -1.79010029e+01]
 [ 5.61029291e-01  4.26481814e-02  8.26696599e-01  6.52416288e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.20327356
Centerline is valid?  [True, True]
Translation: X:98.96, Y:-17.92, Z:65.28
[[ 8.15504720e-01  1.46031105e-01 -5.60024078e-01  9.89575951e+01]
 [-1.39772318e-01  9.88695067e-01  5.42748965e-02 -1.79205421e+01]
 [ 5.61618866e-01  3.40144289e-02  8.26696600e-01  6.52754016e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.26327356
Centerline is valid?  [True, True]
Translation: X:99.01, Y:-17.93, Z:65.31
[[ 8.16152535e-01  1.42360833e-01 -5.60025386e-01  9.90059539e+01]
 [-1.35332193e-01  9.89313347e-01  5.42613957e-02 -1.79303278e+01]
 [ 5.61765286e-01  3.15038882e-02  8.26696600e-01  6.53087970e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.32327356
Centerline is valid?  [True, True]
Translation: X:99.06, Y:-17.94, Z:65.34
[[ 8.16715738e-01  1.39086040e-01 -5.60027211e-01  9.90552360e+01]
 [-1.31375779e-01  9.89847539e-01  5.42425559e-02 -1.79380661e+01]
 [ 5.61885938e-01  2.92732622e-02  8.26696600e-01  6.53426807e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.38327356
Centerline is valid?  [True, True]
Translation: X:99.10, Y:-17.95, Z:65.38
[[ 8.17695446e-01  1.33202031e-01 -5.60028014e-01  9.91038292e+01]
 [-1.24251082e-01  9.90767538e-01  5.42342593e-02 -1.79500120e+01]
 [ 5.62081690e-01  2.52369796e-02  8.26696600e-01  6.53763788e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.44327356
Centerline is valid?  [True, True]
Translation: X:99.15, Y:-17.96, Z:65.41
[[ 8.18491646e-01  1.28215691e-01 -5.60028716e-01  9.91523382e+01]
 [-1.18214981e-01  9.91506253e-01  5.42270134e-02 -1.79607495e+01]
 [ 5.62224727e-01  2.18194267e-02  8.26696600e-01  6.54099410e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.50327356
Centerline is valid?  [True, True]
Translation: X:99.20, Y:-17.96, Z:65.44
[[ 8.18369502e-01  1.28985118e-01 -5.60030533e-01  9.92007533e+01]
 [-1.19159895e-01  9.91394163e-01  5.42082397e-02 -1.79635391e+01]
 [ 5.62203058e-01  2.23708092e-02  8.26696600e-01  6.54429125e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.56327356
Centerline is valid?  [True, True]
Translation: X:99.25, Y:-17.97, Z:65.48
[[ 8.18531767e-01  1.27879445e-01 -5.60046956e-01  9.92485728e+01]
 [-1.17936710e-01  9.91549704e-01  5.40381159e-02 -1.79713883e+01]
 [ 5.62224758e-01  2.18181807e-02  8.26696612e-01  6.54757362e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.62327356
Centerline is valid?  [True, True]
Translation: X:99.30, Y:-17.98, Z:65.51
[[ 8.18314530e-01  1.29236615e-01 -5.60052878e-01  9.92973963e+01]
 [-1.19622779e-01  9.91351052e-01  5.39766819e-02 -1.79807128e+01]
 [ 5.62184774e-01  2.28251786e-02  8.26696614e-01  6.55093900e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.68327356
Centerline is valid?  [True, True]
Translation: X:99.35, Y:-17.99, Z:65.54
[[ 8.17882079e-01  1.31935680e-01 -5.60055248e-01  9.93455864e+01]
 [-1.22909582e-01  9.90950254e-01  5.39520900e-02 -1.79874363e+01]
 [ 5.62105096e-01  2.47097090e-02  8.26696614e-01  6.55424633e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.74327356
Centerline is valid?  [True, True]
Translation: X:99.40, Y:-17.99, Z:65.58
[[ 8.17487238e-01  1.34292428e-01 -5.60071567e-01  9.93952835e+01]
 [-1.25881295e-01  9.90586378e-01  5.37822301e-02 -1.79932694e+01]
 [ 5.62021811e-01  2.65362473e-02  8.26696626e-01  6.55764249e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.80327356
Centerline is valid?  [True, True]
Translation: X:99.44, Y:-18.01, Z:65.61
[[ 8.18323542e-01  1.29098493e-01 -5.60071567e-01  9.94435676e+01]
 [-1.19588312e-01  9.91365779e-01  5.37822301e-02 -1.80108901e+01]
 [ 5.62178990e-01  2.29667480e-02  8.26696626e-01  6.56102829e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.86327356
Centerline is valid?  [True, True]
Translation: X:99.49, Y:-18.02, Z:65.64
[[ 8.17649343e-01  1.33291595e-01 -5.60074015e-01  9.94914061e+01]
 [-1.24686000e-01  9.90738924e-01  5.37567249e-02 -1.80165480e+01]
 [ 5.62052447e-01  2.58792381e-02  8.26696626e-01  6.56430472e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.92327356
Centerline is valid?  [True, True]
Translation: X:99.54, Y:-18.02, Z:65.68
[[ 8.17604949e-01  1.33539540e-01 -5.60079761e-01  9.95397880e+01]
 [-1.25027391e-01  9.90699149e-01  5.36968079e-02 -1.80233134e+01]
 [ 5.62041189e-01  2.61225352e-02  8.26696628e-01  6.56762332e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.98327356
Centerline is valid?  [True, True]
Translation: X:99.59, Y:-18.03, Z:65.71
[[ 8.16969816e-01  1.37307456e-01 -5.60095512e-01  9.95892873e+01]
 [-1.29706026e-01  9.90106389e-01  5.35320870e-02 -1.80295132e+01]
 [ 5.61904500e-01  2.89136638e-02  8.26696639e-01  6.57100834e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.04327356
Centerline is valid?  [True, True]
Translation: X:99.64, Y:-18.04, Z:65.74
[[ 8.17137754e-01  1.36299868e-01 -5.60096632e-01  9.96378659e+01]
 [-1.28492948e-01  9.90265183e-01  5.35203632e-02 -1.80382256e+01]
 [ 5.61939013e-01  2.82349582e-02  8.26696639e-01  6.57435538e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.10327356
Centerline is valid?  [True, True]
Translation: X:99.69, Y:-18.04, Z:65.78
[[ 8.18785963e-01  1.25954793e-01 -5.60111540e-01  9.96876278e+01]
 [-1.16065825e-01  9.91806943e-01  5.33639590e-02 -1.80442678e+01]
 [ 5.62243961e-01  2.13161478e-02  8.26696649e-01  6.57775748e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.16327356
Centerline is valid?  [True, True]
Translation: X:99.74, Y:-18.06, Z:65.81
[[ 8.18537264e-01  1.27556913e-01 -5.60112473e-01  9.97359757e+01]
 [-1.18013252e-01  9.91577634e-01  5.33541723e-02 -1.80564576e+01]
 [ 5.62200694e-01  2.24283161e-02  8.26696649e-01  6.58111135e+01]
 [ 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 199.22327356
Centerline is valid?  [True, True]
Translation: X:99.78, Y:-18.06, Z:65.84
[[ 8.19376775e-01  1.22037420e-01 -5.60114782e-01  9.97838543e+01]
 [-1.11344314e-01  9.92349920e-01  5.33299245e-02 -1.80640466e+01]
 [ 5.62338105e-01  1.86682946e-02  8.26696650e-01  6.58440291e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.28327356
Centerline is valid?  [True, True]
Translation: X:99.83, Y:-18.07, Z:65.88
[[ 8.20450864e-01  1.14515881e-01 -5.60130781e-01  9.98330249e+01]
 [-1.02351450e-01  9.93326755e-01  5.31614298e-02 -1.80682090e+01]
 [ 5.62480720e-01  1.37138566e-02  8.26696662e-01  6.58775193e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.34327356
Centerline is valid?  [True, True]
Translation: X:99.88, Y:-18.07, Z:65.91
[[ 8.20942201e-01  1.10928890e-01 -5.60132738e-01  9.98817339e+01]
 [-9.80230647e-02  9.93764325e-01  5.31408024e-02 -1.80748129e+01]
 [ 5.62534783e-01  1.12804004e-02  8.26696662e-01  6.59109355e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.40327356
Centerline is valid?  [True, True]
Translation: X:99.93, Y:-18.08, Z:65.94
[[ 8.21126571e-01  1.09479129e-01 -5.60147726e-01  9.99303240e+01]
 [-9.63761647e-02  9.93933850e-01  5.29824210e-02 -1.80812750e+01]
 [ 5.62550255e-01  1.04796159e-02  8.26696672e-01  6.59441852e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.46327356
Centerline is valid?  [True, True]
Translation: X:99.98, Y:-18.09, Z:65.98
[[ 8.21499195e-01  1.06629171e-01 -5.60151134e-01  9.99785082e+01]
 [-9.29512221e-02  9.94261913e-01  5.29463700e-02 -1.80860760e+01]
 [ 5.62582566e-01  8.57133222e-03  8.26696673e-01  6.59771211e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.52327356
Centerline is valid?  [True, True]
Translation: X:100.03, Y:-18.09, Z:66.01
[[ 8.21728763e-01  1.04761001e-01 -5.60166915e-01  1.00026996e+02]
 [-9.08043641e-02  9.94469179e-01  5.27789627e-02 -1.80903132e+01]
 [ 5.62597910e-01  7.49560880e-03  8.26696684e-01  6.60101538e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.58327356
Centerline is valid?  [True, True]
Translation: X:100.07, Y:-18.09, Z:66.04
[[ 8.21515686e-01  1.06395418e-01 -5.60171396e-01  1.00074985e+02]
 [-9.28148769e-02  9.94286076e-01  5.27313711e-02 -1.80940548e+01]
 [ 5.62580996e-01  8.67259071e-03  8.26696685e-01  6.60428833e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.64327356
Centerline is valid?  [True, True]
Translation: X:100.12, Y:-18.10, Z:66.08
[[ 8.21254607e-01  1.08363654e-01 -5.60176927e-01  1.00124660e+02]
 [-9.52372497e-02  9.94060092e-01  5.26725622e-02 -1.80956305e+01]
 [ 5.62557319e-01  1.00921255e-02  8.26696687e-01  6.60766114e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.70327356
Centerline is valid?  [True, True]
Translation: X:100.18, Y:-18.08, Z:66.11
[[ 8.20131964e-01  1.16551096e-01 -5.60178011e-01  1.00175498e+02]
 [-1.05157123e-01  9.93060318e-01  5.26610290e-02 -1.80842208e+01]
 [ 5.62428254e-01  1.57177148e-02  8.26696687e-01  6.61103266e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.76327356
Centerline is valid?  [True, True]
Translation: X:100.22, Y:-18.10, Z:66.14
[[ 8.19746514e-01  1.19221751e-01 -5.60180174e-01  1.00221966e+02]
 [-1.08406799e-01  9.92712045e-01  5.26380151e-02 -1.80971370e+01]
 [ 5.62373202e-01  1.75775103e-02  8.26696687e-01  6.61426237e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.82327356
Centerline is valid?  [True, True]
Translation: X:100.27, Y:-18.10, Z:66.18
[[ 8.19100746e-01  1.23538032e-01 -5.60189541e-01  1.00271773e+02]
 [-1.13702505e-01  9.92124731e-01  5.25381642e-02 -1.80997529e+01]
 [ 5.62268359e-01  2.06609044e-02  8.26696691e-01  6.61764862e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.88327356
Centerline is valid?  [True, True]
Translation: X:100.32, Y:-18.10, Z:66.21
[[ 8.18723606e-01  1.26007679e-01 -5.60190790e-01  1.00320667e+02]
 [-1.16703093e-01  9.91776955e-01  5.25248465e-02 -1.81011749e+01]
 [ 5.62202850e-01  2.23726661e-02  8.26696691e-01  6.62097014e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.94327356
Centerline is valid?  [True, True]
Translation: X:100.37, Y:-18.11, Z:66.24
[[ 8.18463518e-01  1.27618520e-01 -5.60206196e-01  1.00369671e+02]
 [-1.18767051e-01  9.91540624e-01  5.23600930e-02 -1.81057868e+01]
 [ 5.62149319e-01  2.36792121e-02  8.26696703e-01  6.62431121e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.00327356
Centerline is valid?  [True, True]
Translation: X:100.42, Y:-18.11, Z:66.28
[[ 8.18825462e-01  1.25270387e-01 -5.60207276e-01  1.00419488e+02]
 [-1.15930411e-01  9.91876893e-01  5.23485349e-02 -1.81072172e+01]
 [ 5.62214374e-01  2.20807462e-02  8.26696703e-01  6.62769547e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.06327356
Centerline is valid?  [True, True]
Translation: X:100.47, Y:-18.11, Z:66.31
[[ 8.19119265e-01  1.23330236e-01 -5.60208249e-01  1.00467333e+02]
 [-1.13587437e-01  9.92148484e-01  5.23381245e-02 -1.81131353e+01]
 [ 5.62264639e-01  2.07614532e-02  8.26696703e-01  6.63097459e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.12327356
Centerline is valid?  [True, True]
Translation: X:100.52, Y:-18.12, Z:66.34
[[ 8.20303765e-01  1.15169451e-01 -5.60212219e-01  1.00516523e+02]
 [-1.03733574e-01  9.93229337e-01  5.22956027e-02 -1.81192393e+01]
 [ 5.62442067e-01  1.52145361e-02  8.26696704e-01  6.63434428e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.18327356
Centerline is valid?  [True, True]
Translation: X:100.56, Y:-18.13, Z:66.38
[[ 8.20993063e-01  1.10143324e-01 -5.60213209e-01  1.00564817e+02]
 [-9.76558091e-02  9.93845874e-01  5.22849971e-02 -1.81254163e+01]
 [ 5.62524430e-01  1.17824543e-02  8.26696704e-01  6.63765544e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.24327356
Centerline is valid?  [True, True]
Translation: X:100.61, Y:-18.12, Z:66.41
[[ 8.22075235e-01  1.01665381e-01 -5.60228933e-01  1.00613396e+02]
 [-8.75099268e-02  9.94799442e-01  5.21160523e-02 -1.81215286e+01]
 [ 5.62613829e-01  6.18227698e-03  8.26696715e-01  6.64091386e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.30327356
Centerline is valid?  [True, True]
Translation: X:100.66, Y:-18.12, Z:66.44
[[ 8.22555302e-01  9.76586702e-02 -5.60237056e-01  1.00662089e+02]
 [-8.27213515e-02  9.95213646e-01  5.20286094e-02 -1.81246837e+01]
 [ 5.62636608e-01  3.54715793e-03  8.26696719e-01  6.64422897e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.36327356
Centerline is valid?  [True, True]
Translation: X:100.71, Y:-18.13, Z:66.48
[[ 8.22389727e-01  9.90180391e-02 -5.60241523e-01  1.00710915e+02]
 [-8.43988986e-02  9.95075302e-01  5.19804705e-02 -1.81283684e+01]
 [ 5.62629507e-01  4.53556256e-03  8.26696720e-01  6.64755845e+01]
 [ 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 200.42327356
Centerline is valid?  [True, True]
Translation: X:100.76, Y:-18.13, Z:66.51
[[ 8.22112380e-01  1.01209458e-01 -5.60256978e-01  1.00760490e+02]
 [-8.71644043e-02  9.94845583e-01  5.18134494e-02 -1.81302652e+01]
 [ 5.62613190e-01  6.23798753e-03  8.26696731e-01  6.65092128e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.48327356
Centerline is valid?  [True, True]
Translation: X:100.81, Y:-18.15, Z:66.54
[[ 8.21032991e-01  1.09616190e-01 -5.60258082e-01  1.00807957e+02]
 [-9.73474574e-02  9.93901442e-01  5.18015109e-02 -1.81452243e+01]
 [ 5.62519599e-01  1.20089503e-02  8.26696731e-01  6.65423128e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.54327356
Centerline is valid?  [True, True]
Translation: X:100.86, Y:-18.15, Z:66.58
[[ 8.20222871e-01  1.15446964e-01 -5.60273541e-01  1.00857677e+02]
 [-1.04521223e-01  9.93181383e-01  5.16338457e-02 -1.81456420e+01]
 [ 5.62414221e-01  1.62092147e-02  8.26696743e-01  6.65759457e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.60327356
Centerline is valid?  [True, True]
Translation: X:100.91, Y:-18.15, Z:66.61
[[ 8.19690574e-01  1.19162483e-01 -5.60274633e-01  1.00906774e+02]
 [-1.09028680e-01  9.92697294e-01  5.16219928e-02 -1.81462588e+01]
 [ 5.62334517e-01  1.87719425e-02  8.26696743e-01  6.66092522e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.66327356
Centerline is valid?  [True, True]
Translation: X:100.96, Y:-18.15, Z:66.64
[[ 8.18476757e-01  1.27224237e-01 -5.60276531e-01  1.00956582e+02]
 [-1.18807764e-01  9.91575520e-01  5.16013854e-02 -1.81501448e+01]
 [ 5.62121440e-01  2.43306674e-02  8.26696743e-01  6.66432405e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.72327356
Centerline is valid?  [True, True]
Translation: X:101.01, Y:-18.15, Z:66.68
[[ 8.17731808e-01  1.31923129e-01 -5.60277590e-01  1.01005245e+02]
 [-1.24508857e-01  9.90876394e-01  5.15898950e-02 -1.81527996e+01]
 [ 5.61971738e-01  2.75728241e-02  8.26696743e-01  6.66763805e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.78327356
Centerline is valid?  [True, True]
Translation: X:101.05, Y:-18.16, Z:66.71
[[ 8.17453195e-01  1.33635901e-01 -5.60278252e-01  1.01054179e+02]
 [-1.26589281e-01  9.90613133e-01  5.15827014e-02 -1.81563354e+01]
 [ 5.61912295e-01  2.87587771e-02  8.26696743e-01  6.67097614e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.84327356
Centerline is valid?  [True, True]
Translation: X:101.10, Y:-18.16, Z:66.74
[[ 8.17440072e-01  1.33659966e-01 -5.60291658e-01  1.01103375e+02]
 [-1.26718220e-01  9.90604237e-01  5.14367417e-02 -1.81591929e+01]
 [ 5.61902323e-01  2.89527077e-02  8.26696752e-01  6.67432050e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.90327356
Centerline is valid?  [True, True]
Translation: X:101.15, Y:-18.16, Z:66.78
[[ 8.17544520e-01  1.33010189e-01 -5.60293894e-01  1.01152419e+02]
 [-1.25947463e-01  9.90703792e-01  5.14123760e-02 -1.81630055e+01]
 [ 5.61923655e-01  2.85356881e-02  8.26696752e-01  6.67766696e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.96327356
Centerline is valid?  [True, True]
Translation: X:101.20, Y:-18.17, Z:66.81
[[ 8.18101019e-01  1.29480101e-01 -5.60308510e-01  1.01201356e+02]
 [-1.21779157e-01  9.91233071e-01  5.12526667e-02 -1.81671036e+01]
 [ 5.62032525e-01  2.63040392e-02  8.26696763e-01  6.68100085e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.02327356
Centerline is valid?  [True, True]
Translation: X:101.25, Y:-18.17, Z:66.84
[[ 8.18934715e-01  1.24088017e-01 -5.60310715e-01  1.01250867e+02]
 [-1.15263198e-01  9.92013120e-01  5.12285524e-02 -1.81744910e+01]
 [ 5.62192430e-01  2.26303651e-02  8.26696763e-01  6.68440105e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.08327356
Centerline is valid?  [True, True]
Translation: X:101.30, Y:-18.18, Z:66.88
[[ 8.20315735e-01  1.14598009e-01 -5.60311870e-01  1.01299806e+02]
 [-1.03778489e-01  9.93280904e-01  5.12159178e-02 -1.81824125e+01]
 [ 5.62416323e-01  1.61350961e-02  8.26696763e-01  6.68776643e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.14327356
Centerline is valid?  [True, True]
Translation: X:101.35, Y:-18.19, Z:66.91
[[ 8.21345403e-01  1.06963543e-01 -5.60312886e-01  1.01349371e+02]
 [-9.45433760e-02  9.94203007e-01  5.12047998e-02 -1.81884932e+01]
 [ 5.62541802e-01  1.09170449e-02  8.26696763e-01  6.69116291e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.20327355999999
Centerline is valid?  [True, True]
Translation: X:101.40, Y:-18.18, Z:66.95
[[ 8.22432611e-01  9.82488403e-02 -5.60313989e-01  1.01399984e+02]
 [-8.40047956e-02  9.95149486e-01  5.11927243e-02 -1.81776229e+01]
 [ 5.62625804e-01  4.96649618e-03  8.26696764e-01  6.69452539e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.26327356
Centerline is valid?  [True, True]
Translation: X:101.45, Y:-18.18, Z:66.98
[[ 8.22476569e-01  9.78675231e-02 -5.60316197e-01  1.01449610e+02]
 [-8.35598743e-02  9.95188187e-01  5.11685441e-02 -1.81816224e+01]
 [ 5.62627799e-01  4.73502240e-03  8.26696764e-01  6.69791247e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.32327356
Centerline is valid?  [True, True]
Translation: X:101.50, Y:-18.18, Z:67.01
[[ 8.21668110e-01  1.04431038e-01 -5.60317477e-01  1.01499348e+02]
 [-9.15123244e-02  9.94489170e-01  5.11545301e-02 -1.81828469e+01]
 [ 5.62571783e-01  9.24390859e-03  8.26696764e-01  6.70129042e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.38327356
Centerline is valid?  [True, True]
Translation: X:101.55, Y:-18.20, Z:67.05
[[ 8.20491240e-01  1.13290982e-01 -5.60320693e-01  1.01548003e+02]
 [-1.02261860e-01  9.93443169e-01  5.11192830e-02 -1.81995327e+01]
 [ 5.62438119e-01  1.53565122e-02  8.26696764e-01  6.70468959e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.44327356
Centerline is valid?  [True, True]
Translation: X:101.60, Y:-18.19, Z:67.08
[[ 8.19570671e-01  1.19769013e-01 -5.60320710e-01  1.01599010e+02]
 [-1.10106620e-01  9.92604338e-01  5.11190911e-02 -1.81856363e+01]
 [ 5.62299250e-01  1.97993116e-02  8.26696764e-01  6.70806083e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.50327356
Centerline is valid?  [True, True]
Translation: X:101.65, Y:-18.20, Z:67.11
[[ 8.18260010e-01  1.28412579e-01 -5.60322019e-01  1.01647300e+02]
 [-1.20586832e-01  9.91386464e-01  5.11047388e-02 -1.81998684e+01]
 [ 5.62058157e-01  2.57504931e-02  8.26696764e-01  6.71142111e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.56327356
Centerline is valid?  [True, True]
Translation: X:101.70, Y:-18.20, Z:67.15
[[ 8.17614905e-01  1.32454118e-01 -5.60322919e-01  1.01697429e+02]
 [-1.25490645e-01  9.90778185e-01  5.10948748e-02 -1.82010777e+01]
 [ 5.61923451e-01  2.85393530e-02  8.26696764e-01  6.71482571e+01]
 [ 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 201.62327356
Centerline is valid?  [True, True]
Translation: X:101.75, Y:-18.20, Z:67.18
[[ 8.17485981e-01  1.33247585e-01 -5.60322900e-01  1.01745585e+02]
 [-1.26452039e-01  9.90655932e-01  5.10950770e-02 -1.82043670e+01]
 [ 5.61895501e-01  2.90844640e-02  8.26696764e-01  6.71811001e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.68327356
Centerline is valid?  [True, True]
Translation: X:101.79, Y:-18.21, Z:67.21
[[ 8.17226051e-01  1.34809292e-01 -5.60328507e-01  1.01793991e+02]
 [-1.28386708e-01  9.90410234e-01  5.10335274e-02 -1.82082910e+01]
 [ 5.61834882e-01  3.02328045e-02  8.26696766e-01  6.72141207e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.74327356
Centerline is valid?  [True, True]
Translation: X:101.84, Y:-18.21, Z:67.25
[[ 8.17100824e-01  1.35502011e-01 -5.60344044e-01  1.01842675e+02]
 [-1.29343198e-01  9.90294576e-01  5.08624533e-02 -1.82148003e+01]
 [ 5.61797632e-01  3.09169383e-02  8.26696778e-01  6.72474337e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.80327356
Centerline is valid?  [True, True]
Translation: X:101.89, Y:-18.22, Z:67.28
[[ 8.16848979e-01  1.37008594e-01 -5.60344886e-01  1.01891237e+02]
 [-1.31175518e-01  9.90054007e-01  5.08531798e-02 -1.82188905e+01]
 [ 5.61739022e-01  3.19641626e-02  8.26696778e-01  6.72805966e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.86327356
Centerline is valid?  [True, True]
Translation: X:101.94, Y:-18.23, Z:67.31
[[ 8.16901288e-01  1.36678413e-01 -5.60349264e-01  1.01939282e+02]
 [-1.30808342e-01  9.90105065e-01  5.08048966e-02 -1.82251976e+01]
 [ 5.61748577e-01  3.17957727e-02  8.26696779e-01  6.73135254e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.92327356
Centerline is valid?  [True, True]
Translation: X:101.99, Y:-18.23, Z:67.35
[[ 8.17441819e-01  1.33344869e-01 -5.60364184e-01  1.01988198e+02]
 [-1.26881095e-01  9.90624445e-01  5.06398778e-02 -1.82318897e+01]
 [ 5.61863027e-01  2.97044678e-02  8.26696791e-01  6.73470082e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.98327356
Centerline is valid?  [True, True]
Translation: X:102.04, Y:-18.23, Z:67.38
[[ 8.17881495e-01  1.30611866e-01 -5.60366310e-01  1.02038298e+02]
 [-1.23585354e-01  9.91042202e-01  5.06163490e-02 -1.82300577e+01]
 [ 5.61957757e-01  2.78548938e-02  8.26696791e-01  6.73808437e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.04327356
Centerline is valid?  [True, True]
Translation: X:102.09, Y:-18.25, Z:67.41
[[ 8.19060128e-01  1.22999526e-01 -5.60367401e-01  1.02086414e+02]
 [-1.14371093e-01  9.92148407e-01  5.06042661e-02 -1.82507514e+01]
 [ 5.62191925e-01  2.26418958e-02  8.26696791e-01  6.74147197e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.10327356
Centerline is valid?  [True, True]
Translation: X:102.14, Y:-18.26, Z:67.45
[[ 8.19799786e-01  1.17964731e-01 -5.60368301e-01  1.02135016e+02]
 [-1.08279779e-01  9.92832164e-01  5.05942952e-02 -1.82619796e+01]
 [ 5.62320016e-01  1.91993634e-02  8.26696791e-01  6.74483458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.16327356
Centerline is valid?  [True, True]
Translation: X:102.18, Y:-18.27, Z:67.48
[[ 8.20119304e-01  1.15717114e-01 -5.60369411e-01  1.02182407e+02]
 [-1.05566288e-01  9.93124977e-01  5.05820010e-02 -1.82659952e+01]
 [ 5.62370062e-01  1.76728431e-02  8.26696791e-01  6.74807088e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.22327356
Centerline is valid?  [True, True]
Translation: X:102.23, Y:-18.26, Z:67.51
[[ 8.20111966e-01  1.15742806e-01 -5.60374844e-01  1.02231335e+02]
 [-1.05638522e-01  9.93120363e-01  5.05217579e-02 -1.82623932e+01]
 [ 5.62367198e-01  1.77636718e-02  8.26696793e-01  6.75136221e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.28327356
Centerline is valid?  [True, True]
Translation: X:102.28, Y:-18.28, Z:67.55
[[ 8.19908458e-01  1.17155082e-01 -5.60379164e-01  1.02279915e+02]
 [-1.07381517e-01  9.92935851e-01  5.04738024e-02 -1.82787599e+01]
 [ 5.62333824e-01  1.87904671e-02  8.26696793e-01  6.75475265e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.34327356
Centerline is valid?  [True, True]
Translation: X:102.33, Y:-18.28, Z:67.58
[[ 8.19499388e-01  1.19981032e-01 -5.60379608e-01  1.02327943e+02]
 [-1.10807411e-01  9.92559626e-01  5.04688647e-02 -1.82844417e+01]
 [ 5.62265481e-01  2.07350101e-02  8.26696793e-01  6.75804265e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.40327356
Centerline is valid?  [True, True]
Translation: X:102.38, Y:-18.29, Z:67.61
[[ 8.18979500e-01  1.23401024e-01 -5.60396972e-01  1.02376234e+02]
 [-1.15082055e-01  9.92082910e-01  5.02754387e-02 -1.82900708e+01]
 [ 5.62164299e-01  2.33170813e-02  8.26696809e-01  6.76134007e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.46327356
Centerline is valid?  [True, True]
Translation: X:102.43, Y:-18.28, Z:67.65
[[ 8.18320784e-01  1.27691138e-01 -5.60398134e-01  1.02426514e+02]
 [-1.20288270e-01  9.91465791e-01  5.02624869e-02 -1.82831593e+01]
 [ 5.62033653e-01  2.62784844e-02  8.26696809e-01  6.76470571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.52327356
Centerline is valid?  [True, True]
Translation: X:102.48, Y:-18.29, Z:67.68
[[ 8.17740410e-01  1.31352546e-01 -5.60399081e-01  1.02476248e+02]
 [-1.24731948e-01  9.90917093e-01  5.02519179e-02 -1.82871431e+01]
 [ 5.61909746e-01  2.88066450e-02  8.26696809e-01  6.76810073e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.58327356
Centerline is valid?  [True, True]
Translation: X:102.53, Y:-18.29, Z:67.71
[[ 8.17336957e-01  1.33837932e-01 -5.60399595e-01  1.02525735e+02]
 [-1.27747752e-01  9.90533105e-01  5.02461889e-02 -1.82903439e+01]
 [ 5.61819197e-01  3.05217211e-02  8.26696809e-01  6.77147447e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.64327356
Centerline is valid?  [True, True]
Translation: X:102.57, Y:-18.30, Z:67.75
[[ 8.17059128e-01  1.35518724e-01 -5.60400799e-01  1.02573745e+02]
 [-1.29793967e-01  9.90267740e-01  5.02327536e-02 -1.82958100e+01]
 [ 5.61754312e-01  3.16935131e-02  8.26696809e-01  6.77476151e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.70327355999999
Centerline is valid?  [True, True]
Translation: X:102.62, Y:-18.30, Z:67.78
[[ 8.16945588e-01  1.36188184e-01 -5.60404038e-01  1.02622574e+02]
 [-1.30630071e-01  9.90159626e-01  5.01966071e-02 -1.82995992e+01]
 [ 5.61725637e-01  3.21977223e-02  8.26696810e-01  6.77809264e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.76327356
Centerline is valid?  [True, True]
Translation: X:102.67, Y:-18.30, Z:67.81
[[ 8.17030566e-01  1.35647060e-01 -5.60411392e-01  1.02671323e+02]
 [-1.30030438e-01  9.90242715e-01  5.01143817e-02 -1.83026736e+01]
 [ 5.61741167e-01  3.19255569e-02  8.26696813e-01  6.78141164e+01]
 [ 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 202.82327356
Centerline is valid?  [True, True]
Translation: X:102.72, Y:-18.31, Z:67.85
[[ 8.15757198e-01  1.43092912e-01 -5.60414679e-01  1.02721210e+02]
 [-1.39081413e-01  9.89013951e-01  5.00776006e-02 -1.83080519e+01]
 [ 5.61423686e-01  3.70921023e-02  8.26696813e-01  6.78482413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.88327356
Centerline is valid?  [True, True]
Translation: X:102.77, Y:-18.31, Z:67.88
[[ 8.15693570e-01  1.43455636e-01 -5.60414562e-01  1.02769048e+02]
 [-1.39520276e-01  9.88952069e-01  5.00789197e-02 -1.83123595e+01]
 [ 5.61407243e-01  3.73401416e-02  8.26696813e-01  6.78809321e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.94327356
Centerline is valid?  [True, True]
Translation: X:102.82, Y:-18.32, Z:67.91
[[ 8.16058969e-01  1.41340836e-01 -5.60419957e-01  1.02817383e+02]
 [-1.36997728e-01  9.89307725e-01  5.00184823e-02 -1.83183175e+01]
 [ 5.61497446e-01  3.59582298e-02  8.26696815e-01  6.79140270e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.00327356
Centerline is valid?  [True, True]
Translation: X:102.87, Y:-18.32, Z:67.95
[[ 8.16071849e-01  1.41206222e-01 -5.60435135e-01  1.02866380e+02]
 [-1.36951177e-01  9.89322778e-01  4.98479294e-02 -1.83247898e+01]
 [ 5.61490082e-01  3.60727596e-02  8.26696827e-01  6.79475434e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.06327356
Centerline is valid?  [True, True]
Translation: X:102.92, Y:-18.33, Z:67.98
[[ 8.15490333e-01  1.44518264e-01 -5.60437319e-01  1.02915877e+02]
 [-1.40983446e-01  9.88757453e-01  4.98233654e-02 -1.83296795e+01]
 [ 5.61336962e-01  3.83819116e-02  8.26696827e-01  6.79813805e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.12327356
Centerline is valid?  [True, True]
Translation: X:102.96, Y:-18.34, Z:68.01
[[ 8.17157303e-01  1.34772027e-01 -5.60437725e-01  1.02964240e+02]
 [-1.29171989e-01  9.90369974e-01  4.98187992e-02 -1.83360301e+01]
 [ 5.61754875e-01  3.16830601e-02  8.26696827e-01  6.80145475e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.18327356
Centerline is valid?  [True, True]
Translation: X:103.01, Y:-18.34, Z:68.05
[[ 8.17684334e-01  1.31526505e-01 -5.60440102e-01  1.03012836e+02]
 [-1.25257070e-01  9.90874068e-01  4.97920472e-02 -1.83429087e+01]
 [ 5.61874537e-01  2.94849078e-02  8.26696827e-01  6.80478918e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.24327356
Centerline is valid?  [True, True]
Translation: X:103.06, Y:-18.35, Z:68.08
[[ 8.18020208e-01  1.29412212e-01 -5.60442164e-01  1.03061711e+02]
 [-1.22710943e-01  9.91193770e-01  4.97688232e-02 -1.83501253e+01]
 [ 5.61947475e-01  2.80604833e-02  8.26696828e-01  6.80814482e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.30327356
Centerline is valid?  [True, True]
Translation: X:103.11, Y:-18.36, Z:68.12
[[ 8.18583154e-01  1.25796537e-01 -5.60443442e-01  1.03110562e+02]
 [-1.18340003e-01  9.91725839e-01  4.97544291e-02 -1.83580936e+01]
 [ 5.62065178e-01  2.55947411e-02  8.26696828e-01  6.81150374e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.36327356
Centerline is valid?  [True, True]
Translation: X:103.16, Y:-18.36, Z:68.15
[[ 8.18717526e-01  1.24909315e-01 -5.60445604e-01  1.03158982e+02]
 [-1.17281783e-01  9.91852763e-01  4.97300670e-02 -1.83645413e+01]
 [ 5.62091270e-01  2.50151825e-02  8.26696828e-01  6.81482376e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.42327356
Centerline is valid?  [True, True]
Translation: X:103.21, Y:-18.37, Z:68.18
[[ 8.18671184e-01  1.25193460e-01 -5.60449900e-01  1.03208148e+02]
 [-1.17659121e-01  9.91810500e-01  4.96816156e-02 -1.83706512e+01]
 [ 5.62079909e-01  2.52691353e-02  8.26696829e-01  6.81819098e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.48327356
Centerline is valid?  [True, True]
Translation: X:103.26, Y:-18.38, Z:68.21
[[ 8.18843016e-01  1.24054890e-01 -5.60452049e-01  1.03256060e+02]
 [-1.16296357e-01  9.91972431e-01  4.96573634e-02 -1.83755299e+01]
 [ 5.62113220e-01  2.45169460e-02  8.26696829e-01  6.82146712e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.54327356
Centerline is valid?  [True, True]
Translation: X:103.31, Y:-18.38, Z:68.25
[[ 8.19017995e-01  1.22870194e-01 -5.60457348e-01  1.03305256e+02]
 [-1.14902110e-01  9.92137891e-01  4.95974929e-02 -1.83811102e+01]
 [ 5.62145025e-01  2.37764924e-02  8.26696831e-01  6.82483258e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.60327356
Centerline is valid?  [True, True]
Translation: X:103.35, Y:-18.39, Z:68.28
[[ 8.19580979e-01  1.19051968e-01 -5.60458427e-01  1.03354350e+02]
 [-1.10285503e-01  9.92662282e-01  4.95852969e-02 -1.83865327e+01]
 [ 5.62249168e-01  2.11712733e-02  8.26696831e-01  6.82819274e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.66327356
Centerline is valid?  [True, True]
Translation: X:103.40, Y:-18.39, Z:68.31
[[ 8.19956142e-01  1.16429548e-01 -5.60460601e-01  1.03402641e+02]
 [-1.07126227e-01  9.93009419e-01  4.95607189e-02 -1.83920838e+01]
 [ 5.62312988e-01  1.94024134e-02  8.26696831e-01  6.83149857e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.72327356
Centerline is valid?  [True, True]
Translation: X:103.45, Y:-18.40, Z:68.35
[[ 8.20729525e-01  1.10835957e-01 -5.60462699e-01  1.03450843e+02]
 [-1.00369086e-01  9.93716325e-01  4.95369762e-02 -1.83977418e+01]
 [ 5.62431412e-01  1.55966701e-02  8.26696831e-01  6.83479900e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.78327356
Centerline is valid?  [True, True]
Translation: X:103.50, Y:-18.40, Z:68.38
[[ 8.21209323e-01  1.07146062e-01 -5.60477448e-01  1.03500490e+02]
 [-9.60159575e-02  9.94154704e-01  4.93696270e-02 -1.84009806e+01]
 [ 5.62491053e-01  1.32719809e-02  8.26696843e-01  6.83817498e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.84327356
Centerline is valid?  [True, True]
Translation: X:103.55, Y:-18.40, Z:68.42
[[ 8.21475173e-01  1.05074483e-01 -5.60480056e-01  1.03549333e+02]
 [-9.35284116e-02  9.94393282e-01  4.93400109e-02 -1.84035571e+01]
 [ 5.62521978e-01  1.18892154e-02  8.26696843e-01  6.84150021e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.90327356
Centerline is valid?  [True, True]
Translation: X:103.60, Y:-18.40, Z:68.45
[[ 8.21435909e-01  1.05369698e-01 -5.60482179e-01  1.03598366e+02]
 [-9.39022304e-02  9.94359249e-01  4.93158767e-02 -1.84043251e+01]
 [ 5.62517038e-01  1.21206947e-02  8.26696844e-01  6.84482779e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.96327356
Centerline is valid?  [True, True]
Translation: X:103.65, Y:-18.41, Z:68.48
[[ 8.20776666e-01  1.10371394e-01 -5.60485343e-01  1.03646110e+02]
 [-9.99820214e-02  9.93768125e-01  4.92799016e-02 -1.84051784e+01]
 [ 5.62431560e-01  1.55906642e-02  8.26696844e-01  6.84806784e+01]
 [ 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 204.02327356
Centerline is valid?  [True, True]
Translation: X:103.69, Y:-18.40, Z:68.51
[[ 8.20435514e-01  1.12853618e-01 -5.60490525e-01  1.03694373e+02]
 [-1.03027834e-01  9.93459898e-01  4.92209033e-02 -1.84040661e+01]
 [ 5.62379616e-01  1.73635477e-02  8.26696845e-01  6.85133020e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.08327356
Centerline is valid?  [True, True]
Translation: X:103.75, Y:-18.39, Z:68.55
[[ 8.18685781e-01  1.24897631e-01 -5.60494580e-01  1.03745208e+02]
 [-1.17647054e-01  9.91837195e-01  4.91746873e-02 -1.83946349e+01]
 [ 5.62061174e-01  2.56819191e-02  8.26696846e-01  6.85471821e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.14327356
Centerline is valid?  [True, True]
Translation: X:103.80, Y:-18.39, Z:68.58
[[ 8.17889923e-01  1.30005604e-01 -5.60494975e-01  1.03795621e+02]
 [-1.23839089e-01  9.91083333e-01  4.91701887e-02 -1.83944559e+01]
 [ 5.61889628e-01  2.91953853e-02  8.26696846e-01  6.85813483e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.20327355999999
Centerline is valid?  [True, True]
Translation: X:103.84, Y:-18.39, Z:68.61
[[ 8.17265770e-01  1.33871607e-01 -5.60495364e-01  1.03844510e+02]
 [-1.28527156e-01  9.90486496e-01  4.91657477e-02 -1.83946668e+01]
 [ 5.61744987e-01  3.18573924e-02  8.26696846e-01  6.86145052e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.26327356
Centerline is valid?  [True, True]
Translation: X:103.89, Y:-18.40, Z:68.65
[[ 8.16912603e-01  1.36001453e-01 -5.60497461e-01  1.03894188e+02]
 [-1.31124892e-01  9.90147132e-01  4.91418309e-02 -1.83953455e+01]
 [ 5.61658314e-01  3.33505883e-02  8.26696847e-01  6.86482150e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.32327356
Centerline is valid?  [True, True]
Translation: X:103.94, Y:-18.40, Z:68.68
[[ 8.16590653e-01  1.37917051e-01 -5.60498521e-01  1.03943169e+02]
 [-1.33455072e-01  9.89836356e-01  4.91297408e-02 -1.83966835e+01]
 [ 5.61577643e-01  3.46824833e-02  8.26696847e-01  6.86814974e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.38327356
Centerline is valid?  [True, True]
Translation: X:103.99, Y:-18.40, Z:68.71
[[ 8.16710046e-01  1.37195609e-01 -5.60501619e-01  1.03991030e+02]
 [-1.32604763e-01  9.89952382e-01  4.90943764e-02 -1.83992635e+01]
 [ 5.61605446e-01  3.42293139e-02  8.26696847e-01  6.87140826e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.44327356
Centerline is valid?  [True, True]
Translation: X:104.04, Y:-18.41, Z:68.75
[[ 8.18331874e-01  1.27142050e-01 -5.60506774e-01  1.04040368e+02]
 [-1.20461425e-01  9.91506212e-01  4.90354618e-02 -1.84091742e+01]
 [ 5.61980418e-01  2.73921634e-02  8.26696849e-01  6.87480924e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.50327356
Centerline is valid?  [True, True]
Translation: X:104.09, Y:-18.43, Z:68.78
[[ 8.18906511e-01  1.23381659e-01 -5.60507887e-01  1.04089001e+02]
 [-1.15914314e-01  9.92048710e-01  4.90227342e-02 -1.84280334e+01]
 [ 5.62099633e-01  2.48258509e-02  8.26696849e-01  6.87821785e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.56327356
Centerline is valid?  [True, True]
Translation: X:104.14, Y:-18.43, Z:68.82
[[ 8.19757822e-01  1.17588479e-01 -5.60508754e-01  1.04137376e+02]
 [-1.08903882e-01  9.92843234e-01  4.90128234e-02 -1.84333967e+01]
 [ 5.62260668e-01  2.08629338e-02  8.26696849e-01  6.88152896e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.62327356
Centerline is valid?  [True, True]
Translation: X:104.19, Y:-18.43, Z:68.85
[[ 8.21148443e-01  1.07439373e-01 -5.60510495e-01  1.04187569e+02]
 [-9.66280225e-02  9.94114038e-01  4.89929078e-02 -1.84272400e+01]
 [ 5.62475119e-01  1.39305708e-02  8.26696849e-01  6.88489460e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.68327356
Centerline is valid?  [True, True]
Translation: X:104.24, Y:-18.43, Z:68.88
[[ 8.22023703e-01  1.00514339e-01 -5.60512177e-01  1.04235896e+02]
 [-8.82586147e-02  9.94892958e-01  4.89736634e-02 -1.84308148e+01]
 [ 5.62572172e-01  9.21251612e-03  8.26696849e-01  6.88819142e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.74327356
Centerline is valid?  [True, True]
Translation: X:104.28, Y:-18.45, Z:68.92
[[ 8.22732982e-01  9.44460046e-02 -5.60526889e-01  1.04284228e+02]
 [-8.10300823e-02  9.95516057e-01  4.88047824e-02 -1.84486278e+01]
 [ 5.62622935e-01  5.26623582e-03  8.26696861e-01  6.89156498e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.80327356
Centerline is valid?  [True, True]
Translation: X:104.33, Y:-18.44, Z:68.95
[[ 8.23230155e-01  9.00038846e-02 -5.60527798e-01  1.04334921e+02]
 [-7.56626649e-02  9.95938891e-01  4.87943359e-02 -1.84374086e+01]
 [ 5.62643114e-01  2.24205831e-03  8.26696861e-01  6.89493541e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.86327356
Centerline is valid?  [True, True]
Translation: X:104.38, Y:-18.45, Z:68.98
[[ 8.23682419e-01  8.57527566e-02 -5.60529872e-01  1.04384341e+02]
 [-7.05363331e-02  9.96316247e-01  4.87705090e-02 -1.84479061e+01]
 [ 5.62647223e-01 -6.33689125e-04  8.26696861e-01  6.89834696e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.92327356
Centerline is valid?  [True, True]
Translation: X:104.43, Y:-18.45, Z:69.02
[[ 8.23182777e-01  9.04150775e-02 -5.60531202e-01  1.04433280e+02]
 [-7.61867691e-02  9.95900851e-01  4.87552101e-02 -1.84517943e+01]
 [ 5.62641708e-01  2.57061199e-03  8.26696861e-01  6.90168734e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.98327356
Centerline is valid?  [True, True]
Translation: X:104.48, Y:-18.45, Z:69.05
[[ 8.22790829e-01  9.38961263e-02 -5.60534360e-01  1.04482211e+02]
 [-8.04232419e-02  9.95569471e-01  4.87188884e-02 -1.84480879e+01]
 [ 5.62625411e-01  4.99453586e-03  8.26696862e-01  6.90498133e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.04327356
Centerline is valid?  [True, True]
Translation: X:104.53, Y:-18.45, Z:69.08
[[ 8.22649613e-01  9.51071564e-02 -5.60537460e-01  1.04531696e+02]
 [-8.19129284e-02  9.95449757e-01  4.86831993e-02 -1.84474550e+01]
 [ 5.62616999e-01  5.86604975e-03  8.26696862e-01  6.90833110e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.10327356
Centerline is valid?  [True, True]
Translation: X:104.58, Y:-18.45, Z:69.12
[[ 8.21596157e-01  1.03803759e-01 -5.60539503e-01  1.04580959e+02]
 [-9.24541863e-02  9.94527255e-01  4.86596633e-02 -1.84459067e+01]
 [ 5.62522869e-01  1.18456313e-02  8.26696863e-01  6.91166109e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.16327356
Centerline is valid?  [True, True]
Translation: X:104.63, Y:-18.44, Z:69.15
[[ 8.20532404e-01  1.11892245e-01 -5.60541435e-01  1.04631453e+02]
 [-1.02261956e-01  9.93567761e-01  4.86374026e-02 -1.84425403e+01]
 [ 5.62378046e-01  1.74134985e-02  8.26696863e-01  6.91506391e+01]
 [ 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 205.22327356
Centerline is valid?  [True, True]
Translation: X:104.68, Y:-18.44, Z:69.18
[[ 8.19387125e-01  1.19987086e-01 -5.60542450e-01  1.04680440e+02]
 [-1.12073467e-01  9.92509486e-01  4.86256939e-02 -1.84422671e+01]
 [ 5.62178155e-01  2.29786683e-02  8.26696863e-01  6.91838336e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.28327356
Centerline is valid?  [True, True]
Translation: X:104.73, Y:-18.44, Z:69.22
[[ 8.18214347e-01  1.27738863e-01 -5.60542653e-01  1.04730434e+02]
 [-1.21466145e-01  9.91403926e-01  4.86233610e-02 -1.84394102e+01]
 [ 5.61935279e-01  2.83026238e-02  8.26696863e-01  6.92175623e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.34327356
Centerline is valid?  [True, True]
Translation: X:104.78, Y:-18.44, Z:69.25
[[ 8.16857359e-01  1.36142492e-01 -5.60543733e-01  1.04780269e+02]
 [-1.31658827e-01  9.90102486e-01  4.86109056e-02 -1.84406547e+01]
 [ 5.61613754e-01  3.40923542e-02  8.26696863e-01  6.92514207e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.40327356
Centerline is valid?  [True, True]
Translation: X:104.83, Y:-18.44, Z:69.28
[[ 8.16752817e-01  1.36764311e-01 -5.60544699e-01  1.04827889e+02]
 [-1.32420153e-01  9.90001498e-01  4.85997638e-02 -1.84414917e+01]
 [ 5.61586805e-01  3.45334207e-02  8.26696863e-01  6.92837536e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.46327356
Centerline is valid?  [True, True]
Translation: X:104.88, Y:-18.45, Z:69.32
[[ 8.16470514e-01  1.38418690e-01 -5.60549879e-01  1.04877424e+02]
 [-1.34466418e-01  9.89728576e-01  4.85399582e-02 -1.84465301e+01]
 [ 5.61511071e-01  3.57436900e-02  8.26696865e-01  6.93176095e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.52327356
Centerline is valid?  [True, True]
Translation: X:104.93, Y:-18.45, Z:69.35
[[ 8.17028393e-01  1.35082502e-01 -5.60550911e-01  1.04926523e+02]
 [-1.30430704e-01  9.90269085e-01  4.85280406e-02 -1.84528642e+01]
 [ 5.61651526e-01  3.34642631e-02  8.26696865e-01  6.93512676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.58327356
Centerline is valid?  [True, True]
Translation: X:104.98, Y:-18.45, Z:69.38
[[ 8.17565130e-01  1.31789860e-01 -5.60552131e-01  1.04976456e+02]
 [-1.26449803e-01  9.90785973e-01  4.85139442e-02 -1.84480326e+01]
 [ 5.61780834e-01  3.12183976e-02  8.26696865e-01  6.93848351e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.64327356
Centerline is valid?  [True, True]
Translation: X:105.03, Y:-18.45, Z:69.42
[[ 8.17886096e-01  1.29778202e-01 -5.60553256e-01  1.05025031e+02]
 [-1.24020916e-01  9.91093573e-01  4.85009397e-02 -1.84544858e+01]
 [ 5.61855094e-01  2.98520840e-02  8.26696865e-01  6.94181449e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.70327355999999
Centerline is valid?  [True, True]
Translation: X:105.07, Y:-18.46, Z:69.45
[[ 8.18040296e-01  1.28738931e-01 -5.60567892e-01  1.05074282e+02]
 [-1.22877522e-01  9.91244270e-01  4.83312781e-02 -1.84607112e+01]
 [ 5.61881828e-01  2.93442606e-02  8.26696877e-01  6.94518276e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.76327356
Centerline is valid?  [True, True]
Translation: X:105.12, Y:-18.48, Z:69.48
[[ 8.18044870e-01  1.28705156e-01 -5.60568973e-01  1.05120758e+02]
 [-1.22845167e-01  9.91248891e-01  4.83187363e-02 -1.84808607e+01]
 [ 5.61882244e-01  2.93362949e-02  8.26696877e-01  6.94845142e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.82327356
Centerline is valid?  [True, True]
Translation: X:105.17, Y:-18.47, Z:69.52
[[ 8.18247220e-01  1.27377428e-01 -5.60576915e-01  1.05171320e+02]
 [-1.21299424e-01  9.91443725e-01  4.82264505e-02 -1.84747344e+01]
 [ 5.61923426e-01  2.85364979e-02  8.26696880e-01  6.95183982e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.88327356
Centerline is valid?  [True, True]
Translation: X:105.22, Y:-18.48, Z:69.55
[[ 8.19525882e-01  1.18858977e-01 -5.60579943e-01  1.05219961e+02]
 [-1.11003729e-01  9.92650884e-01  4.81912351e-02 -1.84814671e+01]
 [ 5.62188136e-01  2.27324996e-02  8.26696881e-01  6.95517571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.94327356
Centerline is valid?  [True, True]
Translation: X:105.27, Y:-18.49, Z:69.59
[[ 8.20013894e-01  1.15435241e-01 -5.60581768e-01  1.05269415e+02]
 [-1.06871514e-01  9.93105297e-01  4.81699988e-02 -1.84899871e+01]
 [ 5.62277238e-01  2.04101539e-02  8.26696881e-01  6.95857787e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.00327356
Centerline is valid?  [True, True]
Translation: X:105.32, Y:-18.50, Z:69.62
[[ 8.20617009e-01  1.11062832e-01 -5.60582529e-01  1.05317504e+02]
 [-1.01582675e-01  9.93660639e-01  4.81611405e-02 -1.84975851e+01]
 [ 5.62377706e-01  1.74236219e-02  8.26696881e-01  6.96188263e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.06327356
Centerline is valid?  [True, True]
Translation: X:105.37, Y:-18.50, Z:69.65
[[ 8.21350391e-01  1.05479694e-01 -5.60586808e-01  1.05366137e+02]
 [-9.48569901e-02  9.94327640e-01  4.81112807e-02 -1.85020341e+01]
 [ 5.62481722e-01  1.36593582e-02  8.26696882e-01  6.96520392e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.12327356
Centerline is valid?  [True, True]
Translation: X:105.41, Y:-18.51, Z:69.68
[[ 8.22070408e-01  9.96982786e-02 -5.60589420e-01  1.05413782e+02]
 [-8.78795679e-02  9.94970057e-01  4.80808391e-02 -1.85076694e+01]
 [ 5.62563264e-01  9.73852093e-03  8.26696883e-01  6.96846609e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.18327356
Centerline is valid?  [True, True]
Translation: X:105.46, Y:-18.51, Z:69.72
[[ 8.22421734e-01  9.66606279e-02 -5.60606114e-01  1.05462033e+02]
 [-8.43363619e-02  9.95286067e-01  4.78855269e-02 -1.85120996e+01]
 [ 5.62592099e-01  7.89738196e-03  8.26696898e-01  6.97175437e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.24327356
Centerline is valid?  [True, True]
Translation: X:105.51, Y:-18.51, Z:69.75
[[ 8.22067832e-01  9.95446115e-02 -5.60620505e-01  1.05510918e+02]
 [-8.79419320e-02  9.94982084e-01  4.77165416e-02 -1.85113791e+01]
 [ 5.62557283e-01  1.00758164e-02  8.26696910e-01  6.97505719e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.30327356
Centerline is valid?  [True, True]
Translation: X:105.56, Y:-18.52, Z:69.78
[[ 8.22641663e-01  9.46001074e-02 -5.60634920e-01  1.05560056e+02]
 [-8.20737378e-02  9.95491445e-01  4.75466662e-02 -1.85196727e+01]
 [ 5.62605186e-01  6.89953484e-03  8.26696922e-01  6.97842918e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.36327356
Centerline is valid?  [True, True]
Translation: X:105.61, Y:-18.52, Z:69.82
[[ 8.21730770e-01  1.02205093e-01 -5.60635942e-01  1.05610731e+02]
 [-9.12862596e-02  9.94689540e-01  4.75346053e-02 -1.85156218e+01]
 [ 5.62516986e-01  1.21177103e-02  8.26696922e-01  6.98184184e+01]
 [ 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 206.42327356
Centerline is valid?  [True, True]
Translation: X:105.66, Y:-18.52, Z:69.85
[[ 8.20904147e-01  1.08644933e-01 -5.60635942e-01  1.05660459e+02]
 [-9.90825617e-02  9.93943211e-01  4.75346053e-02 -1.85151256e+01]
 [ 5.62404683e-01  1.65278907e-02  8.26696922e-01  6.98521137e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.48327356
Centerline is valid?  [True, True]
Translation: X:105.71, Y:-18.52, Z:69.89
[[ 8.19819317e-01  1.16543025e-01 -5.60637147e-01  1.05710565e+02]
 [-1.08656703e-01  9.92942865e-01  4.75203995e-02 -1.85151376e+01]
 [ 5.62218825e-01  2.19588422e-02  8.26696922e-01  6.98860885e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.54327356
Centerline is valid?  [True, True]
Translation: X:105.76, Y:-18.52, Z:69.92
[[ 8.17542068e-01  1.31568923e-01 -5.60637660e-01  1.05760469e+02]
 [-1.26865276e-01  9.90781302e-01  4.75143393e-02 -1.85205402e+01]
 [ 5.61720722e-01  3.22804805e-02  8.26696922e-01  6.99202391e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.60327356
Centerline is valid?  [True, True]
Translation: X:105.81, Y:-18.52, Z:69.95
[[ 8.18018559e-01  1.28573472e-01 -5.60637583e-01  1.05810614e+02]
 [-1.23234681e-01  9.91239383e-01  4.75152465e-02 -1.85158694e+01]
 [ 5.61835252e-01  3.02216400e-02  8.26696922e-01  6.99539778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.66327356
Centerline is valid?  [True, True]
Translation: X:105.86, Y:-18.52, Z:69.99
[[ 8.17421386e-01  1.32305283e-01 -5.60640339e-01  1.05860468e+02]
 [-1.27779302e-01  9.90665353e-01  4.74827149e-02 -1.85170579e+01]
 [ 5.61689173e-01  3.28248447e-02  8.26696923e-01  6.99878407e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.72327356
Centerline is valid?  [True, True]
Translation: X:105.91, Y:-18.52, Z:70.02
[[ 8.17383096e-01  1.32536406e-01 -5.60641574e-01  1.05908232e+02]
 [-1.28069386e-01  9.90628593e-01  4.74681218e-02 -1.85202866e+01]
 [ 5.61678828e-01  3.30013818e-02  8.26696923e-01  7.00204117e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.78327356
Centerline is valid?  [True, True]
Translation: X:105.96, Y:-18.52, Z:70.05
[[ 8.17895751e-01  1.29312859e-01 -5.60646703e-01  1.05957618e+02]
 [-1.24204292e-01  9.91123516e-01  4.74074887e-02 -1.85234782e+01]
 [ 5.61800529e-01  3.08603434e-02  8.26696925e-01  7.00540601e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.84327356
Centerline is valid?  [True, True]
Translation: X:106.01, Y:-18.54, Z:70.09
[[ 8.19699966e-01  1.17327832e-01 -5.60647969e-01  1.06005328e+02]
 [-1.09694584e-01  9.92834854e-01  4.73925102e-02 -1.85443282e+01]
 [ 5.62191305e-01  2.26524065e-02  8.26696925e-01  7.00876047e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.90327356
Centerline is valid?  [True, True]
Translation: X:106.05, Y:-18.55, Z:70.12
[[ 8.20739649e-01  1.09812394e-01 -5.60649326e-01  1.06054534e+02]
 [-1.00604075e-01  9.93797913e-01  4.73764506e-02 -1.85501326e+01]
 [ 5.62374652e-01  1.75198753e-02  8.26696925e-01  7.01213002e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.96327356
Centerline is valid?  [True, True]
Translation: X:106.10, Y:-18.56, Z:70.16
[[ 8.21172103e-01  1.06524986e-01 -5.60650341e-01  1.06103804e+02]
 [-9.66319506e-02  9.94192575e-01  4.73644383e-02 -1.85574567e+01]
 [ 5.62439902e-01  1.52823806e-02  8.26696925e-01  7.01551286e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.02327356
Centerline is valid?  [True, True]
Translation: X:106.15, Y:-18.56, Z:70.19
[[ 8.21911311e-01  1.00657200e-01 -5.60651340e-01  1.06153353e+02]
 [-8.95367133e-02  9.94857229e-01  4.73526131e-02 -1.85620535e+01]
 [ 5.62534420e-01  1.12792299e-02  8.26696925e-01  7.01889893e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.08327356
Centerline is valid?  [True, True]
Translation: X:106.20, Y:-18.56, Z:70.22
[[ 8.22343555e-01  9.70586978e-02 -5.60652019e-01  1.06202793e+02]
 [-8.51868131e-02  9.95239519e-01  4.73445631e-02 -1.85595569e+01]
 [ 5.62578247e-01  8.82666242e-03  8.26696925e-01  7.02223716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.14327356
Centerline is valid?  [True, True]
Translation: X:106.25, Y:-18.57, Z:70.26
[[ 8.22448422e-01  9.60820435e-02 -5.60666420e-01  1.06250776e+02]
 [-8.41214226e-02  9.95338257e-01  4.71735091e-02 -1.85729901e+01]
 [ 5.62585264e-01  8.36627877e-03  8.26696937e-01  7.02556010e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.20327355999999
Centerline is valid?  [True, True]
Translation: X:106.30, Y:-18.57, Z:70.29
[[ 8.20531743e-01  1.11197456e-01 -5.60680645e-01  1.06301557e+02]
 [-1.02535487e-01  9.93618189e-01  4.70039284e-02 -1.85670359e+01]
 [ 5.62329204e-01  1.89214478e-02  8.26696949e-01  7.02896224e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.26327356
Centerline is valid?  [True, True]
Translation: X:106.35, Y:-18.57, Z:70.32
[[ 8.22973171e-01  9.13894603e-02 -5.60680948e-01  1.06350314e+02]
 [-7.85609061e-02  9.95800761e-01  4.70003057e-02 -1.85731393e+01]
 [ 5.62621847e-01  5.36761271e-03  8.26696949e-01  7.03230358e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.32327356
Centerline is valid?  [True, True]
Translation: X:106.40, Y:-18.58, Z:70.36
[[ 8.22689641e-01  9.38974556e-02 -5.60682640e-01  1.06398373e+02]
 [-8.16094967e-02  9.95556507e-01  4.69801160e-02 -1.85764654e+01]
 [ 5.62602564e-01  7.10697332e-03  8.26696949e-01  7.03558100e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.38327356
Centerline is valid?  [True, True]
Translation: X:106.45, Y:-18.59, Z:70.39
[[ 8.21456532e-01  1.04114249e-01 -5.60686535e-01  1.06446890e+02]
 [-9.40072857e-02  9.94464614e-01  4.69335992e-02 -1.85891419e+01]
 [ 5.62469374e-01  1.41547076e-02  8.26696950e-01  7.03894135e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.44327356
Centerline is valid?  [True, True]
Translation: X:106.50, Y:-18.59, Z:70.42
[[ 8.20941489e-01  1.08095045e-01 -5.60687554e-01  1.06495824e+02]
 [-9.88351717e-02  9.93996977e-01  4.69214170e-02 -1.85903338e+01]
 [ 5.62393706e-01  1.68959128e-02  8.26696950e-01  7.04226634e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.50327356
Centerline is valid?  [True, True]
Translation: X:106.55, Y:-18.59, Z:70.46
[[ 8.20255252e-01  1.13169750e-01 -5.60690583e-01  1.06545445e+02]
 [-1.05004965e-01  9.93365862e-01  4.68852028e-02 -1.85927041e+01]
 [ 5.62276870e-01  2.04174613e-02  8.26696951e-01  7.04564351e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.56327356
Centerline is valid?  [True, True]
Translation: X:106.59, Y:-18.59, Z:70.49
[[ 8.19792613e-01  1.16468905e-01 -5.60691597e-01  1.06594935e+02]
 [-1.09008930e-01  9.92935027e-01  4.68730755e-02 -1.85947027e+01]
 [ 5.62189581e-01  2.26941899e-02  8.26696951e-01  7.04901085e+01]
 [ 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 207.62327356
Centerline is valid?  [True, True]
Translation: X:106.64, Y:-18.60, Z:70.52
[[ 8.19110195e-01  1.21172408e-01 -5.60692194e-01  1.06644101e+02]
 [-1.14711233e-01  9.92292758e-01  4.68659321e-02 -1.85964179e+01]
 [ 5.62049661e-01  2.59293300e-02  8.26696951e-01  7.05235488e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.68327356
Centerline is valid?  [True, True]
Translation: X:106.69, Y:-18.60, Z:70.56
[[ 8.19073446e-01  1.21415899e-01 -5.60693205e-01  1.06693742e+02]
 [-1.15014473e-01  9.92258227e-01  4.68538305e-02 -1.85991027e+01]
 [ 5.62041246e-01  2.61111049e-02  8.26696951e-01  7.05573635e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.74327356
Centerline is valid?  [True, True]
Translation: X:106.74, Y:-18.60, Z:70.59
[[ 8.19723190e-01  1.16944034e-01 -5.60694200e-01  1.06742054e+02]
 [-1.09605684e-01  9.92870801e-01  4.68419251e-02 -1.86040290e+01]
 [ 5.62174783e-01  2.30578589e-02  8.26696951e-01  7.05904033e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.80327356
Centerline is valid?  [True, True]
Translation: X:106.79, Y:-18.61, Z:70.62
[[ 8.20785989e-01  1.09214582e-01 -5.60698257e-01  1.06791280e+02]
 [-1.00278163e-01  9.93858479e-01  4.67933105e-02 -1.86092798e+01]
 [ 5.62365229e-01  1.78184976e-02  8.26696952e-01  7.06240652e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.86327356
Centerline is valid?  [True, True]
Translation: X:106.84, Y:-18.61, Z:70.66
[[ 8.21689449e-01  1.02192003e-01 -5.60698889e-01  1.06840219e+02]
 [-9.17811153e-02  9.94679507e-01  4.67857473e-02 -1.86134131e+01]
 [ 5.62496823e-01  1.30182144e-02  8.26696952e-01  7.06574881e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.92327356
Centerline is valid?  [True, True]
Translation: X:106.89, Y:-18.62, Z:70.69
[[ 8.22388391e-01  9.63941188e-02 -5.60700908e-01  1.06889858e+02]
 [-8.47799056e-02  9.95301827e-01  4.67615301e-02 -1.86200321e+01]
 [ 5.62574175e-01  9.08003059e-03  8.26696952e-01  7.06915183e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.98327356
Centerline is valid?  [True, True]
Translation: X:106.94, Y:-18.61, Z:70.72
[[ 8.23297880e-01  8.82835189e-02 -5.60701901e-01  1.06939425e+02]
 [-7.49736467e-02  9.96089065e-01  4.67496246e-02 -1.86131328e+01]
 [ 5.62636254e-01  3.54899948e-03  8.26696952e-01  7.07247413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.04327356
Centerline is valid?  [True, True]
Translation: X:106.99, Y:-18.62, Z:70.76
[[ 8.23407263e-01  8.72449040e-02 -5.60703849e-01  1.06988821e+02]
 [-7.37329887e-02  9.96182766e-01  4.67262557e-02 -1.86166439e+01]
 [ 5.62640139e-01  2.86763228e-03  8.26696952e-01  7.07584320e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.10327356
Centerline is valid?  [True, True]
Translation: X:107.04, Y:-18.62, Z:70.79
[[ 8.23187880e-01  8.92791032e-02 -5.60705766e-01  1.07037747e+02]
 [-7.62097977e-02  9.95997427e-01  4.67032386e-02 -1.86199580e+01]
 [ 5.62631123e-01  4.28573303e-03  8.26696953e-01  7.07917928e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.16327356
Centerline is valid?  [True, True]
Translation: X:107.09, Y:-18.62, Z:70.83
[[ 8.22936945e-01  9.14841036e-02 -5.60718685e-01  1.07087290e+02]
 [-7.89837696e-02  9.95788570e-01  4.65476957e-02 -1.86222119e+01]
 [ 5.62615632e-01  5.98185697e-03  8.26696963e-01  7.08254523e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.22327356
Centerline is valid?  [True, True]
Translation: X:107.14, Y:-18.62, Z:70.86
[[ 8.22632321e-01  9.41782097e-02 -5.60719653e-01  1.07135810e+02]
 [-8.22518701e-02  9.95524499e-01  4.65360329e-02 -1.86244832e+01]
 [ 5.62592832e-01  7.83819525e-03  8.26696963e-01  7.08584841e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.28327356
Centerline is valid?  [True, True]
Translation: X:107.18, Y:-18.63, Z:70.89
[[ 8.22441934e-01  9.58032764e-02 -5.60723637e-01  1.07184148e+02]
 [-8.42512888e-02  9.95359527e-01  4.64879830e-02 -1.86348462e+01]
 [ 5.62575316e-01  9.00802252e-03  8.26696964e-01  7.08918317e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.34327356
Centerline is valid?  [True, True]
Translation: X:107.23, Y:-18.63, Z:70.93
[[ 8.22975421e-01  9.10883296e-02 -5.60726648e-01  1.07234919e+02]
 [-7.85703004e-02  9.95825764e-01  4.64516524e-02 -1.86273693e+01]
 [ 5.62617245e-01  5.82789297e-03  8.26696964e-01  7.09258313e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.40327356
Centerline is valid?  [True, True]
Translation: X:107.28, Y:-18.63, Z:70.96
[[ 8.23504995e-01  8.61608860e-02 -5.60727941e-01  1.07283927e+02]
 [-7.26191451e-02  9.96278151e-01  4.64360299e-02 -1.86271140e+01]
 [ 5.62641966e-01  2.47928114e-03  8.26696964e-01  7.09590508e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.46327356
Centerline is valid?  [True, True]
Translation: X:107.33, Y:-18.62, Z:70.99
[[ 8.23972779e-01  8.15361140e-02 -5.60732309e-01  1.07331929e+02]
 [-6.70605058e-02  9.96670198e-01  4.63832440e-02 -1.86244958e+01]
 [ 5.62647090e-01 -6.15538221e-04  8.26696966e-01  7.09914402e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.52327356
Centerline is valid?  [True, True]
Translation: X:107.38, Y:-18.63, Z:71.03
[[ 8.23960262e-01  8.16287536e-02 -5.60737223e-01  1.07381795e+02]
 [-6.72130365e-02  9.96662689e-01  4.63237697e-02 -1.86271020e+01]
 [ 5.62647220e-01 -4.80094012e-04  8.26696967e-01  7.10253839e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.58327356
Centerline is valid?  [True, True]
Translation: X:107.43, Y:-18.62, Z:71.06
[[ 8.24038797e-01  8.08253531e-02 -5.60738195e-01  1.07431011e+02]
 [-6.62492671e-02  9.96727763e-01  4.63119994e-02 -1.86242918e+01]
 [ 5.62646510e-01 -1.01438979e-03  8.26696967e-01  7.10586042e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.64327356
Centerline is valid?  [True, True]
Translation: X:107.48, Y:-18.62, Z:71.09
[[ 8.23986779e-01  8.13246042e-02 -5.60742451e-01  1.07479874e+02]
 [-6.68882518e-02  9.96687481e-01  4.62604172e-02 -1.86229882e+01]
 [ 5.62647092e-01 -6.10889917e-04  8.26696968e-01  7.10916528e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.70327355999999
Centerline is valid?  [True, True]
Translation: X:107.53, Y:-18.62, Z:71.12
[[ 8.24091557e-01  8.02281278e-02 -5.60746424e-01  1.07528501e+02]
 [-6.55947897e-02  9.96775679e-01  4.62122147e-02 -1.86218670e+01]
 [ 5.62645917e-01 -1.30105224e-03  8.26696969e-01  7.11245540e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.76327356
Centerline is valid?  [True, True]
Translation: X:107.58, Y:-18.62, Z:71.16
[[ 8.24338032e-01  7.75555267e-02 -5.60760153e-01  1.07576604e+02]
 [-6.24759873e-02  9.96983750e-01  4.60451180e-02 -1.86217592e+01]
 [ 5.62639814e-01 -2.92269779e-03  8.26696981e-01  7.11571085e+01]
 [ 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 208.82327356
Centerline is valid?  [True, True]
Translation: X:107.63, Y:-18.62, Z:71.19
[[ 8.24569376e-01  7.49375580e-02 -5.60775986e-01  1.07626273e+02]
 [-5.94414712e-02  9.97178189e-01  4.58516095e-02 -1.86194806e+01]
 [ 5.62629590e-01 -4.47448347e-03  8.26696996e-01  7.11905964e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.88327356
Centerline is valid?  [True, True]
Translation: X:107.67, Y:-18.62, Z:71.22
[[ 8.24775640e-01  7.26168008e-02 -5.60777982e-01  1.07674459e+02]
 [-5.66516305e-02  9.97341697e-01  4.58271892e-02 -1.86190491e+01]
 [ 5.62615088e-01 -6.02816228e-03  8.26696997e-01  7.12232494e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.94327356
Centerline is valid?  [True, True]
Translation: X:107.72, Y:-18.62, Z:71.26
[[ 8.24810247e-01  7.21005967e-02 -5.60793689e-01  1.07723202e+02]
 [-5.61585584e-02  9.97378427e-01  4.56342964e-02 -1.86169103e+01]
 [ 5.62613787e-01 -6.14627014e-03  8.26697012e-01  7.12561216e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.00327356
Centerline is valid?  [True, True]
Translation: X:107.77, Y:-18.62, Z:71.29
[[ 8.24732256e-01  7.29493527e-02 -5.60798625e-01  1.07772066e+02]
 [-5.72261992e-02  9.97320516e-01  4.55735670e-02 -1.86178824e+01]
 [ 5.62620536e-01 -5.49361693e-03  8.26697014e-01  7.12892992e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.06327356
Centerline is valid?  [True, True]
Translation: X:107.82, Y:-18.62, Z:71.32
[[ 8.24697450e-01  7.32351964e-02 -5.60812555e-01  1.07821053e+02]
 [-5.76887914e-02  9.97301709e-01  4.54016000e-02 -1.86164121e+01]
 [ 5.62624315e-01 -5.08998523e-03  8.26697026e-01  7.13223853e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.12327356
Centerline is valid?  [True, True]
Translation: X:107.87, Y:-18.62, Z:71.36
[[ 8.24411567e-01  7.63718254e-02 -5.60814507e-01  1.07870108e+02]
 [-6.14985330e-02  9.97075130e-01  4.53774742e-02 -1.86151732e+01]
 [ 5.62639759e-01 -2.92044517e-03  8.26697026e-01  7.13555863e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.18327356
Centerline is valid?  [True, True]
Translation: X:107.92, Y:-18.61, Z:71.39
[[ 8.24177252e-01  7.87641293e-02 -5.60828021e-01  1.07919873e+02]
 [-6.45060041e-02  9.96892691e-01  4.52099442e-02 -1.86149471e+01]
 [ 5.62646276e-01 -1.08423296e-03  8.26697038e-01  7.13892731e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.24327356
Centerline is valid?  [True, True]
Translation: X:107.97, Y:-18.62, Z:71.42
[[ 8.20893205e-01  1.07722153e-01 -5.60829996e-01  1.07969648e+02]
 [-9.95682894e-02  9.94004242e-01  4.51854308e-02 -1.86189729e+01]
 [ 5.62334867e-01  1.87484702e-02  8.26697038e-01  7.14232511e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.30327356
Centerline is valid?  [True, True]
Translation: X:108.02, Y:-18.62, Z:71.46
[[ 8.20506954e-01  1.10622021e-01 -5.60830729e-01  1.08017525e+02]
 [-1.03086095e-01  9.93645992e-01  4.51763241e-02 -1.86184079e+01]
 [ 5.62264702e-01  2.07463615e-02  8.26697038e-01  7.14556965e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.36327356
Centerline is valid?  [True, True]
Translation: X:108.07, Y:-18.62, Z:71.49
[[ 8.20464161e-01  1.10858107e-01 -5.60846718e-01  1.08066721e+02]
 [-1.03507993e-01  9.93611170e-01  4.49770921e-02 -1.86162645e+01]
 [ 5.62249639e-01  2.11500262e-02  8.26697055e-01  7.14888850e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.42327356
Centerline is valid?  [True, True]
Translation: X:108.12, Y:-18.62, Z:71.52
[[ 8.20429374e-01  1.11044403e-01 -5.60860752e-01  1.08115720e+02]
 [-1.03853461e-01  9.93583053e-01  4.48015070e-02 -1.86167064e+01]
 [ 5.62236695e-01  2.14908579e-02  8.26697067e-01  7.15220902e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.48327356
Centerline is valid?  [True, True]
Translation: X:108.16, Y:-18.62, Z:71.56
[[ 8.20870790e-01  1.07717292e-01 -5.60863736e-01  1.08164896e+02]
 [-9.98499159e-02  9.93995054e-01  4.47641283e-02 -1.86155001e+01]
 [ 5.62317650e-01  1.92566315e-02  8.26697068e-01  7.15553753e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.54327356
Centerline is valid?  [True, True]
Translation: X:108.21, Y:-18.61, Z:71.59
[[ 8.21418257e-01  1.03449139e-01 -5.60865691e-01  1.08214685e+02]
 [-9.46987264e-02  9.94500134e-01  4.47396238e-02 -1.86136389e+01]
 [ 5.62409281e-01  1.63633228e-02  8.26697068e-01  7.15890449e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.60327356
Centerline is valid?  [True, True]
Translation: X:108.26, Y:-18.61, Z:71.62
[[ 8.23819675e-01  8.21566282e-02 -5.60866679e-01  1.08264301e+02]
 [-6.89383170e-02  9.96617772e-01  4.47272316e-02 -1.86140494e+01]
 [ 5.62644339e-01  1.81803154e-03  8.26697068e-01  7.16227248e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.66327356
Centerline is valid?  [True, True]
Translation: X:108.31, Y:-18.61, Z:71.66
[[ 8.23896224e-01  8.13739540e-02 -5.60868337e-01  1.08313721e+02]
 [-6.80056449e-02  9.96682781e-01  4.47064366e-02 -1.86096906e+01]
 [ 5.62645754e-01  1.30874862e-03  8.26697069e-01  7.16560114e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.72327356
Centerline is valid?  [True, True]
Translation: X:108.36, Y:-18.61, Z:71.69
[[ 8.23628664e-01  8.39465490e-02 -5.60882163e-01  1.08362590e+02]
 [-7.12364192e-02  9.96464870e-01  4.45324026e-02 -1.86050205e+01]
 [ 5.62637714e-01  3.27707364e-03  8.26697081e-01  7.16888602e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.78327356
Centerline is valid?  [True, True]
Translation: X:108.41, Y:-18.60, Z:71.72
[[ 8.23362412e-01  8.64875633e-02 -5.60887011e-01  1.08411802e+02]
 [-7.43524405e-02  9.96239941e-01  4.44712744e-02 -1.86023455e+01]
 [ 5.62624255e-01  5.08734236e-03  8.26697083e-01  7.17220862e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.84327356
Centerline is valid?  [True, True]
Translation: X:108.46, Y:-18.60, Z:71.76
[[ 8.23160225e-01  8.83063759e-02 -5.60900373e-01  1.08461069e+02]
 [-7.66684011e-02  9.96071921e-01  4.43022047e-02 -1.85959783e+01]
 [ 5.62609279e-01  6.53552200e-03  8.26697095e-01  7.17551219e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.90327356
Centerline is valid?  [True, True]
Translation: X:108.51, Y:-18.59, Z:71.79
[[ 8.22925187e-01  9.03857376e-02 -5.60914036e-01  1.08509439e+02]
 [-7.93029186e-02  9.95873340e-01  4.41286467e-02 -1.85919040e+01]
 [ 5.62587935e-01  8.16754532e-03  8.26697107e-01  7.17876736e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.96327356
Centerline is valid?  [True, True]
Translation: X:108.56, Y:-18.59, Z:71.82
[[ 8.23066678e-01  8.90578728e-02 -5.60918835e-01  1.08558940e+02]
 [-7.77376396e-02  9.95999452e-01  4.40675732e-02 -1.85868815e+01]
 [ 5.62599417e-01  7.33395520e-03  8.26697109e-01  7.18209761e+01]
 [ 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 210.02327356
Centerline is valid?  [True, True]
Translation: X:108.61, Y:-18.59, Z:71.85
[[ 8.22617994e-01  9.30364426e-02 -5.60931240e-01  1.08607151e+02]
 [-8.26604525e-02  9.95609980e-01  4.39091878e-02 -1.85869183e+01]
 [ 5.62553896e-01  1.02463422e-02  8.26697119e-01  7.18536477e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.08327356
Centerline is valid?  [True, True]
Translation: X:108.66, Y:-18.58, Z:71.89
[[ 8.21948848e-01  9.86863714e-02 -5.60946603e-01  1.08656833e+02]
 [-8.96335960e-02  9.95015107e-01  4.37121810e-02 -1.85813534e+01]
 [ 5.62464141e-01  1.43504844e-02  8.26697135e-01  7.18870134e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.14327356
Centerline is valid?  [True, True]
Translation: X:108.71, Y:-18.58, Z:71.92
[[ 8.21583692e-01  1.01671673e-01 -5.60948400e-01  1.08705882e+02]
 [-9.32634034e-02  9.94682461e-01  4.36891144e-02 -1.85793800e+01]
 [ 5.62407481e-01  1.64216930e-02  8.26697135e-01  7.19201851e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.20327355999999
Centerline is valid?  [True, True]
Translation: X:108.75, Y:-18.58, Z:71.95
[[ 8.21157523e-01  1.05036563e-01 -5.60952443e-01  1.08754913e+02]
 [-9.73729421e-02  9.94290857e-01  4.36371581e-02 -1.85760785e+01]
 [ 5.62333382e-01  1.87886091e-02  8.26697137e-01  7.19532680e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.26327356
Centerline is valid?  [True, True]
Translation: X:108.80, Y:-18.58, Z:71.99
[[ 8.20816970e-01  1.07651091e-01 -5.60955208e-01  1.08804866e+02]
 [-1.00563146e-01  9.93974826e-01  4.36015890e-02 -1.85756199e+01]
 [ 5.62269114e-01  2.06224961e-02  8.26697137e-01  7.19871313e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.32327356
Centerline is valid?  [True, True]
Translation: X:108.85, Y:-18.58, Z:72.02
[[ 8.20558549e-01  1.09598578e-01 -5.60956165e-01  1.08853541e+02]
 [-1.02929961e-01  9.93733062e-01  4.35892722e-02 -1.85778430e+01]
 [ 5.62218009e-01  2.19716464e-02  8.26697137e-01  7.20202742e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.38327356
Centerline is valid?  [True, True]
Translation: X:108.90, Y:-18.58, Z:72.05
[[ 8.20518705e-01  1.09882067e-01 -5.60958988e-01  1.08903011e+02]
 [-1.03298103e-01  9.93696456e-01  4.35529076e-02 -1.85809232e+01]
 [ 5.62208642e-01  2.22100240e-02  8.26697138e-01  7.20539965e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.44327356
Centerline is valid?  [True, True]
Translation: X:108.95, Y:-18.58, Z:72.09
[[ 8.20462563e-01  1.10295826e-01 -5.60959904e-01  1.08952821e+02]
 [-1.03807241e-01  9.93643914e-01  4.35411170e-02 -1.85836620e+01]
 [ 5.62196798e-01  2.25078435e-02  8.26697138e-01  7.20879365e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.50327356
Centerline is valid?  [True, True]
Translation: X:109.00, Y:-18.59, Z:72.12
[[ 8.19970834e-01  1.13889373e-01 -5.60960821e-01  1.09001837e+02]
 [-1.08167662e-01  9.93179217e-01  4.35292978e-02 -1.85880165e+01]
 [ 5.62092153e-01  2.49850659e-02  8.26697138e-01  7.21214236e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.56327356
Centerline is valid?  [True, True]
Translation: X:109.05, Y:-18.59, Z:72.15
[[ 8.19786748e-01  1.15197419e-01 -5.60962781e-01  1.09049528e+02]
 [-1.09769312e-01  9.93004581e-01  4.35040219e-02 -1.85918733e+01]
 [ 5.62050163e-01  2.59124780e-02  8.26697138e-01  7.21539819e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.62327356
Centerline is valid?  [True, True]
Translation: X:109.10, Y:-18.60, Z:72.19
[[ 8.19048527e-01  1.20311529e-01 -5.60967599e-01  1.09098744e+02]
 [-1.16007075e-01  9.92297922e-01  4.34418246e-02 -1.85962988e+01]
 [ 5.61873535e-01  2.94952479e-02  8.26697140e-01  7.21875965e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.68327356
Centerline is valid?  [True, True]
Translation: X:109.15, Y:-18.60, Z:72.22
[[ 8.18499793e-01  1.23981134e-01 -5.60969489e-01  1.09147670e+02]
 [-1.20469875e-01  9.91767079e-01  4.34174038e-02 -1.86000302e+01]
 [ 5.61734010e-01  3.20427885e-02  8.26697140e-01  7.22209868e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.74327356
Centerline is valid?  [True, True]
Translation: X:109.20, Y:-18.61, Z:72.25
[[ 8.17786312e-01  1.28595555e-01 -5.60971239e-01  1.09195727e+02]
 [-1.26077045e-01  9.91070871e-01  4.33947865e-02 -1.86070955e+01]
 [ 5.61542631e-01  3.52379337e-02  8.26697140e-01  7.22539621e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.80327356
Centerline is valid?  [True, True]
Translation: X:109.24, Y:-18.61, Z:72.29
[[ 8.17233385e-01  1.32052662e-01 -5.60973875e-01  1.09243793e+02]
 [-1.30290261e-01  9.90527283e-01  4.33606880e-02 -1.86145408e+01]
 [ 5.61385823e-01  3.76536306e-02  8.26697141e-01  7.22869609e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.86327356
Centerline is valid?  [True, True]
Translation: X:109.29, Y:-18.62, Z:72.32
[[ 8.17229274e-01  1.32070000e-01 -5.60975783e-01  1.09292306e+02]
 [-1.30328152e-01  9.90523379e-01  4.33359898e-02 -1.86215721e+01]
 [ 5.61383012e-01  3.76954979e-02  8.26697141e-01  7.23202438e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.92327356
Centerline is valid?  [True, True]
Translation: X:109.34, Y:-18.63, Z:72.35
[[ 8.17314070e-01  1.31494422e-01 -5.60987458e-01  1.09340563e+02]
 [-1.29734104e-01  9.90607979e-01  4.31844140e-02 -1.86312306e+01]
 [ 5.61397162e-01  3.74839762e-02  8.26697150e-01  7.23534583e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.98327356
Centerline is valid?  [True, True]
Translation: X:109.39, Y:-18.64, Z:72.39
[[ 8.17752818e-01  1.28728136e-01 -5.60989657e-01  1.09389767e+02]
 [-1.26400989e-01  9.91040042e-01  4.31558263e-02 -1.86386429e+01]
 [ 5.61518582e-01  3.56188490e-02  8.26697151e-01  7.23872283e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.04327356
Centerline is valid?  [True, True]
Translation: X:109.44, Y:-18.65, Z:72.42
[[ 8.18376913e-01  1.24694052e-01 -5.60990750e-01  1.09438953e+02]
 [-1.21522123e-01  9.91650732e-01  4.31416180e-02 -1.86488235e+01]
 [ 5.61686391e-01  3.28666826e-02  8.26697151e-01  7.24211326e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.10327356
Centerline is valid?  [True, True]
Translation: X:109.49, Y:-18.66, Z:72.45
[[ 8.18859315e-01  1.21480517e-01 -5.60991895e-01  1.09486621e+02]
 [-1.17638590e-01  9.92119573e-01  4.31267257e-02 -1.86602937e+01]
 [ 5.61810096e-01  3.06795746e-02  8.26697151e-01  7.24540750e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.16327356
Centerline is valid?  [True, True]
Translation: X:109.54, Y:-18.67, Z:72.49
[[ 8.19078560e-01  1.19930728e-01 -5.61005287e-01  1.09535363e+02]
 [-1.15880328e-01  9.92334058e-01  4.29519194e-02 -1.86687179e+01]
 [ 5.61855908e-01  2.98284805e-02  8.26697164e-01  7.24875423e+01]
 [ 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 211.22327356
Centerline is valid?  [True, True]
Translation: X:109.58, Y:-18.68, Z:72.52
[[ 8.19312008e-01  1.18320310e-01 -5.61006362e-01  1.09583023e+02]
 [-1.13938913e-01  9.92559451e-01  4.29378762e-02 -1.86787388e+01]
 [ 5.61912589e-01  2.87409377e-02  8.26697164e-01  7.25204018e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.28327356
Centerline is valid?  [True, True]
Translation: X:109.63, Y:-18.69, Z:72.55
[[ 8.19432514e-01  1.17469655e-01 -5.61009122e-01  1.09630862e+02]
 [-1.12933043e-01  9.92675961e-01  4.29017887e-02 -1.86892623e+01]
 [ 5.61939928e-01  2.82013469e-02  8.26697164e-01  7.25534020e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.34327356
Centerline is valid?  [True, True]
Translation: X:109.68, Y:-18.70, Z:72.59
[[ 8.19507660e-01  1.16884071e-01 -5.61021665e-01  1.09678832e+02]
 [-1.12336036e-01  9.92750797e-01  4.27372320e-02 -1.86980908e+01]
 [ 5.61950007e-01  2.79994609e-02  8.26697176e-01  7.25863647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.40327356
Centerline is valid?  [True, True]
Translation: X:109.73, Y:-18.70, Z:72.62
[[ 8.19709184e-01  1.15449489e-01 -5.61024304e-01  1.09727383e+02]
 [-1.10621900e-01  9.92944755e-01  4.27025664e-02 -1.87043387e+01]
 [ 5.61996130e-01  2.70578885e-02  8.26697176e-01  7.26196253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.46327356
Centerline is valid?  [True, True]
Translation: X:109.78, Y:-18.71, Z:72.65
[[ 8.20062853e-01  1.12895936e-01 -5.61027116e-01  1.09776434e+02]
 [-1.07554063e-01  9.93283328e-01  4.26656023e-02 -1.87111021e+01]
 [ 5.62075654e-01  2.53522699e-02  8.26697177e-01  7.26532511e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.52327356
Centerline is valid?  [True, True]
Translation: X:109.83, Y:-18.72, Z:72.69
[[ 8.19894267e-01  1.14105937e-01 -5.61028722e-01  1.09825435e+02]
 [-1.09034108e-01  9.93122859e-01  4.26444737e-02 -1.87203499e+01]
 [ 5.62036436e-01  2.62073067e-02  8.26697177e-01  7.26869754e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.58327356
Centerline is valid?  [True, True]
Translation: X:109.87, Y:-18.73, Z:72.72
[[ 8.19782261e-01  1.14898683e-01 -5.61030603e-01  1.09873433e+02]
 [-1.10011267e-01  9.93016154e-01  4.26197124e-02 -1.87250656e+01]
 [ 5.62009400e-01  2.67808033e-02  8.26697177e-01  7.27197843e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.64327356
Centerline is valid?  [True, True]
Translation: X:109.92, Y:-18.73, Z:72.75
[[ 8.19482239e-01  1.17001608e-01 -5.61034299e-01  1.09921831e+02]
 [-1.12591924e-01  9.92728949e-01  4.25710184e-02 -1.87340562e+01]
 [ 5.61935867e-01  2.82817375e-02  8.26697178e-01  7.27530774e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.70327355999999
Centerline is valid?  [True, True]
Translation: X:109.97, Y:-18.74, Z:72.79
[[ 8.19573501e-01  1.16298296e-01 -5.61047219e-01  1.09969665e+02]
 [-1.11856606e-01  9.92819382e-01  4.24001612e-02 -1.87439511e+01]
 [ 5.61949620e-01  2.80067889e-02  8.26697190e-01  7.27859938e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.76327356
Centerline is valid?  [True, True]
Translation: X:110.02, Y:-18.75, Z:72.82
[[ 8.19580694e-01  1.16185429e-01 -5.61060096e-01  1.10017824e+02]
 [-1.11836632e-01  9.92828920e-01  4.22291833e-02 -1.87504695e+01]
 [ 5.61943105e-01  2.81368482e-02  8.26697202e-01  7.28189555e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.82327356
Centerline is valid?  [True, True]
Translation: X:110.07, Y:-18.76, Z:72.85
[[ 8.19607835e-01  1.15931029e-01 -5.61073073e-01  1.10066254e+02]
 [-1.11646590e-01  9.92857652e-01  4.20561791e-02 -1.87595008e+01]
 [ 5.61941310e-01  2.81723214e-02  8.26697215e-01  7.28522274e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.88327356
Centerline is valid?  [True, True]
Translation: X:110.11, Y:-18.77, Z:72.88
[[ 8.19543723e-01  1.16321486e-01 -5.61085910e-01  1.10114022e+02]
 [-1.12236933e-01  9.92798355e-01  4.18843266e-02 -1.87675493e+01]
 [ 5.61917215e-01  2.86485249e-02  8.26697227e-01  7.28849980e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.94327356
Centerline is valid?  [True, True]
Translation: X:110.16, Y:-18.77, Z:72.92
[[ 8.19631823e-01  1.15681620e-01 -5.61089510e-01  1.10162501e+02]
 [-1.11494771e-01  9.92884012e-01  4.18360502e-02 -1.87747359e+01]
 [ 5.61936466e-01  2.82683882e-02  8.26697228e-01  7.29182480e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.00327356
Centerline is valid?  [True, True]
Translation: X:110.21, Y:-18.78, Z:72.95
[[ 8.19629800e-01  1.15687425e-01 -5.61091268e-01  1.10211213e+02]
 [-1.11517913e-01  9.92882407e-01  4.18124573e-02 -1.87819124e+01]
 [ 5.61934824e-01  2.83009911e-02  8.26697228e-01  7.29516650e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.06327356
Centerline is valid?  [True, True]
Translation: X:110.26, Y:-18.79, Z:72.98
[[ 8.19872507e-01  1.13898904e-01 -5.61102586e-01  1.10259515e+02]
 [-1.09455416e-01  9.93118294e-01  4.16601165e-02 -1.87904570e+01]
 [ 5.61986284e-01  2.72597325e-02  8.26697238e-01  7.29848256e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.12327356
Centerline is valid?  [True, True]
Translation: X:110.31, Y:-18.80, Z:73.02
[[ 8.19939224e-01  1.13354942e-01 -5.61115252e-01  1.10308395e+02]
 [-1.08913395e-01  9.93185049e-01  4.14889255e-02 -1.88000391e+01]
 [ 5.61994254e-01  2.70945695e-02  8.26697250e-01  7.30184227e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.18327356
Centerline is valid?  [True, True]
Translation: X:110.36, Y:-18.81, Z:73.05
[[ 8.19994089e-01  1.12948294e-01 -5.61117080e-01  1.10357137e+02]
 [-1.08437715e-01  9.93238130e-01  4.14641922e-02 -1.88073355e+01]
 [ 5.62006189e-01  2.68458617e-02  8.26697250e-01  7.30518636e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.24327356
Centerline is valid?  [True, True]
Translation: X:110.41, Y:-18.82, Z:73.09
[[ 8.20282178e-01  1.10803946e-01 -5.61123546e-01  1.10405746e+02]
 [-1.05900260e-01  9.93515535e-01  4.13765315e-02 -1.88181721e+01]
 [ 5.62069643e-01  2.54826980e-02  8.26697254e-01  7.30853668e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.30327356
Centerline is valid?  [True, True]
Translation: X:110.46, Y:-18.82, Z:73.12
[[ 8.20924364e-01  1.05931560e-01 -5.61125381e-01  1.10456146e+02]
 [-1.00016382e-01  9.94126132e-01  4.13516271e-02 -1.88159136e+01]
 [ 5.62209847e-01  2.21751725e-02  8.26697254e-01  7.31194537e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.36327356
Centerline is valid?  [True, True]
Translation: X:110.50, Y:-18.82, Z:73.15
[[ 8.21322551e-01  1.02788467e-01 -5.61127257e-01  1.10504708e+02]
 [-9.62277254e-02  9.94501067e-01  4.13261671e-02 -1.88230407e+01]
 [ 5.62289509e-01  2.00538866e-02  8.26697254e-01  7.31527626e+01]
 [ 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 212.42327356
Centerline is valid?  [True, True]
Translation: X:110.55, Y:-18.84, Z:73.19
[[ 8.21373773e-01  1.02308363e-01 -5.61140022e-01  1.10552038e+02]
 [-9.57650843e-02  9.94552937e-01  4.11522144e-02 -1.88414627e+01]
 [ 5.62293673e-01  1.99362719e-02  8.26697267e-01  7.31857409e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.48327356
Centerline is valid?  [True, True]
Translation: X:110.60, Y:-18.85, Z:73.22
[[ 8.21757116e-01  9.91618141e-02 -5.61143633e-01  1.10599461e+02]
 [-9.19889382e-02  9.94911345e-01  4.11029331e-02 -1.88488332e+01]
 [ 5.62364008e-01  1.78423792e-02  8.26697268e-01  7.32182780e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.54327356
Centerline is valid?  [True, True]
Translation: X:110.65, Y:-18.84, Z:73.25
[[ 8.22560731e-01  9.21722363e-02 -5.61157841e-01  1.10649988e+02]
 [-8.36603694e-02  9.95654289e-01  4.09081831e-02 -1.88421416e+01]
 [ 5.62489810e-01  1.32972073e-02  8.26697283e-01  7.32521673e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.60327356
Centerline is valid?  [True, True]
Translation: X:110.70, Y:-18.85, Z:73.28
[[ 8.23287536e-01  8.54352650e-02 -5.61158132e-01  1.10697891e+02]
 [-7.55093789e-02  9.96305767e-01  4.09041862e-02 -1.88467167e+01]
 [ 5.62579743e-01  8.69679531e-03  8.26697283e-01  7.32849081e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.66327356
Centerline is valid?  [True, True]
Translation: X:110.75, Y:-18.85, Z:73.32
[[ 8.23835161e-01  7.99577611e-02 -5.61161638e-01  1.10746782e+02]
 [-6.89141587e-02  9.96785645e-01  4.08560384e-02 -1.88498331e+01]
 [ 5.62624623e-01  5.01334123e-03  8.26697284e-01  7.33182308e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.72327356
Centerline is valid?  [True, True]
Translation: X:110.79, Y:-18.85, Z:73.35
[[ 8.24520290e-01  7.24634743e-02 -5.61173178e-01  1.10794492e+02]
 [-5.99559545e-02  9.97371063e-01  4.06970117e-02 -1.88533278e+01]
 [ 5.62646936e-01  9.01616189e-05  8.26697295e-01  7.33507281e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.78327356
Centerline is valid?  [True, True]
Translation: X:110.84, Y:-18.85, Z:73.38
[[ 8.23169534e-01  8.64389474e-02 -5.61177536e-01  1.10843435e+02]
 [-7.69062070e-02  9.96209858e-01  4.06368458e-02 -1.88519466e+01]
 [ 5.62563200e-01  9.70702230e-03  8.26697296e-01  7.33838606e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.84327356
Centerline is valid?  [True, True]
Translation: X:110.89, Y:-18.85, Z:73.42
[[ 8.23383195e-01  8.43748533e-02 -5.61178224e-01  1.10893250e+02]
 [-7.44147743e-02  9.96399448e-01  4.06273474e-02 -1.88505972e+01]
 [ 5.62585599e-01  8.30807575e-03  8.26697296e-01  7.34176058e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.90327356
Centerline is valid?  [True, True]
Translation: X:110.94, Y:-18.85, Z:73.45
[[ 8.23145895e-01  8.66540402e-02 -5.61179039e-01  1.10942466e+02]
 [-7.71806645e-02  9.96189479e-01  4.06160858e-02 -1.88498152e+01]
 [ 5.62560202e-01  9.87920681e-03  8.26697296e-01  7.34509724e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.96327356
Centerline is valid?  [True, True]
Translation: X:110.99, Y:-18.85, Z:73.48
[[ 8.22858205e-01  8.92654505e-02 -5.61191637e-01  1.10990910e+02]
 [-8.04602832e-02  9.95937065e-01  4.04413841e-02 -1.88452680e+01]
 [ 5.62521570e-01  1.18761133e-02  8.26697309e-01  7.34835707e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.02327356
Centerline is valid?  [True, True]
Translation: X:111.04, Y:-18.84, Z:73.52
[[ 8.22393283e-01  9.34305709e-02 -5.61195168e-01  1.11041176e+02]
 [-8.55352867e-02  9.95516034e-01  4.03923402e-02 -1.88412148e+01]
 [ 5.62452667e-01  1.47836003e-02  8.26697310e-01  7.35174777e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.08327356
Centerline is valid?  [True, True]
Translation: X:111.09, Y:-18.85, Z:73.55
[[ 8.23143694e-01  8.65666295e-02 -5.61195757e-01  1.11089505e+02]
 [-7.72329539e-02  9.96194856e-01  4.03841473e-02 -1.88508357e+01]
 [ 5.62556246e-01  1.01008499e-02  8.26697310e-01  7.35507530e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.14327356
Centerline is valid?  [True, True]
Translation: X:111.14, Y:-18.85, Z:73.58
[[ 8.22714839e-01  9.05381295e-02 -5.61197951e-01  1.11139284e+02]
 [-8.20605086e-02  9.95810050e-01  4.03536421e-02 -1.88483699e+01]
 [ 5.62500103e-01  1.28526491e-02  8.26697311e-01  7.35844136e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.20327355999999
Centerline is valid?  [True, True]
Translation: X:111.19, Y:-18.84, Z:73.62
[[ 8.22088922e-01  9.60509130e-02 -5.61198740e-01  1.11189301e+02]
 [-8.87412628e-02  9.95237388e-01  4.03426613e-02 -1.88433953e+01]
 [ 5.62400918e-01  1.66362300e-02  8.26697311e-01  7.36181208e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.26327356
Centerline is valid?  [True, True]
Translation: X:111.24, Y:-18.84, Z:73.65
[[ 8.21514906e-01  1.00833112e-01 -5.61200448e-01  1.11238960e+02]
 [-9.45473691e-02  9.94703565e-01  4.03188964e-02 -1.88445031e+01]
 [ 5.62293566e-01  1.99374515e-02  8.26697311e-01  7.36518778e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.32327356
Centerline is valid?  [True, True]
Translation: X:111.29, Y:-18.84, Z:73.69
[[ 8.21656657e-01  9.96670716e-02 -5.61201223e-01  1.11288763e+02]
 [-9.31428956e-02  9.94836498e-01  4.03081092e-02 -1.88409244e+01]
 [ 5.62320850e-01  1.91524807e-02  8.26697311e-01  7.36855085e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.38327356
Centerline is valid?  [True, True]
Translation: X:111.34, Y:-18.84, Z:73.72
[[ 8.21702097e-01  9.92867326e-02 -5.61202111e-01  1.11337816e+02]
 [-9.26908305e-02  9.94879220e-01  4.02957453e-02 -1.88432354e+01]
 [ 5.62329151e-01  1.89071913e-02  8.26697311e-01  7.37189166e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.44327356
Centerline is valid?  [True, True]
Translation: X:111.39, Y:-18.84, Z:73.75
[[ 8.22007370e-01  9.66878741e-02 -5.61208819e-01  1.11386188e+02]
 [-8.96082386e-02  9.95165389e-01  4.02021360e-02 -1.88447368e+01]
 [ 5.62382652e-01  1.72424816e-02  8.26697315e-01  7.37517965e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.50327356
Centerline is valid?  [True, True]
Translation: X:111.44, Y:-18.85, Z:73.79
[[ 8.22319790e-01  9.39197364e-02 -5.61221210e-01  1.11435145e+02]
 [-8.63755371e-02  9.95458178e-01  4.00285231e-02 -1.88483247e+01]
 [ 5.62431712e-01  1.55595367e-02  8.26697327e-01  7.37851497e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.56327356
Centerline is valid?  [True, True]
Translation: X:111.48, Y:-18.85, Z:73.82
[[ 8.22399688e-01  9.32071860e-02 -5.61222927e-01  1.11483844e+02]
 [-8.55293950e-02  9.95532203e-01  4.00044376e-02 -1.88507460e+01]
 [ 5.62444198e-01  1.51014204e-02  8.26697327e-01  7.38183196e+01]
 [ 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 213.62327356
Centerline is valid?  [True, True]
Translation: X:111.53, Y:-18.85, Z:73.85
[[ 8.22827085e-01  8.92805688e-02 -5.61234860e-01  1.11532171e+02]
 [-8.08909880e-02  9.95926557e-01  3.98364307e-02 -1.88547467e+01]
 [ 5.62505321e-01  1.26203481e-02  8.26697339e-01  7.38512669e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.68327356
Centerline is valid?  [True, True]
Translation: X:111.58, Y:-18.86, Z:73.88
[[ 8.22894187e-01  8.86372306e-02 -5.61238450e-01  1.11579809e+02]
 [-8.01468317e-02  9.95988743e-01  3.97858020e-02 -1.88593654e+01]
 [ 5.62513681e-01  1.22419784e-02  8.26697340e-01  7.38838138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.74327356
Centerline is valid?  [True, True]
Translation: X:111.63, Y:-18.87, Z:73.92
[[ 8.23195293e-01  8.57669391e-02 -5.61242855e-01  1.11628128e+02]
 [-7.67153507e-02  9.96261408e-01  3.97235807e-02 -1.88654385e+01]
 [ 5.62551567e-01  1.03556778e-02  8.26697342e-01  7.39168890e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.80327356
Centerline is valid?  [True, True]
Translation: X:111.68, Y:-18.87, Z:73.95
[[ 8.23444567e-01  8.33161746e-02 -5.61246345e-01  1.11676047e+02]
 [-7.37831022e-02  9.96484827e-01  3.96742168e-02 -1.88701694e+01]
 [ 5.62578971e-01  8.74097812e-03  8.26697343e-01  7.39496322e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.86327356
Centerline is valid?  [True, True]
Translation: X:111.72, Y:-18.87, Z:73.98
[[ 8.23004093e-01  8.75328227e-02 -5.61250628e-01  1.11724966e+02]
 [-7.89275535e-02  9.96092972e-01  3.96135501e-02 -1.88736500e+01]
 [ 5.62525292e-01  1.16960251e-02  8.26697344e-01  7.39829908e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.92327356
Centerline is valid?  [True, True]
Translation: X:111.77, Y:-18.88, Z:74.02
[[ 8.22239486e-01  9.43809640e-02 -5.61261491e-01  1.11774803e+02]
 [-8.73222027e-02  9.95398317e-01  3.94591292e-02 -1.88790775e+01]
 [ 5.62402935e-01  1.65657356e-02  8.26697354e-01  7.40170343e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.98327356
Centerline is valid?  [True, True]
Translation: X:111.82, Y:-18.88, Z:74.05
[[ 8.20998456e-01  1.04628265e-01 -5.61261491e-01  1.11823984e+02]
 [-9.97296206e-02  9.94231854e-01  3.94591292e-02 -1.88839310e+01]
 [ 5.62152593e-01  2.35785115e-02  8.26697354e-01  7.40506556e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.04327356
Centerline is valid?  [True, True]
Translation: X:111.87, Y:-18.89, Z:74.08
[[ 8.20667257e-01  1.07191499e-01 -5.61262182e-01  1.11872095e+02]
 [-1.02840539e-01  9.93915276e-01  3.94493104e-02 -1.88875670e+01]
 [ 5.62075687e-01  2.53457477e-02  8.26697354e-01  7.40834897e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.10327356
Centerline is valid?  [True, True]
Translation: X:111.92, Y:-18.89, Z:74.12
[[ 8.20290563e-01  1.10014383e-01 -5.61266628e-01  1.11920776e+02]
 [-1.06302754e-01  9.93553456e-01  3.93859605e-02 -1.88930514e+01]
 [ 5.61981420e-01  2.73562563e-02  8.26697356e-01  7.41167808e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.16327356
Centerline is valid?  [True, True]
Translation: X:111.97, Y:-18.90, Z:74.15
[[ 8.20467346e-01  1.08681229e-01 -5.61267962e-01  1.11969656e+02]
 [-1.04701024e-01  9.93724277e-01  3.93669433e-02 -1.88963325e+01]
 [ 5.62024048e-01  2.64660392e-02  8.26697356e-01  7.41501162e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.22327356
Centerline is valid?  [True, True]
Translation: X:112.02, Y:-18.91, Z:74.18
[[ 8.20565751e-01  1.07872256e-01 -5.61280166e-01  1.12017902e+02]
 [-1.03840437e-01  9.93821477e-01  3.91922968e-02 -1.89064690e+01]
 [ 5.62040045e-01  2.61237211e-02  8.26697369e-01  7.41832946e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.28327356
Centerline is valid?  [True, True]
Translation: X:112.07, Y:-18.92, Z:74.22
[[ 8.20959344e-01  1.04816012e-01 -5.61283671e-01  1.12065157e+02]
 [-1.00173372e-01  9.94199777e-01  3.91420440e-02 -1.89176337e+01]
 [ 5.62130813e-01  2.40916512e-02  8.26697370e-01  7.42158892e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.34327356
Centerline is valid?  [True, True]
Translation: X:112.11, Y:-18.92, Z:74.25
[[ 8.21297166e-01  1.02111577e-01 -5.61287975e-01  1.12113371e+02]
 [-9.69405553e-02  9.94522631e-01  3.90802440e-02 -1.89236253e+01]
 [ 5.62204139e-01  2.23150744e-02  8.26697371e-01  7.42488858e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.40327356
Centerline is valid?  [True, True]
Translation: X:112.16, Y:-18.93, Z:74.28
[[ 8.21172077e-01  1.03098987e-01 -5.61290494e-01  1.12160739e+02]
 [-9.81609498e-02  9.94404340e-01  3.90440403e-02 -1.89328963e+01]
 [ 5.62175104e-01  2.30349323e-02  8.26697372e-01  7.42814716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.46327356
Centerline is valid?  [True, True]
Translation: X:112.21, Y:-18.94, Z:74.32
[[ 8.20786593e-01  1.06052078e-01 -5.61304129e-01  1.12210006e+02]
 [-1.01871541e-01  9.94038775e-01  3.88471808e-02 -1.89414525e+01]
 [ 5.62077893e-01  2.52956714e-02  8.26697388e-01  7.43152525e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.52327356
Centerline is valid?  [True, True]
Translation: X:112.26, Y:-18.95, Z:74.35
[[ 8.20004670e-01  1.11934334e-01 -5.61304771e-01  1.12259741e+02]
 [-1.09002439e-01  9.93282480e-01  3.88379088e-02 -1.89494985e+01]
 [ 5.61881490e-01  2.93363225e-02  8.26697388e-01  7.43493958e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.58327356
Centerline is valid?  [True, True]
Translation: X:112.31, Y:-18.96, Z:74.38
[[ 8.19217104e-01  1.17557282e-01 -5.61305284e-01  1.12308928e+02]
 [-1.15819285e-01  9.92511001e-01  3.88304837e-02 -1.89559305e+01]
 [ 5.61666476e-01  3.31993804e-02  8.26697388e-01  7.43830921e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.64327356
Centerline is valid?  [True, True]
Translation: X:112.36, Y:-18.97, Z:74.42
[[ 8.18568731e-01  1.21986643e-01 -5.61306059e-01  1.12356844e+02]
 [-1.21193658e-01  9.91869528e-01  3.88192757e-02 -1.89655124e+01]
 [ 5.61477809e-01  3.62504895e-02  8.26697388e-01  7.44160716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.70327355999999
Centerline is valid?  [True, True]
Translation: X:112.41, Y:-18.97, Z:74.45
[[ 8.18444094e-01  1.22808375e-01 -5.61308620e-01  1.12406597e+02]
 [-1.22214682e-01  9.91745689e-01  3.87822153e-02 -1.89734492e+01]
 [ 5.61438185e-01  3.68590794e-02  8.26697389e-01  7.44502105e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.76327356
Centerline is valid?  [True, True]
Translation: X:112.46, Y:-18.98, Z:74.48
[[ 8.15534595e-01  1.40840181e-01 -5.61308620e-01  1.12456201e+02]
 [-1.44071114e-01  9.88807086e-01  3.87822153e-02 -1.89823829e+01]
 [ 5.60488036e-01  4.92401199e-02  8.26697389e-01  7.44843097e+01]
 [ 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 214.82327356
Centerline is valid?  [True, True]
Translation: X:112.50, Y:-18.99, Z:74.52
[[ 8.18490582e-01  1.22494297e-01 -5.61309465e-01  1.12504850e+02]
 [-1.21842447e-01  9.91791967e-01  3.87699935e-02 -1.89917154e+01]
 [ 5.61451321e-01  3.66584441e-02  8.26697389e-01  7.45177737e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.88327356
Centerline is valid?  [True, True]
Translation: X:112.55, Y:-19.00, Z:74.55
[[ 8.15590238e-01  1.40510136e-01 -5.61310489e-01  1.12554126e+02]
 [-1.43689432e-01  9.88863684e-01  3.87551514e-02 -1.90001931e+01]
 [ 5.60505050e-01  4.90460621e-02  8.26697389e-01  7.45516226e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.94327356
Centerline is valid?  [True, True]
Translation: X:112.60, Y:-19.01, Z:74.59
[[ 8.18754832e-01  1.20705734e-01 -5.61311545e-01  1.12603244e+02]
 [-1.19695830e-01  9.92054501e-01  3.87398541e-02 -1.90117450e+01]
 [ 5.61527767e-01  3.54682085e-02  8.26697389e-01  7.45855081e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.00327356
Centerline is valid?  [True, True]
Translation: X:112.65, Y:-19.02, Z:74.62
[[ 8.19399750e-01  1.16242374e-01 -5.61312533e-01  1.12652040e+02]
 [-1.14297917e-01  9.92691452e-01  3.87255318e-02 -1.90216986e+01]
 [ 5.61711702e-01  3.24251624e-02  8.26697389e-01  7.46190994e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.06327356
Centerline is valid?  [True, True]
Translation: X:112.70, Y:-19.03, Z:74.65
[[ 8.19797049e-01  1.13398821e-01 -5.61314088e-01  1.12700229e+02]
 [-1.10868543e-01  9.93081187e-01  3.87029866e-02 -1.90293396e+01]
 [ 5.61819334e-01  3.05034810e-02  8.26697389e-01  7.46521673e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.12327356
Centerline is valid?  [True, True]
Translation: X:112.75, Y:-19.04, Z:74.69
[[ 8.20211630e-01  1.10350036e-01 -5.61316089e-01  1.12748689e+02]
 [-1.07195324e-01  9.93485525e-01  3.86739536e-02 -1.90386127e+01]
 [ 5.61927081e-01  2.84496335e-02  8.26697390e-01  7.46854919e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.18327356
Centerline is valid?  [True, True]
Translation: X:112.80, Y:-19.04, Z:74.72
[[ 8.19866294e-01  1.12834059e-01 -5.61326764e-01  1.12797509e+02]
 [-1.10310358e-01  9.93150518e-01  3.85184894e-02 -1.90407939e+01]
 [ 5.61828163e-01  3.03401453e-02  8.26697400e-01  7.47186734e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.24327356
Centerline is valid?  [True, True]
Translation: X:112.85, Y:-19.05, Z:74.75
[[ 8.19441068e-01  1.15865003e-01 -5.61330240e-01  1.12845755e+02]
 [-1.14016717e-01  9.92733811e-01  3.84677741e-02 -1.90534310e+01]
 [ 5.61708577e-01  3.24789574e-02  8.26697401e-01  7.47519982e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.30327356
Centerline is valid?  [True, True]
Translation: X:112.90, Y:-19.06, Z:74.79
[[ 8.18403605e-01  1.22968364e-01 -5.61332629e-01  1.12895177e+02]
 [-1.22647093e-01  9.91705906e-01  3.84328799e-02 -1.90619306e+01]
 [ 5.61402912e-01  3.73922080e-02  8.26697401e-01  7.47859353e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.36327356
Centerline is valid?  [True, True]
Translation: X:112.94, Y:-19.07, Z:74.82
[[ 8.18285625e-01  1.23748124e-01 -5.61333268e-01  1.12944025e+02]
 [-1.23598352e-01  9.91588159e-01  3.84235548e-02 -1.90695088e+01]
 [ 5.61366264e-01  3.79384240e-02  8.26697401e-01  7.48194512e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.42327356
Centerline is valid?  [True, True]
Translation: X:112.99, Y:-19.07, Z:74.85
[[ 8.18729402e-01  1.20773333e-01 -5.61334097e-01  1.12994051e+02]
 [-1.20001987e-01  9.92030284e-01  3.84114366e-02 -1.90680651e+01]
 [ 5.61499501e-01  3.59126346e-02  8.26697401e-01  7.48533466e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.48327356
Centerline is valid?  [True, True]
Translation: X:113.04, Y:-19.07, Z:74.89
[[ 8.19533829e-01  1.15184272e-01 -5.61334916e-01  1.13043472e+02]
 [-1.13238670e-01  9.92825506e-01  3.83994682e-02 -1.90739974e+01]
 [ 5.61730636e-01  3.20951558e-02  8.26697401e-01  7.48871743e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.54327356
Centerline is valid?  [True, True]
Translation: X:113.09, Y:-19.08, Z:74.92
[[ 8.20013352e-01  1.11713283e-01 -5.61336125e-01  1.13092208e+02]
 [-1.09046041e-01  9.93295424e-01  3.83817859e-02 -1.90792654e+01]
 [ 5.61860359e-01  2.97379050e-02  8.26697401e-01  7.49205025e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.60327356
Centerline is valid?  [True, True]
Translation: X:113.14, Y:-19.11, Z:74.95
[[ 8.19683619e-01  1.14055372e-01 -5.61346717e-01  1.13139480e+02]
 [-1.11989277e-01  9.92973891e-01  3.82263398e-02 -1.91050092e+01]
 [ 5.61762553e-01  3.15313083e-02  8.26697412e-01  7.49537197e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.66327356
Centerline is valid?  [True, True]
Translation: X:113.19, Y:-19.09, Z:74.99
[[ 8.20563067e-01  1.07528449e-01 -5.61350056e-01  1.13189929e+02]
 [-1.04116816e-01  9.93832071e-01  3.81772600e-02 -1.90928659e+01]
 [ 5.61992830e-01  2.71191310e-02  8.26697413e-01  7.49873911e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.72327356
Centerline is valid?  [True, True]
Translation: X:113.24, Y:-19.12, Z:75.02
[[ 8.20117618e-01  1.10871263e-01 -5.61350743e-01  1.13238073e+02]
 [-1.08172610e-01  9.93399192e-01  3.81671531e-02 -1.91184198e+01]
 [ 5.61877015e-01  2.94212205e-02  8.26697413e-01  7.50212571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.78327356
Centerline is valid?  [True, True]
Translation: X:113.29, Y:-19.13, Z:75.05
[[ 8.20268773e-01  1.09743025e-01 -5.61351591e-01  1.13285300e+02]
 [-1.06814529e-01  9.93546615e-01  3.81546773e-02 -1.91257496e+01]
 [ 5.61916183e-01  2.86634155e-02  8.26697413e-01  7.50536578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.84327356
Centerline is valid?  [True, True]
Translation: X:113.33, Y:-19.13, Z:75.09
[[ 8.20712928e-01  1.06338156e-01 -5.61357716e-01  1.13334728e+02]
 [-1.02752251e-01  9.93978409e-01  3.80643750e-02 -1.91313334e+01]
 [ 5.62025145e-01  2.64408442e-02  8.26697416e-01  7.50874327e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.90327356
Centerline is valid?  [True, True]
Translation: X:113.38, Y:-19.14, Z:75.12
[[ 8.20690769e-01  1.06506237e-01 -5.61358248e-01  1.13384374e+02]
 [-1.02961168e-01  9.93957091e-01  3.80565349e-02 -1.91375616e+01]
 [ 5.62019269e-01  2.65654539e-02  8.26697416e-01  7.51214267e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.96327356
Centerline is valid?  [True, True]
Translation: X:113.43, Y:-19.14, Z:75.15
[[ 8.20527954e-01  1.07747276e-01 -5.61359422e-01  1.13432720e+02]
 [-1.04476071e-01  9.93799662e-01  3.80392120e-02 -1.91421223e+01]
 [ 5.61977425e-01  2.74363899e-02  8.26697416e-01  7.51544569e+01]
 [ 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 216.02327356
Centerline is valid?  [True, True]
Translation: X:113.48, Y:-19.15, Z:75.19
[[ 8.20161523e-01  1.10484930e-01 -5.61362767e-01  1.13481425e+02]
 [-1.07825717e-01  9.93443703e-01  3.79897905e-02 -1.91462784e+01]
 [ 5.61879605e-01  2.93715783e-02  8.26697417e-01  7.51876952e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.08327356
Centerline is valid?  [True, True]
Translation: X:113.53, Y:-19.13, Z:75.22
[[ 8.20135526e-01  1.10673831e-01 -5.61363539e-01  1.13530537e+02]
 [-1.08062315e-01  9.93418431e-01  3.79783836e-02 -1.91321287e+01]
 [ 5.61872099e-01  2.95148219e-02  8.26697417e-01  7.52203883e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.14327356
Centerline is valid?  [True, True]
Translation: X:113.58, Y:-19.16, Z:75.25
[[ 8.19436763e-01  1.15714514e-01 -5.61367565e-01  1.13579048e+02]
 [-1.14209199e-01  9.92732806e-01  3.79187872e-02 -1.91550451e+01]
 [ 5.61675752e-01  3.30412920e-02  8.26697419e-01  7.52543517e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.20327355999999
Centerline is valid?  [True, True]
Translation: X:113.63, Y:-19.14, Z:75.29
[[ 8.19544657e-01  1.14945046e-01 -5.61368143e-01  1.13628510e+02]
 [-1.13282853e-01  9.92839267e-01  3.79102357e-02 -1.91406783e+01]
 [ 5.61705929e-01  3.25242535e-02  8.26697419e-01  7.52872754e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.26327356
Centerline is valid?  [True, True]
Translation: X:113.68, Y:-19.15, Z:75.32
[[ 8.19493540e-01  1.15292992e-01 -5.61371413e-01  1.13676049e+02]
 [-1.13737470e-01  9.92789139e-01  3.78617569e-02 -1.91469825e+01]
 [ 5.61688637e-01  3.28214992e-02  8.26697420e-01  7.53198219e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.32327356
Centerline is valid?  [True, True]
Translation: X:113.73, Y:-19.15, Z:75.35
[[ 8.18860587e-01  1.19687018e-01 -5.61375415e-01  1.13725351e+02]
 [-1.19101620e-01  9.92162177e-01  3.78023495e-02 -1.91521017e+01]
 [ 5.61499904e-01  3.59058674e-02  8.26697421e-01  7.53535053e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.38327356
Centerline is valid?  [True, True]
Translation: X:113.77, Y:-19.18, Z:75.39
[[ 8.19347831e-01  1.16301114e-01 -5.61376151e-01  1.13773409e+02]
 [-1.15006819e-01  9.92645577e-01  3.77914140e-02 -1.91795099e+01]
 [ 5.61642736e-01  3.35977723e-02  8.26697421e-01  7.53873866e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.44327356
Centerline is valid?  [True, True]
Translation: X:113.82, Y:-19.17, Z:75.42
[[ 8.19788741e-01  1.13147007e-01 -5.61377034e-01  1.13823744e+02]
 [-1.11194751e-01  9.93080323e-01  3.77782847e-02 -1.91689467e+01]
 [ 5.61766987e-01  3.14519673e-02  8.26697421e-01  7.54210777e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.50327356
Centerline is valid?  [True, True]
Translation: X:113.87, Y:-19.19, Z:75.45
[[ 8.19562621e-01  1.14769418e-01 -5.61377851e-01  1.13871242e+02]
 [-1.13168449e-01  9.92857804e-01  3.77661521e-02 -1.91926690e+01]
 [ 5.61702780e-01  3.25785342e-02  8.26697421e-01  7.54544089e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.56327356
Centerline is valid?  [True, True]
Translation: X:113.92, Y:-19.20, Z:75.49
[[ 8.19367684e-01  1.16141199e-01 -5.61380281e-01  1.13920724e+02]
 [-1.14855014e-01  9.92665489e-01  3.77299917e-02 -1.91982525e+01]
 [ 5.61644838e-01  3.35626044e-02  8.26697422e-01  7.54882457e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.62327356
Centerline is valid?  [True, True]
Translation: X:113.97, Y:-19.20, Z:75.52
[[ 8.18852353e-01  1.19716636e-01 -5.61381110e-01  1.13969191e+02]
 [-1.19195325e-01  9.92154147e-01  3.77176643e-02 -1.92034812e+01]
 [ 5.61492028e-01  3.60288056e-02  8.26697422e-01  7.55213899e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.68327356
Centerline is valid?  [True, True]
Translation: X:114.02, Y:-19.21, Z:75.55
[[ 8.19032086e-01  1.18477853e-01 -5.61381725e-01  1.14017868e+02]
 [-1.17700649e-01  9.92332921e-01  3.77085060e-02 -1.92096976e+01]
 [ 5.61545190e-01  3.51905170e-02  8.26697422e-01  7.55547232e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.74327356
Centerline is valid?  [True, True]
Translation: X:114.07, Y:-19.22, Z:75.59
[[ 8.19392413e-01  1.15905125e-01 -5.61392977e-01  1.14066842e+02]
 [-1.14698472e-01  9.92690779e-01  3.75403540e-02 -1.92158099e+01]
 [ 5.61640751e-01  3.36306355e-02  8.26697434e-01  7.55881663e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.80327356
Centerline is valid?  [True, True]
Translation: X:114.12, Y:-19.22, Z:75.62
[[ 8.19740476e-01  1.13409384e-01 -5.61394571e-01  1.14115077e+02]
 [-1.11691290e-01  9.93034525e-01  3.75165048e-02 -1.92220438e+01]
 [ 5.61738915e-01  3.19490864e-02  8.26697434e-01  7.56211913e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.86327356
Centerline is valid?  [True, True]
Translation: X:114.16, Y:-19.21, Z:75.65
[[ 8.19465962e-01  1.15360821e-01 -5.61397737e-01  1.14164797e+02]
 [-1.14087708e-01  9.92763850e-01  3.74690836e-02 -1.92081329e+01]
 [ 5.61657843e-01  3.33439427e-02  8.26697435e-01  7.56542984e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.92327356
Centerline is valid?  [True, True]
Translation: X:114.21, Y:-19.23, Z:75.69
[[ 8.20557679e-01  1.07262340e-01 -5.61408840e-01  1.14212694e+02]
 [-1.04391802e-01  9.93836458e-01  3.73021002e-02 -1.92339654e+01]
 [ 5.61949683e-01  2.79979557e-02  8.26697446e-01  7.56879023e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.98327356
Centerline is valid?  [True, True]
Translation: X:114.26, Y:-19.24, Z:75.72
[[ 8.21165397e-01  1.02499068e-01 -5.61410128e-01  1.14261785e+02]
 [-9.86363243e-02  9.94424897e-01  3.72827053e-02 -1.92427826e+01]
 [ 5.62101651e-01  2.47601639e-02  8.26697447e-01  7.57216267e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.04327356
Centerline is valid?  [True, True]
Translation: X:114.31, Y:-19.25, Z:75.75
[[ 8.21236108e-01  1.01925101e-01 -5.61411194e-01  1.14310558e+02]
 [-9.79522182e-02  9.94493117e-01  3.72666470e-02 -1.92481542e+01]
 [ 5.62117975e-01  2.43867556e-02  8.26697447e-01  7.57549813e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.10327356
Centerline is valid?  [True, True]
Translation: X:114.36, Y:-19.25, Z:75.79
[[ 8.21157110e-01  1.02497332e-01 -5.61422566e-01  1.14359123e+02]
 [-9.87625392e-02  9.94419402e-01  3.70946520e-02 -1.92507012e+01]
 [ 5.62091596e-01  2.49869810e-02  8.26697459e-01  7.57879786e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.16327356
Centerline is valid?  [True, True]
Translation: X:114.41, Y:-19.23, Z:75.82
[[ 8.20436070e-01  1.08115635e-01 -5.61422892e-01  1.14410064e+02]
 [-1.05570254e-01  9.93719918e-01  3.70897157e-02 -1.92346107e+01]
 [ 5.61907089e-01  2.88398167e-02  8.26697459e-01  7.58218486e+01]
 [ 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 217.22327356
Centerline is valid?  [True, True]
Translation: X:114.46, Y:-19.24, Z:75.85
[[ 8.20398987e-01  1.08393118e-01 -5.61423579e-01  1.14458277e+02]
 [-1.05913438e-01  9.93683786e-01  3.70793251e-02 -1.92371322e+01]
 [ 5.61896651e-01  2.90424605e-02  8.26697459e-01  7.58546987e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.28327356
Centerline is valid?  [True, True]
Translation: X:114.51, Y:-19.25, Z:75.89
[[ 8.21598161e-01  9.88619480e-02 -5.61429227e-01  1.14507165e+02]
 [-9.44292650e-02  9.94844000e-01  3.69936306e-02 -1.92463832e+01]
 [ 5.62191761e-01  2.26214504e-02  8.26697462e-01  7.58882664e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.34327356
Centerline is valid?  [True, True]
Translation: X:114.56, Y:-19.24, Z:75.92
[[ 8.20419566e-01  1.08201073e-01 -5.61430551e-01  1.14557404e+02]
 [-1.05753025e-01  9.93704813e-01  3.69735415e-02 -1.92422214e+01]
 [ 5.61896817e-01  2.90391624e-02  8.26697462e-01  7.59221882e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.40327356
Centerline is valid?  [True, True]
Translation: X:114.61, Y:-19.24, Z:75.96
[[ 8.20436243e-01  1.08070490e-01 -5.61431331e-01  1.14606236e+02]
 [-1.05602956e-01  9.93721213e-01  3.69616804e-02 -1.92438915e+01]
 [ 5.61900691e-01  2.89641062e-02  8.26697462e-01  7.59554193e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.46327356
Centerline is valid?  [True, True]
Translation: X:114.65, Y:-19.25, Z:75.99
[[ 8.20370302e-01  1.08511778e-01 -5.61442572e-01  1.14654864e+02]
 [-1.06254439e-01  9.93658125e-01  3.67902708e-02 -1.92459758e+01]
 [ 5.61874151e-01  2.94741199e-02  8.26697475e-01  7.59884444e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.52327356
Centerline is valid?  [True, True]
Translation: X:114.70, Y:-19.25, Z:76.02
[[ 8.20398281e-01  1.08287865e-01 -5.61444921e-01  1.14702547e+02]
 [-1.06007712e-01  9.93685805e-01  3.67543981e-02 -1.92471709e+01]
 [ 5.61879903e-01  2.93642463e-02  8.26697475e-01  7.60208617e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.58327356
Centerline is valid?  [True, True]
Translation: X:114.75, Y:-19.25, Z:76.05
[[ 8.20468951e-01  1.07731178e-01 -5.61448746e-01  1.14750548e+02]
 [-1.05373374e-01  9.93755434e-01  3.66958916e-02 -1.92492206e+01]
 [ 5.61896034e-01  2.90539090e-02  8.26697477e-01  7.60535205e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.64327356
Centerline is valid?  [True, True]
Translation: X:114.80, Y:-19.25, Z:76.09
[[ 8.20536117e-01  1.07155257e-01 -5.61460802e-01  1.14799187e+02]
 [-1.04802251e-01  9.93822651e-01  3.65106341e-02 -1.92516598e+01]
 [ 5.61904769e-01  2.88840618e-02  8.26697491e-01  7.60865628e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.70327355999999
Centerline is valid?  [True, True]
Translation: X:114.85, Y:-19.27, Z:76.12
[[ 8.21298781e-01  1.01082168e-01 -5.61471913e-01  1.14847523e+02]
 [-9.75643245e-02  9.94565570e-01  3.63390981e-02 -1.92699211e+01]
 [ 5.62093867e-01  2.49343709e-02  8.26697503e-01  7.61201018e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.76327356
Centerline is valid?  [True, True]
Translation: X:114.90, Y:-19.25, Z:76.15
[[ 8.20702776e-01  1.05805603e-01 -5.61473176e-01  1.14898234e+02]
 [-1.03297985e-01  9.93987130e-01  3.63195697e-02 -1.92519022e+01]
 [ 5.61939925e-01  2.81914761e-02  8.26697503e-01  7.61537415e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.82327356
Centerline is valid?  [True, True]
Translation: X:114.95, Y:-19.25, Z:76.19
[[ 8.20858082e-01  1.04587871e-01 -5.61474297e-01  1.14946942e+02]
 [-1.01835002e-01  9.94138713e-01  3.63022252e-02 -1.92537311e+01]
 [ 5.61980108e-01  2.73787614e-02  8.26697503e-01  7.61868937e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.88327356
Centerline is valid?  [True, True]
Translation: X:115.00, Y:-19.25, Z:76.22
[[ 8.20958814e-01  1.03734383e-01 -5.61485354e-01  1.14995929e+02]
 [-1.00918519e-01  9.94238421e-01  3.61305269e-02 -1.92546306e+01]
 [ 5.61998290e-01  2.70025957e-02  8.26697516e-01  7.62201141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.94327356
Centerline is valid?  [True, True]
Translation: X:115.04, Y:-19.27, Z:76.25
[[ 8.21591556e-01  9.85347557e-02 -5.61496409e-01  1.15043426e+02]
 [-9.47395798e-02  9.94852467e-01  3.59580325e-02 -1.92712388e+01]
 [ 5.62149204e-01  2.36531180e-02  8.26697528e-01  7.62530061e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.00327356
Centerline is valid?  [True, True]
Translation: X:115.09, Y:-19.28, Z:76.29
[[ 8.21823981e-01  9.65656741e-02 -5.61498366e-01  1.15092237e+02]
 [-9.23761828e-02  9.95075806e-01  3.59274486e-02 -1.92750596e+01]
 [ 5.62202798e-01  2.23430369e-02  8.26697528e-01  7.62863087e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.06327356
Centerline is valid?  [True, True]
Translation: X:115.14, Y:-19.28, Z:76.32
[[ 8.21438971e-01  9.97267502e-02 -5.61509209e-01  1.15140914e+02]
 [-9.63199158e-02  9.94707941e-01  3.57573082e-02 -1.92766986e+01]
 [ 5.62103630e-01  2.47120732e-02  8.26697540e-01  7.63193498e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.12327356
Centerline is valid?  [True, True]
Translation: X:115.19, Y:-19.28, Z:76.35
[[ 8.21025718e-01  1.03065857e-01 -5.61510641e-01  1.15189572e+02]
 [-1.00378902e-01  9.94307346e-01  3.57348139e-02 -1.92770488e+01]
 [ 5.61997194e-01  2.70246204e-02  8.26697540e-01  7.63524024e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.18327356
Centerline is valid?  [True, True]
Translation: X:115.24, Y:-19.26, Z:76.39
[[ 8.20645541e-01  1.06038738e-01 -5.61512852e-01  1.15238728e+02]
 [-1.04003112e-01  9.93936044e-01  3.57000450e-02 -1.92644878e+01]
 [ 5.61893450e-01  2.91020013e-02  8.26697541e-01  7.63852291e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.24327356
Centerline is valid?  [True, True]
Translation: X:115.29, Y:-19.28, Z:76.42
[[ 8.20326685e-01  1.08459040e-01 -5.61516488e-01  1.15287744e+02]
 [-1.06973686e-01  9.93622777e-01  3.56427716e-02 -1.92758547e+01]
 [ 5.61801353e-01  3.08287715e-02  8.26697542e-01  7.64189826e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.30327356
Centerline is valid?  [True, True]
Translation: X:115.34, Y:-19.27, Z:76.45
[[ 8.20381248e-01  1.08043197e-01 -5.61516942e-01  1.15336825e+02]
 [-1.06474876e-01  9.93676609e-01  3.56356230e-02 -1.92748132e+01]
 [ 5.61816437e-01  3.05526501e-02  8.26697542e-01  7.64522710e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.36327356
Centerline is valid?  [True, True]
Translation: X:115.39, Y:-19.28, Z:76.49
[[ 8.20495879e-01  1.07112951e-01 -5.61527674e-01  1.15385391e+02]
 [-1.05464014e-01  9.93790479e-01  3.54658245e-02 -1.92779702e+01]
 [ 5.61839706e-01  3.01213998e-02  8.26697554e-01  7.64853054e+01]
 [ 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 218.42327356
Centerline is valid?  [True, True]
Translation: X:115.44, Y:-19.28, Z:76.52
[[ 8.20506153e-01  1.07022299e-01 -5.61529946e-01  1.15435285e+02]
 [-1.05378777e-01  9.93800805e-01  3.54298311e-02 -1.92796486e+01]
 [ 5.61840694e-01  3.01029448e-02  8.26697555e-01  7.65192493e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.48327356
Centerline is valid?  [True, True]
Translation: X:115.48, Y:-19.28, Z:76.55
[[ 8.20822432e-01  1.04564853e-01 -5.61530699e-01  1.15483698e+02]
 [-1.02410571e-01  9.94111487e-01  3.54178808e-02 -1.92791189e+01]
 [ 5.61927584e-01  2.84348886e-02  8.26697555e-01  7.65521041e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.54327356
Centerline is valid?  [True, True]
Translation: X:115.53, Y:-19.28, Z:76.58
[[ 8.20610499e-01  1.06160098e-01 -5.61541132e-01  1.15531832e+02]
 [-1.04455963e-01  9.93904553e-01  3.52518169e-02 -1.92818007e+01]
 [ 5.61860625e-01  2.97283086e-02  8.26697566e-01  7.65848280e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.60327356
Centerline is valid?  [True, True]
Translation: X:115.58, Y:-19.27, Z:76.62
[[ 8.19877927e-01  1.11618987e-01 -5.61552657e-01  1.15582620e+02]
 [-1.11194017e-01  9.93179826e-01  3.50674257e-02 -1.92706487e+01]
 [ 5.61636960e-01  3.36902873e-02  8.26697580e-01  7.66187587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.66327356
Centerline is valid?  [True, True]
Translation: X:115.63, Y:-19.28, Z:76.65
[[ 8.21187987e-01  1.01532989e-01 -5.61552618e-01  1.15631745e+02]
 [-9.89774797e-02  9.94471564e-01  3.50680462e-02 -1.92801101e+01]
 [ 5.62008673e-01  2.67836046e-02  8.26697580e-01  7.66525294e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.72327356
Centerline is valid?  [True, True]
Translation: X:115.68, Y:-19.28, Z:76.69
[[ 8.21199248e-01  1.01439829e-01 -5.61552986e-01  1.15679946e+02]
 [-9.88686868e-02  9.94482593e-01  3.50621459e-02 -1.92816097e+01]
 [ 5.62011368e-01  2.67269984e-02  8.26697580e-01  7.66853318e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.78327356
Centerline is valid?  [True, True]
Translation: X:115.73, Y:-19.28, Z:76.72
[[ 8.21565133e-01  9.83999742e-02 -5.61558703e-01  1.15728558e+02]
 [-9.52501534e-02  9.94838922e-01  3.49703766e-02 -1.92772788e+01]
 [ 5.62101539e-01  2.47581106e-02  8.26697584e-01  7.67181235e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.84327356
Centerline is valid?  [True, True]
Translation: X:115.78, Y:-19.28, Z:76.75
[[ 8.21234079e-01  1.01104947e-01 -5.61562442e-01  1.15777889e+02]
 [-9.85667749e-02  9.94517906e-01  3.49102508e-02 -1.92787797e+01]
 [ 5.62013503e-01  2.66819111e-02  8.26697585e-01  7.67516666e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.90327356
Centerline is valid?  [True, True]
Translation: X:115.83, Y:-19.28, Z:76.78
[[ 8.21452415e-01  9.93068204e-02 -5.61563964e-01  1.15826015e+02]
 [-9.64059994e-02  9.94730550e-01  3.48857626e-02 -1.92760910e+01]
 [ 5.62069225e-01  2.54811412e-02  8.26697586e-01  7.67842327e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.96327356
Centerline is valid?  [True, True]
Translation: X:115.88, Y:-19.28, Z:76.82
[[ 8.21592922e-01  9.81161727e-02 -5.61567705e-01  1.15875090e+02]
 [-9.50053657e-02  9.94867413e-01  3.48254480e-02 -1.92761832e+01]
 [ 5.62102349e-01  2.47396036e-02  8.26697587e-01  7.68175431e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.02327356
Centerline is valid?  [True, True]
Translation: X:115.92, Y:-19.28, Z:76.85
[[ 8.21792683e-01  9.63680395e-02 -5.61578122e-01  1.15923195e+02]
 [-9.30036547e-02  9.95062424e-01  3.46567846e-02 -1.92761870e+01]
 [ 5.62145094e-01  2.37481257e-02  8.26697599e-01  7.68501393e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.08327356
Centerline is valid?  [True, True]
Translation: X:115.97, Y:-19.28, Z:76.88
[[ 8.21805009e-01  9.62415010e-02 -5.61581784e-01  1.15971607e+02]
 [-9.28909751e-02  9.95075017e-01  3.45973554e-02 -1.92776358e+01]
 [ 5.62145705e-01  2.37335995e-02  8.26697600e-01  7.68830579e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.14327356
Centerline is valid?  [True, True]
Translation: X:116.02, Y:-19.27, Z:76.92
[[ 8.20658751e-01  1.05517142e-01 -5.61591797e-01  1.16021983e+02]
 [-1.04235147e-01  9.93956398e-01  3.44341788e-02 -1.92719411e+01]
 [ 5.61831156e-01  3.02788936e-02  8.26697612e-01  7.69169638e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.20327355999999
Centerline is valid?  [True, True]
Translation: X:116.07, Y:-19.28, Z:76.95
[[ 8.21352478e-01  9.99729221e-02 -5.61591953e-01  1.16070928e+02]
 [-9.75224364e-02  9.94637541e-01  3.44316305e-02 -1.92819510e+01]
 [ 5.62022670e-01  2.64873106e-02  8.26697612e-01  7.69506290e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.26327356
Centerline is valid?  [True, True]
Translation: X:116.12, Y:-19.29, Z:76.98
[[ 8.20962878e-01  1.03118183e-01 -5.61592907e-01  1.16120696e+02]
 [-1.01342064e-01  9.94256165e-01  3.44160618e-02 -1.92856373e+01]
 [ 5.61916132e-01  2.86586753e-02  8.26697612e-01  7.69845838e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.32327356
Centerline is valid?  [True, True]
Translation: X:116.17, Y:-19.28, Z:77.02
[[ 8.20974693e-01  1.03020042e-01 -5.61593646e-01  1.16169352e+02]
 [-1.01231440e-01  9.94267852e-01  3.44039973e-02 -1.92846942e+01]
 [ 5.61918810e-01  2.86061221e-02  8.26697612e-01  7.70175914e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.38327356
Centerline is valid?  [True, True]
Translation: X:116.22, Y:-19.29, Z:77.05
[[ 8.20713981e-01  1.05064953e-01 -5.61595866e-01  1.16219134e+02]
 [-1.03732807e-01  9.94011249e-01  3.43677399e-02 -1.92871475e+01]
 [ 5.61843453e-01  3.00498307e-02  8.26697612e-01  7.70514948e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.44327356
Centerline is valid?  [True, True]
Translation: X:116.27, Y:-19.29, Z:77.09
[[ 8.20680036e-01  1.05324984e-01 -5.61596764e-01  1.16269018e+02]
 [-1.04057768e-01  9.93977791e-01  3.43530504e-02 -1.92876158e+01]
 [ 5.61832946e-01  3.02456434e-02  8.26697612e-01  7.70853947e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.50327356
Centerline is valid?  [True, True]
Translation: X:116.32, Y:-19.29, Z:77.12
[[ 8.20387997e-01  1.07572112e-01 -5.61597521e-01  1.16319049e+02]
 [-1.06787938e-01  9.93688610e-01  3.43406778e-02 -1.92883043e+01]
 [ 5.61747159e-01  3.17991614e-02  8.26697612e-01  7.71194045e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.56327356
Centerline is valid?  [True, True]
Translation: X:116.37, Y:-19.29, Z:77.15
[[ 8.20307664e-01  1.08181191e-01 -5.61597869e-01  1.16367337e+02]
 [-1.07529568e-01  9.93608827e-01  3.43349911e-02 -1.92923774e+01]
 [ 5.61723000e-01  3.22231197e-02  8.26697612e-01  7.71523749e+01]
 [ 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 219.62327356
Centerline is valid?  [True, True]
Translation: X:116.42, Y:-19.30, Z:77.19
[[ 8.20336263e-01  1.07952633e-01 -5.61600075e-01  1.16416483e+02]
 [-1.07277375e-01  9.93637335e-01  3.42988655e-02 -1.92997765e+01]
 [ 5.61729455e-01  3.21103787e-02  8.26697613e-01  7.71860512e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.68327356
Centerline is valid?  [True, True]
Translation: X:116.47, Y:-19.30, Z:77.22
[[ 8.20785295e-01  1.04479695e-01 -5.61600830e-01  1.16466383e+02]
 [-1.03079403e-01  9.94082025e-01  3.42865035e-02 -1.93023803e+01]
 [ 5.61859534e-01  2.97476202e-02  8.26697613e-01  7.72200521e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.74327356
Centerline is valid?  [True, True]
Translation: X:116.51, Y:-19.31, Z:77.25
[[ 8.21282558e-01  1.00491869e-01 -5.61601588e-01  1.16514492e+02]
 [-9.82583602e-02  9.94570552e-01  3.42740777e-02 -1.93061656e+01]
 [ 5.61996668e-01  2.70333490e-02  8.26697613e-01  7.72528845e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.80327356
Centerline is valid?  [True, True]
Translation: X:116.56, Y:-19.31, Z:77.29
[[ 8.21691520e-01  9.70739841e-02 -5.61604565e-01  1.16564350e+02]
 [-9.41528220e-02  9.94969285e-01  3.42252508e-02 -1.93080821e+01]
 [ 5.62101674e-01  2.47540562e-02  8.26697614e-01  7.72868110e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.86327356
Centerline is valid?  [True, True]
Translation: X:116.61, Y:-19.31, Z:77.32
[[ 8.21502023e-01  9.86583867e-02 -5.61605689e-01  1.16613611e+02]
 [-9.60839725e-02  9.94785286e-01  3.42068003e-02 -1.93114315e+01]
 [ 5.62051863e-01  2.58603499e-02  8.26697614e-01  7.73204059e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.92327356
Centerline is valid?  [True, True]
Translation: X:116.66, Y:-19.31, Z:77.35
[[ 8.21329701e-01  1.00074338e-01 -5.61607202e-01  1.16661364e+02]
 [-9.78155980e-02  9.94617366e-01  3.41819309e-02 -1.93141854e+01]
 [ 5.62005010e-01  2.68593093e-02  8.26697614e-01  7.73529483e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.98327356
Centerline is valid?  [True, True]
Translation: X:116.71, Y:-19.31, Z:77.39
[[ 8.21532495e-01  9.83744561e-02 -5.61610921e-01  1.16711106e+02]
 [-9.57988539e-02  9.94815739e-01  3.41207498e-02 -1.93064788e+01]
 [ 5.62055993e-01  2.57703778e-02  8.26697616e-01  7.73863935e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.04327356
Centerline is valid?  [True, True]
Translation: X:116.76, Y:-19.32, Z:77.42
[[ 8.21066514e-01  1.02182542e-01 -5.61612418e-01  1.16759382e+02]
 [-1.00427245e-01  9.94360008e-01  3.40960871e-02 -1.93173029e+01]
 [ 5.61928953e-01  2.84060324e-02  8.26697616e-01  7.74196245e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.10327356
Centerline is valid?  [True, True]
Translation: X:116.81, Y:-19.32, Z:77.45
[[ 8.20857830e-01  1.03841774e-01 -5.61613131e-01  1.16807513e+02]
 [-1.02444731e-01  9.94154583e-01  3.40843451e-02 -1.93228657e+01]
 [ 5.61869647e-01  2.95559044e-02  8.26697616e-01  7.74525459e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.16327356
Centerline is valid?  [True, True]
Translation: X:116.86, Y:-19.31, Z:77.49
[[ 8.20427733e-01  1.07131508e-01 -5.61623696e-01  1.16856935e+02]
 [-1.06548465e-01  9.93729123e-01  3.39095089e-02 -1.93140781e+01]
 [ 5.61734599e-01  3.20198414e-02  8.26697629e-01  7.74856782e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.22327356
Centerline is valid?  [True, True]
Translation: X:116.90, Y:-19.32, Z:77.52
[[ 8.20409631e-01  1.07262243e-01 -5.61625185e-01  1.16904769e+02]
 [-1.06723659e-01  9.93711165e-01  3.38848251e-02 -1.93185807e+01]
 [ 5.61727779e-01  3.21392579e-02  8.26697629e-01  7.75183475e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.28327356
Centerline is valid?  [True, True]
Translation: X:116.95, Y:-19.33, Z:77.55
[[ 8.21074580e-01  1.02019348e-01 -5.61630293e-01  1.16953798e+02]
 [-1.00431624e-01  9.94369675e-01  3.37999798e-02 -1.93318455e+01]
 [ 5.61916384e-01  2.86531379e-02  8.26697632e-01  7.75521596e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.34327356
Centerline is valid?  [True, True]
Translation: X:117.00, Y:-19.34, Z:77.59
[[ 8.20771965e-01  1.04423433e-01 -5.61630776e-01  1.17003177e+02]
 [-1.03348690e-01  9.94071000e-01  3.37919491e-02 -1.93372610e+01]
 [ 5.61829539e-01  3.03083206e-02  8.26697632e-01  7.75859236e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.40327356
Centerline is valid?  [True, True]
Translation: X:117.05, Y:-19.33, Z:77.62
[[ 8.20172255e-01  1.09030560e-01 -5.61631382e-01  1.17052760e+02]
 [-1.08935804e-01  9.93474597e-01  3.37818863e-02 -1.93299993e+01]
 [ 5.61649769e-01  3.34748004e-02  8.26697632e-01  7.76193073e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.46327356
Centerline is valid?  [True, True]
Translation: X:117.10, Y:-19.35, Z:77.65
[[ 8.20536905e-01  1.06245881e-01 -5.61632442e-01  1.17101293e+02]
 [-1.05574891e-01  9.93837974e-01  3.37642461e-02 -1.93520921e+01]
 [ 5.61758960e-01  3.15894742e-02  8.26697632e-01  7.76531731e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.52327356
Centerline is valid?  [True, True]
Translation: X:117.15, Y:-19.35, Z:77.69
[[ 8.21075281e-01  1.01998025e-01 -5.61633141e-01  1.17150738e+02]
 [-1.00438113e-01  9.94370628e-01  3.37526171e-02 -1.93532645e+01]
 [ 5.61914200e-01  2.86959334e-02  8.26697633e-01  7.76868068e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.58327356
Centerline is valid?  [True, True]
Translation: X:117.20, Y:-19.36, Z:77.72
[[ 8.21584235e-01  9.78110337e-02 -5.61633641e-01  1.17200269e+02]
 [-9.53733947e-02  9.94869458e-01  3.37442973e-02 -1.93610166e+01]
 [ 5.62052721e-01  2.58411242e-02  8.26697633e-01  7.77207689e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.64327356
Centerline is valid?  [True, True]
Translation: X:117.25, Y:-19.37, Z:77.75
[[ 8.22005521e-01  9.42017619e-02 -5.61634180e-01  1.17249573e+02]
 [-9.10092138e-02  9.95278479e-01  3.37353223e-02 -1.93673039e+01]
 [ 5.62160339e-01  2.33832640e-02  8.26697633e-01  7.77545168e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.70327355999999
Centerline is valid?  [True, True]
Translation: X:117.30, Y:-19.37, Z:77.79
[[ 8.22383460e-01  9.08387601e-02 -5.61634903e-01  1.17299326e+02]
 [-8.69457220e-02  9.95642095e-01  3.37232777e-02 -1.93716656e+01]
 [ 5.62250733e-01  2.10982864e-02  8.26697633e-01  7.77884895e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.76327356
Centerline is valid?  [True, True]
Translation: X:117.35, Y:-19.37, Z:77.82
[[ 8.22622464e-01  8.86445600e-02 -5.61635491e-01  1.17348164e+02]
 [-8.42960014e-02  9.95870265e-01  3.37134982e-02 -1.93749044e+01]
 [ 5.62304603e-01  1.96101452e-02  8.26697633e-01  7.78217959e+01]
 [ 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 220.82327356
Centerline is valid?  [True, True]
Translation: X:117.40, Y:-19.38, Z:77.86
[[ 8.22400847e-01  9.06687021e-02 -5.61636922e-01  1.17397651e+02]
 [-8.67627842e-02  9.95659193e-01  3.36896288e-02 -1.93777925e+01]
 [ 5.62253560e-01  2.10228038e-02  8.26697633e-01  7.78555222e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.88327356
Centerline is valid?  [True, True]
Translation: X:117.45, Y:-19.38, Z:77.89
[[ 8.22096527e-01  9.33834382e-02 -5.61637635e-01  1.17446075e+02]
 [-9.00576776e-02  9.95366980e-01  3.36777410e-02 -1.93787535e+01]
 [ 5.62180500e-01  2.28934272e-02  8.26697633e-01  7.78884534e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.94327356
Centerline is valid?  [True, True]
Translation: X:117.50, Y:-19.38, Z:77.92
[[ 8.21927821e-01  9.48443747e-02 -5.61639744e-01  1.17496132e+02]
 [-9.18505714e-02  9.95204327e-01  3.36425479e-02 -1.93803079e+01]
 [ 5.62137109e-01  2.39351853e-02  8.26697633e-01  7.79225070e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.00327356
Centerline is valid?  [True, True]
Translation: X:117.55, Y:-19.37, Z:77.96
[[ 8.21088126e-01  1.01858171e-01 -5.61639744e-01  1.17546479e+02]
 [-1.00343834e-01  9.94383877e-01  3.36425479e-02 -1.93678379e+01]
 [ 5.61912274e-01  2.87335888e-02  8.26697633e-01  7.79562038e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.06327356
Centerline is valid?  [True, True]
Translation: X:117.59, Y:-19.38, Z:77.99
[[ 8.21367163e-01  9.95770307e-02 -5.61640809e-01  1.17594442e+02]
 [-9.75934757e-02  9.94658177e-01  3.36247497e-02 -1.93821297e+01]
 [ 5.61988877e-01  2.71942134e-02  8.26697634e-01  7.79893619e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.12327356
Centerline is valid?  [True, True]
Translation: X:117.64, Y:-19.39, Z:78.02
[[ 8.21071647e-01  1.01928349e-01 -5.61651104e-01  1.17642157e+02]
 [-1.00558787e-01  9.94368589e-01  3.34520477e-02 -1.93854739e+01]
 [ 5.61897928e-01  2.90124257e-02  8.26697646e-01  7.80218301e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.18327356
Centerline is valid?  [True, True]
Translation: X:117.69, Y:-19.39, Z:78.06
[[ 8.20677669e-01  1.05034053e-01 -5.61654708e-01  1.17692404e+02]
 [-1.04361497e-01  9.93978717e-01  3.33914456e-02 -1.93858140e+01]
 [ 5.61780065e-01  3.12115126e-02  8.26697648e-01  7.80559520e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.24327356
Centerline is valid?  [True, True]
Translation: X:117.74, Y:-19.39, Z:78.09
[[ 8.20116247e-01  1.09331288e-01 -5.61654708e-01  1.17742140e+02]
 [-1.09566486e-01  9.93418440e-01  3.33914456e-02 -1.93885185e+01]
 [ 5.61608873e-01  3.41536655e-02  8.26697648e-01  7.80898515e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.30327356
Centerline is valid?  [True, True]
Translation: X:117.79, Y:-19.39, Z:78.12
[[ 8.20324005e-01  1.07757915e-01 -5.61655374e-01  1.17789977e+02]
 [-1.07668327e-01  9.93626334e-01  3.33802355e-02 -1.93900274e+01]
 [ 5.61672555e-01  3.30898861e-02  8.26697648e-01  7.81224073e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.36327356
Centerline is valid?  [True, True]
Translation: X:117.84, Y:-19.39, Z:78.16
[[ 8.19962500e-01  1.10456894e-01 -5.61658947e-01  1.17839760e+02]
 [-1.10978699e-01  9.93264066e-01  3.33200284e-02 -1.93937475e+01]
 [ 5.61556076e-01  3.50110056e-02  8.26697649e-01  7.81563508e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.42327356
Centerline is valid?  [True, True]
Translation: X:117.89, Y:-19.39, Z:78.19
[[ 8.20166881e-01  1.08923805e-01 -5.61659944e-01  1.17889393e+02]
 [-1.09133097e-01  9.93469105e-01  3.33032174e-02 -1.93939391e+01]
 [ 5.61619315e-01  3.39814931e-02  8.26697649e-01  7.81900709e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.48327356
Centerline is valid?  [True, True]
Translation: X:117.94, Y:-19.40, Z:78.22
[[ 8.20035632e-01  1.09903963e-01 -5.61660645e-01  1.17938223e+02]
 [-1.10328453e-01  9.93337463e-01  3.32913855e-02 -1.93982011e+01]
 [ 5.61577416e-01  3.46670277e-02  8.26697649e-01  7.82234126e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.54327356
Centerline is valid?  [True, True]
Translation: X:117.99, Y:-19.38, Z:78.26
[[ 8.19589291e-01  1.13135857e-01 -5.61670430e-01  1.17988986e+02]
 [-1.14356644e-01  9.92887331e-01  3.31256144e-02 -1.93848226e+01]
 [ 5.61423148e-01  3.70813464e-02  8.26697661e-01  7.82572853e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.60327356
Centerline is valid?  [True, True]
Translation: X:118.04, Y:-19.40, Z:78.29
[[ 8.20281599e-01  1.07998431e-01 -5.61671111e-01  1.18037330e+02]
 [-1.08141260e-01  9.93583880e-01  3.31140662e-02 -1.94030540e+01]
 [ 5.61643628e-01  3.35769625e-02  8.26697661e-01  7.82908558e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.66327356
Centerline is valid?  [True, True]
Translation: X:118.09, Y:-19.41, Z:78.32
[[ 8.20012821e-01  1.10016344e-01 -5.61671949e-01  1.18086880e+02]
 [-1.10595274e-01  9.93314193e-01  3.30998426e-02 -1.94073832e+01]
 [ 5.61558242e-01  3.49759680e-02  8.26697661e-01  7.83246877e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.72327356
Centerline is valid?  [True, True]
Translation: X:118.14, Y:-19.41, Z:78.36
[[ 8.19863270e-01  1.11121235e-01 -5.61672760e-01  1.18135551e+02]
 [-1.11943085e-01  9.93163661e-01  3.30860771e-02 -1.94100863e+01]
 [ 5.61509540e-01  3.57493224e-02  8.26697661e-01  7.83578568e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.78327356
Centerline is valid?  [True, True]
Translation: X:118.18, Y:-19.41, Z:78.39
[[ 8.19731869e-01  1.12035837e-01 -5.61682859e-01  1.18184053e+02]
 [-1.13168515e-01  9.93030495e-01  3.29138826e-02 -1.94134486e+01]
 [ 5.61455741e-01  3.65842567e-02  8.26697673e-01  7.83908612e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.84327356
Centerline is valid?  [True, True]
Translation: X:118.23, Y:-19.40, Z:78.42
[[ 8.18940658e-01  1.17631967e-01 -5.61692904e-01  1.18234480e+02]
 [-1.20065733e-01  9.92225882e-01  3.27416850e-02 -1.93996684e+01]
 [ 5.61177707e-01  4.06265731e-02  8.26697685e-01  7.84244945e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.90327356
Centerline is valid?  [True, True]
Translation: X:118.28, Y:-19.42, Z:78.46
[[ 8.18893329e-01  1.17957563e-01 -5.61693625e-01  1.18282358e+02]
 [-1.20468661e-01  9.92177450e-01  3.27293225e-02 -1.94198479e+01]
 [ 5.61160420e-01  4.08646549e-02  8.26697686e-01  7.84578181e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.96327356
Centerline is valid?  [True, True]
Translation: X:118.33, Y:-19.40, Z:78.49
[[ 8.18199729e-01  1.22631103e-01 -5.61703494e-01  1.18333176e+02]
 [-1.26247589e-01  9.91464293e-01  3.25592003e-02 -1.94046766e+01]
 [ 5.60901729e-01  4.42737831e-02  8.26697698e-01  7.84916666e+01]
 [ 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 222.02327356
Centerline is valid?  [True, True]
Translation: X:118.38, Y:-19.43, Z:78.52
[[ 8.18615766e-01  1.19820751e-01 -5.61703850e-01  1.18380813e+02]
 [-1.22846433e-01  9.91891654e-01  3.25530552e-02 -1.94269048e+01]
 [ 5.61049892e-01  4.23548703e-02  8.26697698e-01  7.85249063e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.08327356
Centerline is valid?  [True, True]
Translation: X:118.43, Y:-19.43, Z:78.56
[[ 8.19201577e-01  1.15742135e-01 -5.61705024e-01  1.18430273e+02]
 [-1.17918601e-01  9.92490212e-01  3.25327912e-02 -1.94322406e+01]
 [ 5.61252153e-01  3.95845568e-02  8.26697698e-01  7.85587127e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.14327356
Centerline is valid?  [True, True]
Translation: X:118.48, Y:-19.44, Z:78.59
[[ 8.19468443e-01  1.13833915e-01 -5.61705715e-01  1.18479647e+02]
 [-1.15614927e-01  9.92761594e-01  3.25208632e-02 -1.94395205e+01]
 [ 5.61341838e-01  3.82917439e-02  8.26697698e-01  7.85925404e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.20327355999999
Centerline is valid?  [True, True]
Translation: X:118.53, Y:-19.44, Z:78.63
[[ 8.19980589e-01  1.10080778e-01 -5.61706379e-01  1.18528968e+02]
 [-1.11076180e-01  9.93280032e-01  3.25093822e-02 -1.94448002e+01]
 [ 5.61510389e-01  3.57351365e-02  8.26697698e-01  7.86262536e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.26327356
Centerline is valid?  [True, True]
Translation: X:118.58, Y:-19.45, Z:78.66
[[ 8.20328915e-01  1.07452096e-01 -5.61706790e-01  1.18577577e+02]
 [-1.07896889e-01  9.93630647e-01  3.25022911e-02 -1.94477144e+01]
 [ 5.61621520e-01  3.39438461e-02  8.26697698e-01  7.86593928e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.32327356
Centerline is valid?  [True, True]
Translation: X:118.63, Y:-19.45, Z:78.69
[[ 8.20556201e-01  1.05648018e-01 -5.61717026e-01  1.18625854e+02]
 [-1.05832989e-01  9.93858391e-01  3.23245560e-02 -1.94518533e+01]
 [ 5.61682205e-01  3.29240771e-02  8.26697711e-01  7.86922689e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.38327356
Centerline is valid?  [True, True]
Translation: X:118.68, Y:-19.46, Z:78.73
[[ 8.20658415e-01  1.04839623e-01 -5.61719164e-01  1.18675117e+02]
 [-1.04879232e-01  9.93960699e-01  3.22873811e-02 -1.94567663e+01]
 [ 5.61711770e-01  3.24157635e-02  8.26697712e-01  7.87259152e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.44327356
Centerline is valid?  [True, True]
Translation: X:118.73, Y:-19.44, Z:78.76
[[ 8.20355507e-01  1.07176802e-01 -5.61720549e-01  1.18725862e+02]
 [-1.07726509e-01  9.93656923e-01  3.22632617e-02 -1.94420660e+01]
 [ 5.61615386e-01  3.40448493e-02  8.26697712e-01  7.87598095e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.50327356
Centerline is valid?  [True, True]
Translation: X:118.77, Y:-19.46, Z:78.79
[[ 8.21241637e-01  1.00157719e-01 -5.61721110e-01  1.18773248e+02]
 [-9.92321047e-02  9.94541453e-01  3.22534913e-02 -1.94615061e+01]
 [ 5.61885365e-01  2.92528580e-02  8.26697712e-01  7.87927606e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.56327356
Centerline is valid?  [True, True]
Translation: X:118.82, Y:-19.46, Z:78.83
[[ 8.22043777e-01  9.33353497e-02 -5.61722834e-01  1.18823257e+02]
 [-9.09913137e-02  9.95330211e-01  3.22234545e-02 -1.94631103e+01]
 [ 5.62107294e-01  2.46228083e-02  8.26697712e-01  7.88267886e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.62327356
Centerline is valid?  [True, True]
Translation: X:118.87, Y:-19.47, Z:78.86
[[ 8.22220164e-01  9.17645978e-02 -5.61723473e-01  1.18871570e+02]
 [-8.90970892e-02  9.95501922e-01  3.22123090e-02 -1.94661702e+01]
 [ 5.62152746e-01  2.35623164e-02  8.26697712e-01  7.88597296e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.68327356
Centerline is valid?  [True, True]
Translation: X:118.92, Y:-19.47, Z:78.89
[[ 8.22569597e-01  8.85072566e-02 -5.61734568e-01  1.18920286e+02]
 [-8.52860456e-02  9.95841929e-01  3.20178427e-02 -1.94685135e+01]
 [ 5.62232647e-01  2.15712160e-02  8.26697728e-01  7.88928253e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.74327356
Centerline is valid?  [True, True]
Translation: X:118.97, Y:-19.47, Z:78.93
[[ 8.22547130e-01  8.87073615e-02 -5.61735901e-01  1.18968878e+02]
 [-8.55442665e-02  9.95820533e-01  3.19944320e-02 -1.94691362e+01]
 [ 5.62226286e-01  2.17363574e-02  8.26697728e-01  7.89258560e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.80327356
Centerline is valid?  [True, True]
Translation: X:119.02, Y:-19.47, Z:78.96
[[ 8.22566213e-01  8.84728397e-02 -5.61744943e-01  1.19017874e+02]
 [-8.53690528e-02  9.95840679e-01  3.18350071e-02 -1.94659650e+01]
 [ 5.62224999e-01  2.17692325e-02  8.26697739e-01  7.89589473e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.86327356
Centerline is valid?  [True, True]
Translation: X:119.07, Y:-19.46, Z:78.99
[[ 8.22293236e-01  9.09157356e-02 -5.61754540e-01  1.19068281e+02]
 [-8.84426414e-02  9.95577839e-01  3.16649079e-02 -1.94617515e+01]
 [ 5.62149209e-01  2.36452156e-02  8.26697751e-01  7.89929552e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.92327356
Centerline is valid?  [True, True]
Translation: X:119.12, Y:-19.46, Z:79.03
[[ 8.22240855e-01  9.13831465e-02 -5.61755371e-01  1.19117147e+02]
 [-8.90186174e-02  9.95526973e-01  3.16501524e-02 -1.94626328e+01]
 [ 5.62134914e-01  2.39826380e-02  8.26697751e-01  7.90261871e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.98327356
Centerline is valid?  [True, True]
Translation: X:119.17, Y:-19.46, Z:79.06
[[ 8.21727370e-01  9.58353142e-02 -5.61764828e-01  1.19166858e+02]
 [-9.45243841e-02  9.95024649e-01  3.14815479e-02 -1.94618640e+01]
 [ 5.61986895e-01  2.72312247e-02  8.26697763e-01  7.90598571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.04327356
Centerline is valid?  [True, True]
Translation: X:119.22, Y:-19.46, Z:79.09
[[ 8.21280151e-01  9.95930887e-02 -5.61765191e-01  1.19216621e+02]
 [-9.90792991e-02  9.94581627e-01  3.14750626e-02 -1.94591757e+01]
 [ 5.61856036e-01  2.98094572e-02  8.26697763e-01  7.90935673e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.10327356
Centerline is valid?  [True, True]
Translation: X:119.26, Y:-19.46, Z:79.13
[[ 8.21255384e-01  9.97894654e-02 -5.61766551e-01  1.19264874e+02]
 [-9.93336797e-02  9.94557021e-01  3.14507765e-02 -1.94591687e+01]
 [ 5.61847324e-01  2.99732191e-02  8.26697763e-01  7.91263447e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.16327356
Centerline is valid?  [True, True]
Translation: X:119.31, Y:-19.46, Z:79.16
[[ 8.20820569e-01  1.03286673e-01 -5.61769932e-01  1.19314426e+02]
 [-1.03610325e-01  9.94122503e-01  3.13902882e-02 -1.94583433e+01]
 [ 5.61710329e-01  3.24393708e-02  8.26697764e-01  7.91599577e+01]
 [ 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 223.22327356
Centerline is valid?  [True, True]
Translation: X:119.36, Y:-19.46, Z:79.19
[[ 8.20081552e-01  1.08992008e-01 -5.61771297e-01  1.19364187e+02]
 [-1.10537435e-01  9.93376897e-01  3.13658453e-02 -1.94584241e+01]
 [ 5.61469254e-01  3.63742072e-02  8.26697765e-01  7.91937639e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.28327356
Centerline is valid?  [True, True]
Translation: X:119.41, Y:-19.46, Z:79.23
[[ 8.20044089e-01  1.09269565e-01 -5.61772066e-01  1.19412620e+02]
 [-1.10883043e-01  9.93338814e-01  3.13520682e-02 -1.94583368e+01]
 [ 5.61455824e-01  3.65809178e-02  8.26697765e-01  7.92266664e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.34327356
Centerline is valid?  [True, True]
Translation: X:119.46, Y:-19.46, Z:79.26
[[ 8.19954844e-01  1.09889077e-01 -5.61781492e-01  1.19460865e+02]
 [-1.11749225e-01  9.93247084e-01  3.11823861e-02 -1.94613677e+01]
 [ 5.61414433e-01  3.72104978e-02  8.26697777e-01  7.92594883e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.40327356
Centerline is valid?  [True, True]
Translation: X:119.51, Y:-19.46, Z:79.29
[[ 8.19662475e-01  1.12033567e-01 -5.61784573e-01  1.19510953e+02]
 [-1.14384933e-01  9.92948745e-01  3.11267934e-02 -1.94624242e+01]
 [ 5.61310533e-01  3.87462260e-02  8.26697778e-01  7.92935404e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.46327356
Centerline is valid?  [True, True]
Translation: X:119.56, Y:-19.46, Z:79.33
[[ 8.19649627e-01  1.12127524e-01 -5.61784573e-01  1.19558578e+02]
 [-1.14498754e-01  9.92935626e-01  3.11267934e-02 -1.94635136e+01]
 [ 5.61306087e-01  3.88105692e-02  8.26697778e-01  7.93259454e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.52327356
Centerline is valid?  [True, True]
Translation: X:119.61, Y:-19.47, Z:79.36
[[ 8.19766149e-01  1.11255911e-01 -5.61787845e-01  1.19608191e+02]
 [-1.13483222e-01  9.93054057e-01  3.10676528e-02 -1.94666539e+01]
 [ 5.61342158e-01  3.82852848e-02  8.26697779e-01  7.93597514e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.58327356
Centerline is valid?  [True, True]
Translation: X:119.66, Y:-19.47, Z:79.39
[[ 8.19958905e-01  1.09822834e-01 -5.61788518e-01  1.19656599e+02]
 [-1.11755555e-01  9.93250348e-01  3.10554677e-02 -1.94695624e+01]
 [ 5.61407241e-01  3.73187805e-02  8.26697779e-01  7.93927510e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.64327356
Centerline is valid?  [True, True]
Translation: X:119.71, Y:-19.47, Z:79.43
[[ 8.19863332e-01  1.10486460e-01 -5.61797881e-01  1.19705515e+02]
 [-1.12675501e-01  9.93151715e-01  3.08853169e-02 -1.94708454e+01]
 [ 5.61362938e-01  3.79791187e-02  8.26697791e-01  7.94259639e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.70327355999999
Centerline is valid?  [True, True]
Translation: X:119.76, Y:-19.48, Z:79.46
[[ 8.19657364e-01  1.11957589e-01 -5.61807177e-01  1.19755083e+02]
 [-1.14573480e-01  9.92939817e-01  3.07154339e-02 -1.94752907e+01]
 [ 5.61279541e-01  3.91920716e-02  8.26697803e-01  7.94597383e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.76327356
Centerline is valid?  [True, True]
Translation: X:119.80, Y:-19.48, Z:79.49
[[ 8.19282244e-01  1.14668140e-01 -5.61807638e-01  1.19804372e+02]
 [-1.17862938e-01  9.92554990e-01  3.07069914e-02 -1.94785735e+01]
 [ 5.61146089e-01  4.10586060e-02  8.26697803e-01  7.94933524e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.82327356
Centerline is valid?  [True, True]
Translation: X:119.85, Y:-19.48, Z:79.53
[[ 8.19208040e-01  1.15190625e-01 -5.61808960e-01  1.19851855e+02]
 [-1.18512435e-01  9.92478397e-01  3.06827924e-02 -1.94796898e+01]
 [ 5.61117626e-01  4.14457576e-02  8.26697804e-01  7.95256512e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.88327356
Centerline is valid?  [True, True]
Translation: X:119.90, Y:-19.48, Z:79.56
[[ 8.19247538e-01  1.14881530e-01 -5.61814654e-01  1.19900330e+02]
 [-1.18209283e-01  9.92517777e-01  3.05782284e-02 -1.94833157e+01]
 [ 5.61123906e-01  4.13605689e-02  8.26697808e-01  7.95586810e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.94327356
Centerline is valid?  [True, True]
Translation: X:119.95, Y:-19.49, Z:79.59
[[ 8.19541702e-01  1.12719448e-01 -5.61823571e-01  1.19947940e+02]
 [-1.15702242e-01  9.92818211e-01  3.04136543e-02 -1.94880355e+01]
 [ 5.61216883e-01  4.00789890e-02  8.26697819e-01  7.95911364e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.00327356
Centerline is valid?  [True, True]
Translation: X:120.00, Y:-19.49, Z:79.63
[[ 8.19832060e-01  1.10571958e-01 -5.61826696e-01  1.19997621e+02]
 [-1.13140206e-01  9.93115208e-01  3.03558458e-02 -1.94944199e+01]
 [ 5.61315141e-01  3.86784926e-02  8.26697821e-01  7.96251080e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.06327356
Centerline is valid?  [True, True]
Translation: X:120.05, Y:-19.50, Z:79.66
[[ 8.19849664e-01  1.10434054e-01 -5.61828130e-01  1.20046760e+02]
 [-1.12991281e-01  9.93132975e-01  3.03292693e-02 -1.94987055e+01]
 [ 5.61319427e-01  3.86162390e-02  8.26697821e-01  7.96586479e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.12327356
Centerline is valid?  [True, True]
Translation: X:120.10, Y:-19.50, Z:79.69
[[ 8.19838552e-01  1.10509908e-01 -5.61829431e-01  1.20095476e+02]
 [-1.13099608e-01  9.93121380e-01  3.03051653e-02 -1.95041372e+01]
 [ 5.61313841e-01  3.86973454e-02  8.26697821e-01  7.96919433e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.18327356
Centerline is valid?  [True, True]
Translation: X:120.14, Y:-19.51, Z:79.73
[[ 8.19625686e-01  1.12032807e-01 -5.61838397e-01  1.20144358e+02]
 [-1.15058328e-01  9.92901442e-01  3.01381591e-02 -1.95081946e+01]
 [ 5.61226617e-01  3.99421772e-02  8.26697833e-01  7.97252352e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.24327356
Centerline is valid?  [True, True]
Translation: X:120.19, Y:-19.51, Z:79.76
[[ 8.19963452e-01  1.09526891e-01 -5.61839655e-01  1.20192945e+02]
 [-1.12038735e-01  9.93247415e-01  3.01147006e-02 -1.95115667e+01]
 [ 5.61344154e-01  3.82548505e-02  8.26697833e-01  7.97583673e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.30327356
Centerline is valid?  [True, True]
Translation: X:120.24, Y:-19.52, Z:79.79
[[ 8.19859624e-01  1.10293399e-01 -5.61841225e-01  1.20240876e+02]
 [-1.12987241e-01  9.93140853e-01  3.00853749e-02 -1.95186395e+01]
 [ 5.61305692e-01  3.88151057e-02  8.26697833e-01  7.97911863e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.36327356
Centerline is valid?  [True, True]
Translation: X:120.29, Y:-19.52, Z:79.82
[[ 8.20268107e-01  1.07197927e-01 -5.61844140e-01  1.20290284e+02]
 [-1.09274849e-01  9.93557826e-01  3.00308665e-02 -1.95229253e+01]
 [ 5.61443889e-01  3.67620713e-02  8.26697835e-01  7.98248946e+01]
 [ 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 224.42327356
Centerline is valid?  [True, True]
Translation: X:120.34, Y:-19.53, Z:79.86
[[ 8.20879968e-01  1.02401094e-01 -5.61845259e-01  1.20340019e+02]
 [-1.03479275e-01  9.94178779e-01  3.00099186e-02 -1.95278070e+01]
 [ 5.61647682e-01  3.35047993e-02  8.26697835e-01  7.98588634e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.48327356
Centerline is valid?  [True, True]
Translation: X:120.39, Y:-19.53, Z:79.89
[[ 8.21444232e-01  9.77629961e-02 -5.61846750e-01  1.20389073e+02]
 [-9.78813974e-02  9.94746356e-01  2.99819744e-02 -1.95335558e+01]
 [ 5.61826135e-01  3.03658251e-02  8.26697835e-01  7.98923972e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.54327356
Centerline is valid?  [True, True]
Translation: X:120.44, Y:-19.54, Z:79.93
[[ 8.21771136e-01  9.49690058e-02 -5.61847922e-01  1.20438904e+02]
 [-9.45130566e-02  9.95072701e-01  2.99599991e-02 -1.95375929e+01]
 [ 5.61924801e-01  2.84817020e-02  8.26697835e-01  7.99263991e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.60327356
Centerline is valid?  [True, True]
Translation: X:120.49, Y:-19.54, Z:79.96
[[ 8.22063929e-01  9.23962316e-02 -5.61848586e-01  1.20487982e+02]
 [-9.14063084e-02  9.95363266e-01  2.99475450e-02 -1.95403843e+01]
 [ 5.62010484e-01  2.67377086e-02  8.26697835e-01  7.99598495e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.66327356
Centerline is valid?  [True, True]
Translation: X:120.54, Y:-19.54, Z:79.99
[[ 8.22257071e-01  9.06532384e-02 -5.61849891e-01  1.20536861e+02]
 [-8.93126292e-02  9.95554050e-01  2.99230418e-02 -1.95444487e+01]
 [ 5.62064555e-01  2.55758583e-02  8.26697836e-01  7.99932045e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.72327356
Centerline is valid?  [True, True]
Translation: X:120.59, Y:-19.55, Z:80.03
[[ 8.22272184e-01  9.04592890e-02 -5.61859033e-01  1.20585959e+02]
 [-8.91954187e-02  9.95569727e-01  2.97505547e-02 -1.95478464e+01]
 [ 5.62061058e-01  2.56521981e-02  8.26697848e-01  8.00266116e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.78327356
Centerline is valid?  [True, True]
Translation: X:120.64, Y:-19.53, Z:80.06
[[ 8.22401804e-01  8.92650383e-02 -5.61860326e-01  1.20635797e+02]
 [-8.77661579e-02  9.95697474e-01  2.97261184e-02 -1.95327880e+01]
 [ 5.62096410e-01  2.48655087e-02  8.26697848e-01  8.00599305e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.84327356
Centerline is valid?  [True, True]
Translation: X:120.68, Y:-19.55, Z:80.09
[[ 8.22138015e-01  9.16082520e-02 -5.61869213e-01  1.20682432e+02]
 [-9.07183080e-02  9.95437870e-01  2.95573297e-02 -1.95526345e+01]
 [ 5.62013588e-01  2.66716199e-02  8.26697860e-01  8.00922573e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.90327356
Centerline is valid?  [True, True]
Translation: X:120.73, Y:-19.54, Z:80.12
[[ 8.21790512e-01  9.46425517e-02 -5.61874668e-01  1.20731154e+02]
 [-9.44632757e-02  9.95092554e-01  2.94533207e-02 -1.95425082e+01]
 [ 5.61904836e-01  2.88720622e-02  8.26697865e-01  8.01249608e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.96327356
Centerline is valid?  [True, True]
Translation: X:120.78, Y:-19.55, Z:80.16
[[ 8.21471305e-01  9.73569359e-02 -5.61877675e-01  1.20780984e+02]
 [-9.77893749e-02  9.94772900e-01  2.93958574e-02 -1.95455781e+01]
 [ 5.61802575e-01  3.07978133e-02  8.26697866e-01  8.01589102e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.02327356
Centerline is valid?  [True, True]
Translation: X:120.83, Y:-19.55, Z:80.19
[[ 8.21541668e-01  9.67557147e-02 -5.61878652e-01  1.20829382e+02]
 [-9.70740662e-02  9.94843509e-01  2.93771696e-02 -1.95508497e+01]
 [ 5.61823739e-01  3.04092766e-02  8.26697866e-01  8.01919835e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.08327356
Centerline is valid?  [True, True]
Translation: X:120.88, Y:-19.56, Z:80.23
[[ 8.21679277e-01  9.55696205e-02 -5.61880426e-01  1.20877921e+02]
 [-9.56609414e-02  9.94981387e-01  2.93432189e-02 -1.95559311e+01]
 [ 5.61864886e-01  2.96392956e-02  8.26697867e-01  8.02251379e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.14327356
Centerline is valid?  [True, True]
Translation: X:120.93, Y:-19.56, Z:80.26
[[ 8.21680936e-01  9.55075084e-02 -5.61888562e-01  1.20925658e+02]
 [-9.56924432e-02  9.94982960e-01  2.91867255e-02 -1.95585708e+01]
 [ 5.61857096e-01  2.97863134e-02  8.26697877e-01  8.02576026e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.20327355999999
Centerline is valid?  [True, True]
Translation: X:120.97, Y:-19.57, Z:80.29
[[ 8.22043324e-01  9.22757534e-02 -5.61898531e-01  1.20974048e+02]
 [-9.19108352e-02  9.95345047e-01  2.89937146e-02 -1.95652335e+01]
 [ 5.61958337e-01  2.78104738e-02  8.26697892e-01  8.02906339e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.26327356
Centerline is valid?  [True, True]
Translation: X:121.02, Y:-19.59, Z:80.32
[[ 8.21919592e-01  9.33561871e-02 -5.61901065e-01  1.21021161e+02]
 [-9.32525914e-02  9.95221668e-01  2.89445408e-02 -1.95857030e+01]
 [ 5.61918267e-01  2.86086452e-02  8.26697893e-01  8.03233491e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.32327356
Centerline is valid?  [True, True]
Translation: X:121.07, Y:-19.59, Z:80.36
[[ 8.21810562e-01  9.42925425e-02 -5.61904188e-01  1.21069859e+02]
 [-9.44278060e-02  9.95112614e-01  2.88838035e-02 -1.95890566e+01]
 [ 5.61881473e-01  2.93223649e-02  8.26697895e-01  8.03565356e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.38327356
Centerline is valid?  [True, True]
Translation: X:121.12, Y:-19.59, Z:80.39
[[ 8.21620971e-01  9.59157325e-02 -5.61906711e-01  1.21119867e+02]
 [-9.64268407e-02  9.94922322e-01  2.88346597e-02 -1.95943644e+01]
 [ 5.61819227e-01  3.04917278e-02  8.26697896e-01  8.03906862e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.44327356
Centerline is valid?  [True, True]
Translation: X:121.17, Y:-19.60, Z:80.42
[[ 8.21666795e-01  9.55211584e-02 -5.61906920e-01  1.21168828e+02]
 [-9.59518260e-02  9.94968364e-01  2.88305782e-02 -1.95974947e+01]
 [ 5.61833539e-01  3.02268663e-02  8.26697896e-01  8.04240722e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.50327356
Centerline is valid?  [True, True]
Translation: X:121.22, Y:-19.60, Z:80.46
[[ 8.21867482e-01  9.37712639e-02 -5.61908170e-01  1.21217631e+02]
 [-9.38495159e-02  9.95169569e-01  2.88062067e-02 -1.96023914e+01]
 [ 5.61895106e-01  2.90599252e-02  8.26697896e-01  8.04574020e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.56327356
Centerline is valid?  [True, True]
Translation: X:121.27, Y:-19.59, Z:80.49
[[ 8.22093844e-01  9.17121480e-02 -5.61916892e-01  1.21266623e+02]
 [-9.14728661e-02  9.95395771e-01  2.86352027e-02 -1.95906889e+01]
 [ 5.61955894e-01  2.78593247e-02  8.26697908e-01  8.04902090e+01]
 [ 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 225.62327356
Centerline is valid?  [True, True]
Translation: X:121.32, Y:-19.59, Z:80.52
[[ 8.21917179e-01  9.32711288e-02 -5.61918720e-01  1.21315464e+02]
 [-9.33850044e-02  9.95219233e-01  2.85992998e-02 -1.95937805e+01]
 [ 5.61899806e-01  2.89685263e-02  8.26697909e-01  8.05234961e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.68327356
Centerline is valid?  [True, True]
Translation: X:121.36, Y:-19.60, Z:80.56
[[ 8.21492097e-01  9.69328628e-02 -5.61920595e-01  1.21363764e+02]
 [-9.78441601e-02  9.94791792e-01  2.85624199e-02 -1.95959837e+01]
 [ 5.61762633e-01  3.15168464e-02  8.26697909e-01  8.05563847e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.74327356
Centerline is valid?  [True, True]
Translation: X:121.41, Y:-19.62, Z:80.59
[[ 8.22162933e-01  9.10485905e-02 -5.61923720e-01  1.21412484e+02]
 [-9.07610457e-02  9.95464783e-01  2.85008397e-02 -1.96165208e+01]
 [ 5.61970235e-01  2.75684505e-02  8.26697911e-01  8.05901780e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.80327356
Centerline is valid?  [True, True]
Translation: X:121.46, Y:-19.60, Z:80.62
[[ 8.22290750e-01  8.98824938e-02 -5.61924425e-01  1.21462475e+02]
 [-8.93586545e-02  9.95592048e-01  2.84869286e-02 -1.96043818e+01]
 [ 5.62007965e-01  2.67882726e-02  8.26697911e-01  8.06237320e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.86327356
Centerline is valid?  [True, True]
Translation: X:121.51, Y:-19.62, Z:80.66
[[ 8.22771084e-01  8.53656959e-02 -5.61925654e-01  1.21510703e+02]
 [-8.39067617e-02  9.96067032e-01  2.84626586e-02 -1.96223676e+01]
 [ 5.62145353e-01  2.37311095e-02  8.26697911e-01  8.06571210e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.92327356
Centerline is valid?  [True, True]
Translation: X:121.56, Y:-19.63, Z:80.69
[[ 8.23071323e-01  8.24123551e-02 -5.61926864e-01  1.21560298e+02]
 [-8.03477946e-02  9.96361114e-01  2.84387548e-02 -1.96264427e+01]
 [ 5.62225781e-01  2.17424607e-02  8.26697911e-01  8.06909597e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.98327356
Centerline is valid?  [True, True]
Translation: X:121.61, Y:-19.63, Z:80.72
[[ 8.23309515e-01  7.99873650e-02 -5.61928344e-01  1.21609035e+02]
 [-7.74322740e-02  9.96592767e-01  2.84094967e-02 -1.96283347e+01]
 [ 5.62286124e-01  2.01215805e-02  8.26697912e-01  8.07241371e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.04327356
Centerline is valid?  [True, True]
Translation: X:121.66, Y:-19.63, Z:80.76
[[ 8.23545002e-01  7.75069435e-02 -5.61930870e-01  1.21656580e+02]
 [-7.44639957e-02  9.96820373e-01  2.83594471e-02 -1.96307769e+01]
 [ 5.62342193e-01  1.84883369e-02  8.26697913e-01  8.07565126e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.10327356
Centerline is valid?  [True, True]
Translation: X:121.71, Y:-19.63, Z:80.79
[[ 8.23653324e-01  7.63128562e-02 -5.61935539e-01  1.21705911e+02]
 [-7.30819155e-02  9.96925287e-01  2.82666826e-02 -1.96322711e+01]
 [ 5.62364860e-01  1.77853785e-02  8.26697916e-01  8.07900477e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.16327356
Centerline is valid?  [True, True]
Translation: X:121.76, Y:-19.64, Z:80.82
[[ 8.23537569e-01  7.75432664e-02 -5.61936754e-01  1.21755768e+02]
 [-7.45876585e-02  9.96814447e-01  2.82425187e-02 -1.96359827e+01]
 [ 5.62336691e-01  1.86547715e-02  8.26697916e-01  8.08240512e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.22327356
Centerline is valid?  [True, True]
Translation: X:121.80, Y:-19.64, Z:80.86
[[ 8.23407594e-01  7.89070768e-02 -5.61937370e-01  1.21804203e+02]
 [-7.62468123e-02  9.96689258e-01  2.82302484e-02 -1.96364673e+01]
 [ 5.62304507e-01  1.96009323e-02  8.26697917e-01  8.08569846e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.28327356
Centerline is valid?  [True, True]
Translation: X:121.85, Y:-19.64, Z:80.89
[[ 8.23338910e-01  7.96077180e-02 -5.61939188e-01  1.21853466e+02]
 [-7.71196026e-02  9.96623131e-01  2.81940181e-02 -1.96368679e+01]
 [ 5.62286054e-01  2.01232948e-02  8.26697917e-01  8.08904652e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.34327356
Centerline is valid?  [True, True]
Translation: X:121.90, Y:-19.64, Z:80.92
[[ 8.22875206e-01  8.42579588e-02 -5.61940380e-01  1.21902860e+02]
 [-8.27650736e-02  9.96170859e-01  2.81702415e-02 -1.96390146e+01]
 [ 5.62162198e-01  2.33284437e-02  8.26697917e-01  8.09241014e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.40327356
Centerline is valid?  [True, True]
Translation: X:121.95, Y:-19.64, Z:80.96
[[ 8.21997532e-01  9.24254358e-02 -5.61940919e-01  1.21951548e+02]
 [-9.26608857e-02  9.95299454e-01  2.81594844e-02 -1.96416872e+01]
 [ 5.61902143e-01  2.89229166e-02  8.26697917e-01  8.09572821e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.46327356
Centerline is valid?  [True, True]
Translation: X:122.00, Y:-19.64, Z:80.99
[[ 8.21434530e-01  9.73006431e-02 -5.61941187e-01  1.22000660e+02]
 [-9.85679194e-02  9.94731979e-01  2.81541363e-02 -1.96429160e+01]
 [ 5.61720285e-01  3.22625939e-02  8.26697917e-01  8.09907048e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.52327356
Centerline is valid?  [True, True]
Translation: X:122.05, Y:-19.65, Z:81.02
[[ 8.21199858e-01  9.92580597e-02 -5.61941840e-01  1.22048409e+02]
 [-1.00947230e-01  9.94493708e-01  2.81411066e-02 -1.96472341e+01]
 [ 5.61640856e-01  3.36169993e-02  8.26697917e-01  8.10233019e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.58327356
Centerline is valid?  [True, True]
Translation: X:122.10, Y:-19.65, Z:81.06
[[ 8.21361795e-01  9.78540577e-02 -5.61951408e-01  1.22097040e+02]
 [-9.93780084e-02  9.94657161e-01  2.79489288e-02 -1.96524953e+01]
 [ 5.61683909e-01  3.28894295e-02  8.26697933e-01  8.10564377e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.64327356
Centerline is valid?  [True, True]
Translation: X:122.15, Y:-19.66, Z:81.09
[[ 8.21717761e-01  9.48114841e-02 -5.61952582e-01  1.22146170e+02]
 [-9.57097298e-02  9.95017500e-01  2.79253118e-02 -1.96552541e+01]
 [ 5.61800293e-01  3.08376051e-02  8.26697933e-01  8.10899153e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.70327355999999
Centerline is valid?  [True, True]
Translation: X:122.19, Y:-19.66, Z:81.12
[[ 8.22032760e-01  9.20331066e-02 -5.61953779e-01  1.22194589e+02]
 [-9.23619342e-02  9.95334514e-01  2.79012126e-02 -1.96608334e+01]
 [ 5.61899827e-01  2.89674272e-02  8.26697933e-01  8.11230040e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.76327356
Centerline is valid?  [True, True]
Translation: X:122.24, Y:-19.67, Z:81.16
[[ 8.22446537e-01  8.82065594e-02 -5.61962007e-01  1.22243833e+02]
 [-8.78424298e-02  9.95748209e-01  2.77346533e-02 -1.96661775e+01]
 [ 5.62019040e-01  2.65538386e-02  8.26697945e-01  8.11565699e+01]
 [ 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 226.82327356
Centerline is valid?  [True, True]
Translation: X:122.29, Y:-19.67, Z:81.19
[[ 8.22497565e-01  8.77245473e-02 -5.61962774e-01  1.22291176e+02]
 [-8.72694565e-02  9.95799023e-01  2.77191012e-02 -1.96716118e+01]
 [ 5.62033627e-01  2.62432926e-02  8.26697945e-01  8.11889261e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.88327356
Centerline is valid?  [True, True]
Translation: X:122.34, Y:-19.67, Z:81.22
[[ 8.22489961e-01  8.77686067e-02 -5.61967023e-01  1.22340103e+02]
 [-8.73816810e-02  9.95791582e-01  2.76327322e-02 -1.96741198e+01]
 [ 5.62027317e-01  2.63779782e-02  8.26697948e-01  8.12222235e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.94327356
Centerline is valid?  [True, True]
Translation: X:122.39, Y:-19.68, Z:81.26
[[ 8.22347959e-01  8.90643219e-02 -5.61970979e-01  1.22388569e+02]
 [-8.90054120e-02  9.95649998e-01  2.75520866e-02 -1.96768044e+01]
 [ 5.61980312e-01  2.73610564e-02  8.26697951e-01  8.12552158e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.00327356
Centerline is valid?  [True, True]
Translation: X:122.44, Y:-19.68, Z:81.29
[[ 8.22051082e-01  9.17129335e-02 -5.61979320e-01  1.22438210e+02]
 [-9.23288883e-02  9.95352025e-01  2.73810636e-02 -1.96815732e+01]
 [ 5.61878452e-01  2.93782929e-02  8.26697963e-01  8.12890279e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.06327356
Centerline is valid?  [True, True]
Translation: X:122.49, Y:-19.68, Z:81.32
[[ 8.22340094e-01  8.90821488e-02 -5.61979662e-01  1.22487911e+02]
 [-8.91483849e-02  9.95642118e-01  2.73740299e-02 -1.96820354e+01]
 [ 5.61969159e-01  2.75888169e-02  8.26697963e-01  8.13228257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.12327356
Centerline is valid?  [True, True]
Translation: X:122.54, Y:-19.69, Z:81.36
[[ 8.22417715e-01  8.83554945e-02 -5.61980790e-01  1.22536051e+02]
 [-8.82843893e-02  9.95719738e-01  2.73508710e-02 -1.96911471e+01]
 [ 5.61991964e-01  2.71202900e-02  8.26697963e-01  8.13558403e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.18327356
Centerline is valid?  [True, True]
Translation: X:122.58, Y:-19.69, Z:81.39
[[ 8.22943300e-01  8.32629541e-02 -5.61988972e-01  1.22584520e+02]
 [-8.22343067e-02  9.96242273e-01  2.71818553e-02 -1.96934079e+01]
 [ 5.62140413e-01  2.38456478e-02  8.26697975e-01  8.13887721e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.24327356
Centerline is valid?  [True, True]
Translation: X:122.63, Y:-19.69, Z:81.42
[[ 8.23388374e-01  7.87277075e-02 -5.61990688e-01  1.22633852e+02]
 [-7.67684939e-02  9.96679324e-01  2.71463446e-02 -1.96937551e+01]
 [ 5.62261668e-01  2.07911941e-02  8.26697975e-01  8.14223001e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.30327356
Centerline is valid?  [True, True]
Translation: X:122.68, Y:-19.70, Z:81.46
[[ 8.23173781e-01  8.09325765e-02 -5.61991854e-01  1.22682954e+02]
 [-7.94539387e-02  9.96469497e-01  2.71221808e-02 -1.96985894e+01]
 [ 5.62202809e-01  2.23261983e-02  8.26697976e-01  8.14558252e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.36327356
Centerline is valid?  [True, True]
Translation: X:122.73, Y:-19.70, Z:81.49
[[ 8.23399380e-01  7.85959800e-02 -5.61993000e-01  1.22732996e+02]
 [-7.66417100e-02  9.96690385e-01  2.70984178e-02 -1.96988456e+01]
 [ 5.62262847e-01  2.07592841e-02  8.26697976e-01  8.14898396e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.42327356
Centerline is valid?  [True, True]
Translation: X:122.78, Y:-19.70, Z:81.52
[[ 8.23321259e-01  7.94069642e-02 -5.61993450e-01  1.22780515e+02]
 [-7.76297387e-02  9.96614171e-01  2.70890907e-02 -1.97009062e+01]
 [ 5.62241699e-01  2.13243805e-02  8.26697976e-01  8.15222056e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.48327356
Centerline is valid?  [True, True]
Translation: X:122.83, Y:-19.71, Z:81.55
[[ 8.23220894e-01  8.04204987e-02 -5.61996356e-01  1.22828162e+02]
 [-7.88977809e-02  9.96516226e-01  2.70286987e-02 -1.97055000e+01]
 [ 5.62212149e-01  2.20896759e-02  8.26697977e-01  8.15547140e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.54327356
Centerline is valid?  [True, True]
Translation: X:122.88, Y:-19.71, Z:81.59
[[ 8.23282270e-01  7.97259237e-02 -5.62005410e-01  1.22877861e+02]
 [-7.81860838e-02  9.96577437e-01  2.68393147e-02 -1.97077820e+01]
 [ 5.62221700e-01  2.18446702e-02  8.26697992e-01  8.15884722e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.60327356
Centerline is valid?  [True, True]
Translation: X:122.93, Y:-19.71, Z:81.62
[[ 8.23619208e-01  7.61612055e-02 -5.62006112e-01  1.22927801e+02]
 [-7.38812173e-02  9.96906218e-01  2.68246007e-02 -1.97058010e+01]
 [ 5.62310382e-01  1.94284393e-02  8.26697992e-01  8.16223502e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.66327356
Centerline is valid?  [True, True]
Translation: X:122.98, Y:-19.72, Z:81.66
[[ 8.23419772e-01  7.82840412e-02 -5.62006661e-01  1.22975878e+02]
 [-7.64585952e-02  9.96712166e-01  2.68130936e-02 -1.97150838e+01]
 [ 5.62257914e-01  2.08918083e-02  8.26697992e-01  8.16553284e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.72327356
Centerline is valid?  [True, True]
Translation: X:123.03, Y:-19.72, Z:81.69
[[ 8.23313024e-01  7.93427577e-02 -5.62014583e-01  1.23025595e+02]
 [-7.78539030e-02  9.96608625e-01  2.66461847e-02 -1.97156289e+01]
 [ 5.62222762e-01  2.18168779e-02  8.26698004e-01  8.16890545e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.78327356
Centerline is valid?  [True, True]
Translation: X:123.07, Y:-19.72, Z:81.72
[[ 8.23390306e-01  7.85325848e-02 -5.62015157e-01  1.23074166e+02]
 [-7.68814639e-02  9.96684437e-01  2.66340734e-02 -1.97170546e+01]
 [ 5.62243403e-01  2.12783101e-02  8.26698004e-01  8.17221138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.84327356
Centerline is valid?  [True, True]
Translation: X:123.12, Y:-19.72, Z:81.76
[[ 8.23348642e-01  7.89518135e-02 -5.62017460e-01  1.23123391e+02]
 [-7.74220986e-02  9.96643886e-01  2.65854061e-02 -1.97185057e+01]
 [ 5.62230231e-01  2.16235132e-02  8.26698005e-01  8.17555987e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.90327356
Centerline is valid?  [True, True]
Translation: X:123.17, Y:-19.71, Z:81.79
[[ 8.23366278e-01  7.87148807e-02 -5.62024856e-01  1.23173189e+02]
 [-7.72424090e-02  9.96662008e-01  2.64282550e-02 -1.97149720e+01]
 [ 5.62229119e-01  2.16520198e-02  8.26698015e-01  8.17892556e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.96327356
Centerline is valid?  [True, True]
Translation: X:123.22, Y:-19.72, Z:81.82
[[ 8.23060724e-01  8.18402383e-02 -5.62025996e-01  1.23222513e+02]
 [-8.10422382e-02  9.96360871e-01  2.64039884e-02 -1.97181322e+01]
 [ 5.62141620e-01  2.38157589e-02  8.26698015e-01  8.18228762e+01]
 [ 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 228.02327356
Centerline is valid?  [True, True]
Translation: X:123.27, Y:-19.72, Z:81.86
[[ 8.23023671e-01  8.22080925e-02 -5.62026571e-01  1.23270472e+02]
 [-8.14958865e-02  9.96324192e-01  2.63917552e-02 -1.97169343e+01]
 [ 5.62130285e-01  2.40818144e-02  8.26698015e-01  8.18554357e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.08327356
Centerline is valid?  [True, True]
Translation: X:123.32, Y:-19.72, Z:81.89
[[ 8.22924811e-01  8.31302422e-02 -5.62035691e-01  1.23319982e+02]
 [-8.27454400e-02  9.96226352e-01  2.61963121e-02 -1.97186879e+01]
 [ 5.62092472e-01  2.49482954e-02  8.26698031e-01  8.18890471e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.14327356
Centerline is valid?  [True, True]
Translation: X:123.37, Y:-19.71, Z:81.92
[[ 8.23083652e-01  8.15346803e-02 -5.62036830e-01  1.23369967e+02]
 [-8.08305672e-02  9.96384190e-01  2.61718577e-02 -1.97099642e+01]
 [ 5.62138526e-01  2.38881276e-02  8.26698032e-01  8.19227409e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.20327355999999
Centerline is valid?  [True, True]
Translation: X:123.42, Y:-19.71, Z:81.96
[[ 8.23116714e-01  8.11963530e-02 -5.62037390e-01  1.23417767e+02]
 [-8.04292067e-02  9.96416984e-01  2.61598270e-02 -1.97103012e+01]
 [ 5.62147684e-01  2.36716306e-02  8.26698032e-01  8.19552423e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.26327356
Centerline is valid?  [True, True]
Translation: X:123.47, Y:-19.72, Z:81.99
[[ 8.22815174e-01  8.41374440e-02 -5.62046332e-01  1.23467199e+02]
 [-8.41214081e-02  9.96117126e-01  2.59665032e-02 -1.97177418e+01]
 [ 5.62048733e-01  2.59144961e-02  8.26698047e-01  8.19889836e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.32327356
Centerline is valid?  [True, True]
Translation: X:123.51, Y:-19.72, Z:82.02
[[ 8.22649250e-01  8.57407818e-02 -5.62046911e-01  1.23514815e+02]
 [-8.60710181e-02  9.95950888e-01  2.59539711e-02 -1.97178513e+01]
 [ 5.61996434e-01  2.70249350e-02  8.26698047e-01  8.20213535e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.38327356
Centerline is valid?  [True, True]
Translation: X:123.56, Y:-19.72, Z:82.05
[[ 8.22478146e-01  8.73490223e-02 -5.62049684e-01  1.23563964e+02]
 [-8.80591089e-02  9.95778642e-01  2.58937932e-02 -1.97160007e+01]
 [ 5.61938869e-01  2.81965153e-02  8.26698049e-01  8.20546795e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.44327356
Centerline is valid?  [True, True]
Translation: X:123.61, Y:-19.72, Z:82.09
[[ 8.22102718e-01  9.07652467e-02 -5.62057640e-01  1.23612513e+02]
 [-9.23136826e-02  9.95397739e-01  2.57201237e-02 -1.97186748e+01]
 [ 5.61805398e-01  3.07410270e-02  8.26698061e-01  8.20876806e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.50327356
Centerline is valid?  [True, True]
Translation: X:123.66, Y:-19.72, Z:82.12
[[ 8.21905926e-01  9.25221041e-02 -5.62058991e-01  1.23661017e+02]
 [-9.44610524e-02  9.95197017e-01  2.56905833e-02 -1.97197585e+01]
 [ 5.61736378e-01  3.19774411e-02  8.26698062e-01  8.21206761e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.56327356
Centerline is valid?  [True, True]
Translation: X:123.71, Y:-19.72, Z:82.15
[[ 8.22044536e-01  9.12354810e-02 -5.62066604e-01  1.23709695e+02]
 [-9.30173410e-02  9.95337303e-01  2.55230972e-02 -1.97220811e+01]
 [ 5.61774470e-01  3.13008184e-02  8.26698073e-01  8.21537579e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.62327356
Centerline is valid?  [True, True]
Translation: X:123.76, Y:-19.72, Z:82.19
[[ 8.21909313e-01  9.23994588e-02 -5.62074213e-01  1.23758879e+02]
 [-9.45415667e-02  9.95197989e-01  2.53545902e-02 -1.97212902e+01]
 [ 5.61717877e-01  3.23002029e-02  8.26698085e-01  8.21870878e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.68327356
Centerline is valid?  [True, True]
Translation: X:123.81, Y:-19.72, Z:82.22
[[ 8.21204602e-01  9.84441818e-02 -5.62078059e-01  1.23808869e+02]
 [-1.01919488e-01  9.94471664e-01  2.52690822e-02 -1.97239346e+01]
 [ 5.61458297e-01  3.65356215e-02  8.26698088e-01  8.22211135e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.74327356
Centerline is valid?  [True, True]
Translation: X:123.86, Y:-19.73, Z:82.25
[[ 8.20844633e-01  1.01398204e-01 -5.62078725e-01  1.23857911e+02]
 [-1.05506993e-01  9.94097830e-01  2.52542664e-02 -1.97250657e+01]
 [ 5.61321979e-01  3.85734072e-02  8.26698088e-01  8.22544846e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.80327356
Centerline is valid?  [True, True]
Translation: X:123.91, Y:-19.72, Z:82.29
[[ 8.20558391e-01  1.03686386e-01 -5.62079229e-01  1.23907506e+02]
 [-1.08285854e-01  9.93799257e-01  2.52430384e-02 -1.97238367e+01]
 [ 5.61211280e-01  4.01518422e-02  8.26698088e-01  8.22881612e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.86327356
Centerline is valid?  [True, True]
Translation: X:123.96, Y:-19.72, Z:82.32
[[ 8.20783894e-01  1.01883049e-01 -5.62079749e-01  1.23956382e+02]
 [-1.06109709e-01  9.94034256e-01  2.52314740e-02 -1.97240900e+01]
 [ 5.61297184e-01  3.89325312e-02  8.26698088e-01  8.23213943e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.92327356
Centerline is valid?  [True, True]
Translation: X:124.01, Y:-19.72, Z:82.35
[[ 8.19473721e-01  1.11895388e-01 -5.62087397e-01  1.24005877e+02]
 [-1.18353491e-01  9.92655248e-01  2.50601035e-02 -1.97198522e+01]
 [ 5.60763115e-01  4.59889095e-02  8.26698100e-01  8.23548321e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.98327356
Centerline is valid?  [True, True]
Translation: X:124.06, Y:-19.73, Z:82.39
[[ 8.21718394e-01  9.40002773e-02 -5.62087919e-01  1.24055682e+02]
 [-9.66886238e-02  9.94999441e-01  2.50483993e-02 -1.97288695e+01]
 [ 5.61631722e-01  3.37647769e-02  8.26698100e-01  8.23889630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.04327356
Centerline is valid?  [True, True]
Translation: X:124.10, Y:-19.73, Z:82.42
[[ 8.22006553e-01  9.14424594e-02 -5.62088519e-01  1.24104680e+02]
 [-9.36006856e-02  9.95295014e-01  2.50349305e-02 -1.97308805e+01]
 [ 5.61733156e-01  3.20329938e-02  8.26698100e-01  8.24223317e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.10327356
Centerline is valid?  [True, True]
Translation: X:124.15, Y:-19.73, Z:82.46
[[ 8.22623778e-01  8.57053839e-02 -5.62089589e-01  1.24154173e+02]
 [-8.66709769e-02  9.95922988e-01  2.50108805e-02 -1.97333296e+01]
 [ 5.61941510e-01  2.81423087e-02  8.26698101e-01  8.24560453e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.16327356
Centerline is valid?  [True, True]
Translation: X:124.20, Y:-19.73, Z:82.49
[[ 8.22771590e-01  8.42679842e-02 -5.62090578e-01  1.24201650e+02]
 [-8.49459514e-02  9.96072163e-01  2.49886376e-02 -1.97342489e+01]
 [ 5.61988520e-01  2.71873779e-02  8.26698101e-01  8.24883423e+01]
 [ 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 229.22327356
Centerline is valid?  [True, True]
Translation: X:124.25, Y:-19.74, Z:82.52
[[ 8.22898263e-01  8.29999400e-02 -5.62093816e-01  1.24250383e+02]
 [-8.34606015e-02  9.96199548e-01  2.49156249e-02 -1.97353418e+01]
 [ 5.62025601e-01  2.64096636e-02  8.26698103e-01  8.25214738e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.28327356
Centerline is valid?  [True, True]
Translation: X:124.30, Y:-19.73, Z:82.56
[[ 8.22205462e-01  8.95577021e-02 -5.62101055e-01  1.24300790e+02]
 [-9.15118913e-02  9.95496330e-01  2.47513979e-02 -1.97306987e+01]
 [ 5.61786216e-01  3.10881961e-02  8.26698114e-01  8.25555260e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.34327356
Centerline is valid?  [True, True]
Translation: X:124.35, Y:-19.73, Z:82.59
[[ 8.22378125e-01  8.79542534e-02 -5.62101654e-01  1.24348874e+02]
 [-8.95797967e-02  9.95672387e-01  2.47377962e-02 -1.97330912e+01]
 [ 5.61844890e-01  3.00091294e-02  8.26698114e-01  8.25882849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.40327356
Centerline is valid?  [True, True]
Translation: X:124.40, Y:-19.73, Z:82.62
[[ 8.22018321e-01  9.12032711e-02 -5.62110171e-01  1.24398873e+02]
 [-9.36463635e-02  9.95302969e-01  2.45429825e-02 -1.97349272e+01]
 [ 5.61708322e-01  3.24647922e-02  8.26698130e-01  8.26222400e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.46327356
Centerline is valid?  [True, True]
Translation: X:124.45, Y:-19.74, Z:82.66
[[ 8.21995948e-01  9.14044041e-02 -5.62110218e-01  1.24447542e+02]
 [-9.38906359e-02  9.95279983e-01  2.45418977e-02 -1.97353352e+01]
 [ 5.61700285e-01  3.26035453e-02  8.26698130e-01  8.26553441e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.52327356
Centerline is valid?  [True, True]
Translation: X:124.50, Y:-19.73, Z:82.69
[[ 8.21709617e-01  9.38992501e-02 -5.62117636e-01  1.24496067e+02]
 [-9.70279710e-02  9.94983230e-01  2.43709882e-02 -1.97343218e+01]
 [ 5.61586039e-01  3.45152583e-02  8.26698142e-01  8.26882250e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.58327356
Centerline is valid?  [True, True]
Translation: X:124.55, Y:-19.74, Z:82.72
[[ 8.19773675e-01  1.09483105e-01 -5.62125049e-01  1.24545949e+02]
 [-1.16018176e-01  9.92952261e-01  2.41989763e-02 -1.97377238e+01]
 [ 5.60812718e-01  4.53790390e-02  8.26698154e-01  8.27221585e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.64327356
Centerline is valid?  [True, True]
Translation: X:124.59, Y:-19.74, Z:82.76
[[ 8.20046894e-01  1.07414696e-01 -5.62125586e-01  1.24594901e+02]
 [-1.13521356e-01  9.93241116e-01  2.41865121e-02 -1.97379010e+01]
 [ 5.60924231e-01  4.39791847e-02  8.26698154e-01  8.27554434e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.70327355999999
Centerline is valid?  [True, True]
Translation: X:124.64, Y:-19.73, Z:82.79
[[ 8.21526865e-01  9.54318683e-02 -5.62126648e-01  1.24644870e+02]
 [-9.90263609e-02  9.94791429e-01  2.41617951e-02 -1.97327675e+01]
 [ 5.61504577e-01  3.58157926e-02  8.26698155e-01  8.27892587e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.76327356
Centerline is valid?  [True, True]
Translation: X:124.69, Y:-19.73, Z:82.82
[[ 8.21424887e-01  9.63021896e-02 -5.62127249e-01  1.24693057e+02]
 [-1.00089770e-01  9.94685338e-01  2.41478213e-02 -1.97345261e+01]
 [ 5.61465220e-01  3.64275654e-02  8.26698155e-01  8.28220688e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.82327356
Centerline is valid?  [True, True]
Translation: X:124.74, Y:-19.74, Z:82.86
[[ 8.22298461e-01  8.85206922e-02 -5.62129281e-01  1.24742959e+02]
 [-9.06999772e-02  9.95586602e-01  2.41004408e-02 -1.97363711e+01]
 [ 5.61781768e-01  3.11673575e-02  8.26698156e-01  8.28560317e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.88327356
Centerline is valid?  [True, True]
Translation: X:124.79, Y:-19.74, Z:82.89
[[ 8.21601321e-01  9.47678661e-02 -5.62130164e-01  1.24792902e+02]
 [-9.82781872e-02  9.94867609e-01  2.40798179e-02 -1.97381276e+01]
 [ 5.61527086e-01  3.54611233e-02  8.26698156e-01  8.28900330e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.94327356
Centerline is valid?  [True, True]
Translation: X:124.84, Y:-19.74, Z:82.92
[[ 8.21700425e-01  9.39028031e-02 -5.62130478e-01  1.24842053e+02]
 [-9.72357002e-02  9.94970218e-01  2.40724828e-02 -1.97398912e+01]
 [ 5.61563558e-01  3.48787813e-02  8.26698156e-01  8.29235019e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.00327356
Centerline is valid?  [True, True]
Translation: X:124.89, Y:-19.74, Z:82.96
[[ 8.21378996e-01  9.66345797e-02 -5.62137264e-01  1.24891950e+02]
 [-1.00652195e-01  9.94634253e-01  2.39131348e-02 -1.97405997e+01]
 [ 5.61431814e-01  3.69386028e-02  8.26698166e-01  8.29573760e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.06327356
Centerline is valid?  [True, True]
Translation: X:124.94, Y:-19.74, Z:82.99
[[ 8.20935883e-01  1.00326334e-01 -5.62137797e-01  1.24940995e+02]
 [-1.05131361e-01  9.94171091e-01  2.39006063e-02 -1.97409578e+01]
 [ 5.61259007e-01  3.94774461e-02  8.26698166e-01  8.29907295e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.12327356
Centerline is valid?  [True, True]
Translation: X:124.99, Y:-19.75, Z:83.02
[[ 8.19326984e-01  1.12710854e-01 -5.62138379e-01  1.24990366e+02]
 [-1.20140484e-01  9.92469486e-01  2.38869000e-02 -1.97528722e+01]
 [ 5.60597501e-01  4.79643950e-02  8.26698167e-01  8.30246386e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.18327356
Centerline is valid?  [True, True]
Translation: X:125.04, Y:-19.74, Z:83.06
[[ 8.20168111e-01  1.06414261e-01 -5.62139017e-01  1.25040260e+02]
 [-1.12523996e-01  9.93362212e-01  2.38718748e-02 -1.97417667e+01]
 [ 5.60947966e-01  4.36751782e-02  8.26698167e-01  8.30582379e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.24327356
Centerline is valid?  [True, True]
Translation: X:125.09, Y:-19.74, Z:83.09
[[ 8.19896055e-01  1.08486361e-01 -5.62139813e-01  1.25089898e+02]
 [-1.15046475e-01  9.93073681e-01  2.38531384e-02 -1.97428639e+01]
 [ 5.60833993e-01  4.51151098e-02  8.26698167e-01  8.30920135e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.30327356
Centerline is valid?  [True, True]
Translation: X:125.14, Y:-19.76, Z:83.13
[[ 8.20864347e-01  1.00896170e-01 -5.62140273e-01  1.25138852e+02]
 [-1.05861191e-01  9.94095043e-01  2.38422787e-02 -1.97597584e+01]
 [ 5.61226453e-01  3.99375624e-02  8.26698167e-01  8.31257837e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.36327356
Centerline is valid?  [True, True]
Translation: X:125.19, Y:-19.76, Z:83.16
[[ 8.20981226e-01  9.99365566e-02 -5.62141006e-01  1.25188026e+02]
 [-1.04710864e-01  9.94217283e-01  2.38249798e-02 -1.97612624e+01]
 [ 5.61271290e-01  3.93024094e-02  8.26698167e-01  8.31592560e+01]
 [ 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 230.42327355999998
Centerline is valid?  [True, True]
Translation: X:125.24, Y:-19.76, Z:83.19
[[ 8.21218063e-01  9.79652194e-02 -5.62142072e-01  1.25236475e+02]
 [-1.02340745e-01  9.94464650e-01  2.37998187e-02 -1.97615747e+01]
 [ 5.61361973e-01  3.79851973e-02  8.26698167e-01  8.31921979e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.48327356
Centerline is valid?  [True, True]
Translation: X:125.29, Y:-19.76, Z:83.23
[[ 8.21506413e-01  9.55077832e-02 -5.62143645e-01  1.25286044e+02]
 [-9.93903046e-02  9.94764749e-01  2.37626158e-02 -1.97641571e+01]
 [ 5.61470196e-01  3.63504869e-02  8.26698168e-01  8.32259598e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.54327356
Centerline is valid?  [True, True]
Translation: X:125.33, Y:-19.77, Z:83.26
[[ 8.21699014e-01  9.38339897e-02 -5.62144032e-01  1.25333877e+02]
 [-9.73697854e-02  9.94964773e-01  2.37534455e-02 -1.97653403e+01]
 [ 5.61542390e-01  3.52176610e-02  8.26698168e-01  8.32585158e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.60327356
Centerline is valid?  [True, True]
Translation: X:125.38, Y:-19.77, Z:83.29
[[ 8.22044657e-01  9.07404916e-02 -5.62146551e-01  1.25383275e+02]
 [-9.36648052e-02  9.95321813e-01  2.36937111e-02 -1.97694507e+01]
 [ 5.61666704e-01  3.31760586e-02  8.26698169e-01  8.32921947e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.66327356
Centerline is valid?  [True, True]
Translation: X:125.43, Y:-19.76, Z:83.33
[[ 8.21606253e-01  9.46218747e-02 -5.62147549e-01  1.25433711e+02]
 [-9.83806597e-02  9.94867316e-01  2.36700230e-02 -1.97600675e+01]
 [ 5.61501925e-01  3.58570078e-02  8.26698170e-01  8.33262108e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.72327356
Centerline is valid?  [True, True]
Translation: X:125.48, Y:-19.78, Z:83.36
[[ 8.23096174e-01  8.06359455e-02 -5.62148142e-01  1.25482698e+02]
 [-8.14573114e-02  9.96396058e-01  2.36559297e-02 -1.97790740e+01]
 [ 5.62029710e-01  2.63199711e-02  8.26698170e-01  8.33600586e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.78327356
Centerline is valid?  [True, True]
Translation: X:125.53, Y:-19.79, Z:83.39
[[ 8.23581495e-01  7.55138120e-02 -5.62148722e-01  1.25531615e+02]
 [-7.52664389e-02  9.96883149e-01  2.36421429e-02 -1.97861978e+01]
 [ 5.62181896e-01  2.28397010e-02  8.26698170e-01  8.33935190e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.84327356
Centerline is valid?  [True, True]
Translation: X:125.58, Y:-19.79, Z:83.43
[[ 8.24269409e-01  6.75840264e-02 -5.62149749e-01  1.25580882e+02]
 [-6.56854453e-02  9.97560839e-01  2.36176836e-02 -1.97916775e+01]
 [ 5.62374754e-01  1.74577226e-02  8.26698170e-01  8.34271642e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.90327356
Centerline is valid?  [True, True]
Translation: X:125.63, Y:-19.80, Z:83.46
[[ 8.24451695e-01  6.53169029e-02 -5.62150430e-01  1.25629688e+02]
 [-6.29527869e-02  9.97737399e-01  2.36014850e-02 -1.97963867e+01]
 [ 5.62420083e-01  1.59306519e-02  8.26698170e-01  8.34604786e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.96327356
Centerline is valid?  [True, True]
Translation: X:125.68, Y:-19.80, Z:83.49
[[ 8.24663325e-01  6.25240254e-02 -5.62157581e-01  1.25678166e+02]
 [-5.96897458e-02  9.97941965e-01  2.34300931e-02 -1.97986996e+01]
 [ 5.62465585e-01  1.42331046e-02  8.26698182e-01  8.34934232e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.02327356
Centerline is valid?  [True, True]
Translation: X:125.73, Y:-19.78, Z:83.53
[[ 8.24485418e-01  6.47671201e-02 -5.62164580e-01  1.25727616e+02]
 [-6.25193251e-02  9.97772646e-01  2.32611399e-02 -1.97840660e+01]
 [ 5.62418998e-01  1.59676795e-02  8.26698194e-01  8.35265528e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.08327356
Centerline is valid?  [True, True]
Translation: X:125.78, Y:-19.79, Z:83.56
[[ 8.23622412e-01  7.48954910e-02 -5.62171493e-01  1.25777821e+02]
 [-7.48921690e-02  9.96924207e-01  2.30930583e-02 -1.97850729e+01]
 [ 5.62171935e-01  2.30822820e-02  8.26698206e-01  8.35606399e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.14327356
Centerline is valid?  [True, True]
Translation: X:125.83, Y:-19.80, Z:83.59
[[ 8.24530800e-01  6.41258786e-02 -5.62171532e-01  1.25826227e+02]
 [-6.18584723e-02  9.97817761e-01  2.30921067e-02 -1.98032796e+01]
 [ 5.62425541e-01  1.57349189e-02  8.26698206e-01  8.35940650e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.20327355999999
Centerline is valid?  [True, True]
Translation: X:125.88, Y:-19.81, Z:83.63
[[ 8.24260506e-01  6.75043402e-02 -5.62172378e-01  1.25875831e+02]
 [-6.59611510e-02  9.97555429e-01  2.30714810e-02 -1.98052257e+01]
 [ 5.62355533e-01  1.80646266e-02  8.26698206e-01  8.36278409e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.26327356
Centerline is valid?  [True, True]
Translation: X:125.92, Y:-19.80, Z:83.66
[[ 8.24126488e-01  6.91182977e-02 -5.62172743e-01  1.25923637e+02]
 [-6.79205083e-02  9.97424143e-01  2.30626067e-02 -1.98047412e+01]
 [ 5.62318714e-01  1.91765534e-02  8.26698206e-01  8.36603316e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.32327356
Centerline is valid?  [True, True]
Translation: X:125.97, Y:-19.81, Z:83.69
[[ 8.23891915e-01  7.18411212e-02 -5.62175210e-01  1.25971977e+02]
 [-7.12570428e-02  9.97192723e-01  2.30023339e-02 -1.98063729e+01]
 [ 5.62249542e-01  2.11075061e-02  8.26698207e-01  8.36932194e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.38327356
Centerline is valid?  [True, True]
Translation: X:126.02, Y:-19.81, Z:83.73
[[ 8.23583819e-01  7.52637672e-02 -5.62178850e-01  1.26022109e+02]
 [-7.54605736e-02  9.96885496e-01  2.29130829e-02 -1.98070375e+01]
 [ 5.62152466e-01  2.35514941e-02  8.26698211e-01  8.37272843e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.44327356
Centerline is valid?  [True, True]
Translation: X:126.07, Y:-19.79, Z:83.76
[[ 8.23005248e-01  8.13445096e-02 -5.62179182e-01  1.26072388e+02]
 [-8.28268307e-02  9.96300698e-01  2.29049310e-02 -1.97906877e+01]
 [ 5.61962701e-01  2.77126415e-02  8.26698211e-01  8.37610187e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.50327356
Centerline is valid?  [True, True]
Translation: X:126.12, Y:-19.79, Z:83.79
[[ 8.22936300e-01  8.20344465e-02 -5.62179861e-01  1.26120620e+02]
 [-8.36734222e-02  9.96230338e-01  2.28882406e-02 -1.97913246e+01]
 [ 5.61938258e-01  2.82039489e-02  8.26698211e-01  8.37938277e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.56327356
Centerline is valid?  [True, True]
Translation: X:126.17, Y:-19.79, Z:83.83
[[ 8.22913219e-01  8.22504962e-02 -5.62182079e-01  1.26168401e+02]
 [-8.39721575e-02  9.96206455e-01  2.28336641e-02 -1.97934682e+01]
 [ 5.61927496e-01  2.84175181e-02  8.26698212e-01  8.38263537e+01]
 [ 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 231.62327356
Centerline is valid?  [True, True]
Translation: X:126.22, Y:-19.79, Z:83.86
[[ 8.22740777e-01  8.39052494e-02 -5.62189936e-01  1.26216488e+02]
 [-8.61081734e-02  9.96028547e-01  2.26388227e-02 -1.97945777e+01]
 [ 5.61856741e-01  2.97832659e-02  8.26698228e-01  8.38589928e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.68327356
Centerline is valid?  [True, True]
Translation: X:126.27, Y:-19.80, Z:83.89
[[ 8.22700770e-01  8.42727653e-02 -5.62193511e-01  1.26265482e+02]
 [-8.66138035e-02  9.95986726e-01  2.25497316e-02 -1.98029480e+01]
 [ 5.61837603e-01  3.01420368e-02  8.26698231e-01  8.38924971e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.74327356
Centerline is valid?  [True, True]
Translation: X:126.32, Y:-19.80, Z:83.93
[[ 8.22150559e-01  8.94751862e-02 -5.62194495e-01  1.26315594e+02]
 [-9.29290431e-02  9.95417907e-01  2.25251900e-02 -1.97984710e+01]
 [ 5.61633913e-01  3.37250989e-02  8.26698231e-01  8.39264417e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.80327356
Centerline is valid?  [True, True]
Translation: X:126.37, Y:-19.80, Z:83.96
[[ 8.21684261e-01  9.36579742e-02 -5.62194947e-01  1.26365517e+02]
 [-9.80012382e-02  9.94931596e-01  2.25139034e-02 -1.98010366e+01]
 [ 5.61454123e-01  3.65964809e-02  8.26698231e-01  8.39604567e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.86327356
Centerline is valid?  [True, True]
Translation: X:126.41, Y:-19.80, Z:83.99
[[ 8.21523006e-01  9.50612745e-02 -5.62195077e-01  1.26414055e+02]
 [-9.97026511e-02  9.94762611e-01  2.25106560e-02 -1.98045592e+01]
 [ 5.61390534e-01  3.75593178e-02  8.26698231e-01  8.39935588e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.92327355999998
Centerline is valid?  [True, True]
Translation: X:126.46, Y:-19.81, Z:84.03
[[ 8.19907259e-01  1.08111827e-01 -5.62195624e-01  1.26463512e+02]
 [-1.15516504e-01  9.93050765e-01  2.24969950e-02 -1.98130985e+01]
 [ 5.60720986e-01  4.64974233e-02  8.26698232e-01  8.40274182e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.98327356
Centerline is valid?  [True, True]
Translation: X:126.51, Y:-19.84, Z:84.06
[[ 8.22296641e-01  8.81116624e-02 -5.62196202e-01  1.26511796e+02]
 [-9.13072383e-02  9.95568945e-01  2.24825416e-02 -1.98362899e+01]
 [ 5.61686053e-01  3.28452641e-02  8.26698232e-01  8.40608773e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.04327356
Centerline is valid?  [True, True]
Translation: X:126.56, Y:-19.83, Z:84.09
[[ 8.21128028e-01  9.84050101e-02 -5.62196776e-01  1.26561993e+02]
 [-1.03780568e-01  9.94346406e-01  2.24681745e-02 -1.98286982e+01]
 [ 5.61229324e-01  3.98958527e-02  8.26698232e-01  8.40948003e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.10327356
Centerline is valid?  [True, True]
Translation: X:126.61, Y:-19.84, Z:84.13
[[ 8.21526116e-01  9.50216922e-02 -5.62197225e-01  1.26611604e+02]
 [-9.96913182e-02  9.94764961e-01  2.24569386e-02 -1.98373061e+01]
 [ 5.61387996e-01  3.75972209e-02  8.26698232e-01  8.41287668e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.16327356
Centerline is valid?  [True, True]
Translation: X:126.66, Y:-19.84, Z:84.16
[[ 8.22669662e-01  8.45462705e-02 -5.62197969e-01  1.26660232e+02]
 [-8.70208423e-02  9.95953762e-01  2.24383045e-02 -1.98405806e+01]
 [ 5.61820257e-01  3.04636284e-02  8.26698232e-01  8.41619158e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.22327356
Centerline is valid?  [True, True]
Translation: X:126.71, Y:-19.86, Z:84.20
[[ 8.22814411e-01  8.31183644e-02 -5.62199059e-01  1.26708280e+02]
 [-8.53108234e-02  9.96102310e-01  2.24109587e-02 -1.98645002e+01]
 [ 5.61870544e-01  2.95216048e-02  8.26698232e-01  8.41952250e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.28327356
Centerline is valid?  [True, True]
Translation: X:126.76, Y:-19.85, Z:84.23
[[ 8.21172613e-01  9.79832338e-02 -5.62205324e-01  1.26758301e+02]
 [-1.03416489e-01  9.94389179e-01  2.22528642e-02 -1.98516991e+01]
 [ 5.61231298e-01  3.98678582e-02  8.26698243e-01  8.42288137e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.34327356
Centerline is valid?  [True, True]
Translation: X:126.81, Y:-19.85, Z:84.26
[[ 8.22406134e-01  8.70209891e-02 -5.62205922e-01  1.26808548e+02]
 [-9.01535563e-02  9.95679577e-01  2.22377308e-02 -1.98507848e+01]
 [ 5.61712104e-01  3.23964171e-02  8.26698243e-01  8.42629523e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.40327356
Centerline is valid?  [True, True]
Translation: X:126.86, Y:-19.86, Z:84.30
[[ 8.21885117e-01  9.18098160e-02 -5.62206201e-01  1.26858220e+02]
 [-9.59563987e-02  9.95137260e-01  2.22306917e-02 -1.98579308e+01]
 [ 5.61513334e-01  3.56762077e-02  8.26698243e-01  8.42969210e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.46327356
Centerline is valid?  [True, True]
Translation: X:126.91, Y:-19.86, Z:84.33
[[ 8.22877571e-01  8.24394002e-02 -5.62206588e-01  1.26907175e+02]
 [-8.46183823e-02  9.96165630e-01  2.22208851e-02 -1.98630461e+01]
 [ 5.61882756e-01  2.92879440e-02  8.26698243e-01  8.43303455e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.52327356
Centerline is valid?  [True, True]
Translation: X:126.96, Y:-19.87, Z:84.36
[[ 8.22536003e-01  8.57757904e-02 -5.62207290e-01  1.26957146e+02]
 [-8.86696120e-02  9.95813598e-01  2.22031099e-02 -1.98656167e+01]
 [ 5.61758154e-01  3.15878450e-02  8.26698243e-01  8.43643890e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.58327356
Centerline is valid?  [True, True]
Translation: X:127.01, Y:-19.87, Z:84.40
[[ 8.23205070e-01  7.90972554e-02 -5.62207290e-01  1.27006628e+02]
 [-8.05846590e-02  9.96500444e-01  2.22031099e-02 -1.98703624e+01]
 [ 5.61996019e-01  2.70275702e-02  8.26698243e-01  8.43981672e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.64327356
Centerline is valid?  [True, True]
Translation: X:127.06, Y:-19.87, Z:84.43
[[ 8.22849846e-01  8.27054575e-02 -5.62208092e-01  1.27056025e+02]
 [-8.49664239e-02  9.96136853e-01  2.21827924e-02 -1.98717539e+01]
 [ 5.61870838e-01  2.95157038e-02  8.26698243e-01  8.44317872e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.70327355999999
Centerline is valid?  [True, True]
Translation: X:127.11, Y:-19.87, Z:84.47
[[ 8.22542624e-01  8.57038601e-02 -5.62208574e-01  1.27105085e+02]
 [-8.86046983e-02  9.95820101e-01  2.21705720e-02 -1.98729672e+01]
 [ 5.61758702e-01  3.15780806e-02  8.26698243e-01  8.44651773e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.76327356
Centerline is valid?  [True, True]
Translation: X:127.15, Y:-19.87, Z:84.50
[[ 8.22316889e-01  8.78341210e-02 -5.62210015e-01  1.27154069e+02]
 [-9.12087057e-02  9.95585787e-01  2.21339765e-02 -1.98714986e+01]
 [ 5.61672419e-01  3.30773051e-02  8.26698244e-01  8.44984309e+01]
 [ 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 232.82327356
Centerline is valid?  [True, True]
Translation: X:127.20, Y:-19.89, Z:84.53
[[ 8.22177320e-01  8.91219121e-02 -5.62211472e-01  1.27201947e+02]
 [-9.27931078e-02  9.95440187e-01  2.20969239e-02 -1.98901166e+01]
 [ 5.61617212e-01  3.40017600e-02  8.26698244e-01  8.45314698e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.88327356
Centerline is valid?  [True, True]
Translation: X:127.25, Y:-19.89, Z:84.57
[[ 8.22704921e-01  8.41027244e-02 -5.62212900e-01  1.27251770e+02]
 [-8.67412732e-02  9.95986589e-01  2.20605277e-02 -1.98857016e+01]
 [ 5.61811859e-01  3.06177581e-02  8.26698245e-01  8.45652152e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.94327356
Centerline is valid?  [True, True]
Translation: X:127.30, Y:-19.87, Z:84.60
[[ 8.22386734e-01  8.71571494e-02 -5.62213208e-01  1.27302089e+02]
 [-9.04444913e-02  9.95657307e-01  2.20526711e-02 -1.98737137e+01]
 [ 5.61693737e-01  3.27132635e-02  8.26698245e-01  8.45991114e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.00327356
Centerline is valid?  [True, True]
Translation: X:127.35, Y:-19.87, Z:84.63
[[ 8.22335095e-01  8.76398541e-02 -5.62213703e-01  1.27350526e+02]
 [-9.10374896e-02  9.95603541e-01  2.20400648e-02 -1.98729834e+01]
 [ 5.61673541e-01  3.30582053e-02  8.26698245e-01  8.46320260e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.06327356
Centerline is valid?  [True, True]
Translation: X:127.40, Y:-19.87, Z:84.66
[[ 8.22264460e-01  8.82882595e-02 -5.62215565e-01  1.27398229e+02]
 [-9.18549361e-02  9.95529508e-01  2.19924863e-02 -1.98732679e+01]
 [ 5.61643863e-01  3.35586348e-02  8.26698246e-01  8.46644510e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.12327356
Centerline is valid?  [True, True]
Translation: X:127.45, Y:-19.89, Z:84.70
[[ 8.21974002e-01  9.09385795e-02 -5.62217854e-01  1.27446910e+02]
 [-9.51037674e-02  9.95225693e-01  2.19338224e-02 -1.98878709e+01]
 [ 5.61528284e-01  3.54400042e-02  8.26698247e-01  8.46979149e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.18327356
Centerline is valid?  [True, True]
Translation: X:127.50, Y:-19.89, Z:84.73
[[ 8.22125722e-01  8.95520757e-02 -5.62218572e-01  1.27496273e+02]
 [-9.34375946e-02  9.95383911e-01  2.19154009e-02 -1.98876827e+01]
 [ 5.61585891e-01  3.45151363e-02  8.26698247e-01  8.47314707e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.24327356
Centerline is valid?  [True, True]
Translation: X:127.55, Y:-19.89, Z:84.76
[[ 8.22310747e-01  8.78309433e-02 -5.62219495e-01  1.27545527e+02]
 [-9.13699239e-02  9.95576361e-01  2.18917000e-02 -1.98892013e+01]
 [ 5.61655208e-01  3.33681723e-02  8.26698248e-01  8.47649952e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.30327356
Centerline is valid?  [True, True]
Translation: X:127.59, Y:-19.89, Z:84.80
[[ 8.22453973e-01  8.64734417e-02 -5.62220424e-01  1.27593959e+02]
 [-8.97426818e-02  9.95724887e-01  2.18678158e-02 -1.98917063e+01]
 [ 5.61707854e-01  3.24698967e-02  8.26698248e-01  8.47979868e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.36327356
Centerline is valid?  [True, True]
Translation: X:127.64, Y:-19.89, Z:84.83
[[ 8.22713935e-01  8.39205707e-02 -5.62226928e-01  1.27643457e+02]
 [-8.67667123e-02  9.95992303e-01  2.16995283e-02 -1.98939879e+01]
 [ 5.61794729e-01  3.09300777e-02  8.26698260e-01  8.48316213e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.42327355999998
Centerline is valid?  [True, True]
Translation: X:127.69, Y:-19.89, Z:84.86
[[ 8.22772800e-01  8.33379171e-02 -5.62227455e-01  1.27691946e+02]
 [-8.60706573e-02  9.96052993e-01  2.16858604e-02 -1.98947173e+01]
 [ 5.61815594e-01  3.05487505e-02  8.26698260e-01  8.48646095e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.48327356
Centerline is valid?  [True, True]
Translation: X:127.74, Y:-19.89, Z:84.90
[[ 8.22709190e-01  8.39542206e-02 -5.62228849e-01  1.27741358e+02]
 [-8.68414145e-02  9.95986878e-01  2.16496757e-02 -1.98948649e+01]
 [ 5.61790137e-01  3.10133614e-02  8.26698260e-01  8.48981994e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.54327356
Centerline is valid?  [True, True]
Translation: X:127.79, Y:-19.89, Z:84.93
[[ 8.22423696e-01  8.67001584e-02 -5.62229799e-01  1.27789383e+02]
 [-9.01826167e-02  9.95690442e-01  2.16249622e-02 -1.98912714e+01]
 [ 5.61681725e-01  3.29184732e-02  8.26698260e-01  8.49307535e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.60327356
Centerline is valid?  [True, True]
Translation: X:127.84, Y:-19.89, Z:84.96
[[ 8.21989535e-01  9.07096235e-02 -5.62232130e-01  1.27838012e+02]
 [-9.50783471e-02  9.95236199e-01  2.15642150e-02 -1.98908482e+01]
 [ 5.61509850e-01  3.57305426e-02  8.26698262e-01  8.49637837e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.66327356
Centerline is valid?  [True, True]
Translation: X:127.89, Y:-19.89, Z:85.00
[[ 8.21711367e-01  9.31945645e-02 -5.62232339e-01  1.27887919e+02]
 [-9.80907994e-02  9.94943925e-01  2.15587758e-02 -1.98894907e+01]
 [ 5.61398811e-01  3.74347285e-02  8.26698262e-01  8.49976865e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.72327356
Centerline is valid?  [True, True]
Translation: X:127.94, Y:-19.89, Z:85.03
[[ 8.21520455e-01  9.48599845e-02 -5.62232803e-01  1.27937093e+02]
 [-1.00115597e-01  9.94742483e-01  2.15466711e-02 -1.98887421e+01]
 [ 5.61320771e-01  3.85872419e-02  8.26698262e-01  8.50311040e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.78327356
Centerline is valid?  [True, True]
Translation: X:127.99, Y:-19.89, Z:85.06
[[ 8.21592262e-01  9.42242236e-02 -5.62234783e-01  1.27985980e+02]
 [-9.93810497e-02  9.94817258e-01  2.14949034e-02 -1.98896010e+01]
 [ 5.61346205e-01  3.82154366e-02  8.26698263e-01  8.50643484e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.84327356
Centerline is valid?  [True, True]
Translation: X:128.03, Y:-19.89, Z:85.10
[[ 8.21723713e-01  9.30324374e-02 -5.62241144e-01  1.28034557e+02]
 [-9.80520979e-02  9.94952727e-01  2.13274026e-02 -1.98882548e+01]
 [ 5.61387500e-01  3.76036913e-02  8.26698275e-01  8.50972660e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.90327356
Centerline is valid?  [True, True]
Translation: X:128.08, Y:-19.89, Z:85.13
[[ 8.22005406e-01  9.04709116e-02 -5.62247390e-01  1.28084100e+02]
 [-9.50635301e-02  9.95246255e-01  2.11616818e-02 -1.98869520e+01]
 [ 5.61489126e-01  3.60542048e-02  8.26698286e-01  8.51308445e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.96327356
Centerline is valid?  [True, True]
Translation: X:128.13, Y:-19.88, Z:85.16
[[ 8.21734714e-01  9.28953257e-02 -5.62247737e-01  1.28133623e+02]
 [-9.80052497e-02  9.94961077e-01  2.11524505e-02 -1.98843110e+01]
 [ 5.61379578e-01  3.77215269e-02  8.26698286e-01  8.51644535e+01]
 [ 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 234.02327356
Centerline is valid?  [True, True]
Translation: X:128.18, Y:-19.88, Z:85.20
[[ 8.21349944e-01  9.62326886e-02 -5.62248646e-01  1.28183237e+02]
 [-1.02062741e-01  9.94553565e-01  2.11282631e-02 -1.98842878e+01]
 [ 5.61219625e-01  4.00309400e-02  8.26698286e-01  8.51981842e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.08327356
Centerline is valid?  [True, True]
Translation: X:128.23, Y:-19.88, Z:85.23
[[ 8.21594649e-01  9.41175687e-02 -5.62249159e-01  1.28233124e+02]
 [-9.95109405e-02  9.94812418e-01  2.11146068e-02 -1.98810473e+01]
 [ 5.61319700e-01  3.86022946e-02  8.26698286e-01  8.52320235e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.14327356
Centerline is valid?  [True, True]
Translation: X:128.28, Y:-19.88, Z:85.27
[[ 8.21879379e-01  9.15911472e-02 -5.62250255e-01  1.28283089e+02]
 [-9.64718395e-02  9.95112351e-01  2.10853908e-02 -1.98799981e+01]
 [ 5.61433408e-01  3.69116684e-02  8.26698287e-01  8.52659650e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.20327355999999
Centerline is valid?  [True, True]
Translation: X:128.33, Y:-19.88, Z:85.30
[[ 8.21728768e-01  9.29299461e-02 -5.62250707e-01  1.28331881e+02]
 [-9.81010656e-02  9.94953314e-01  2.10733217e-02 -1.98792673e+01]
 [ 5.61371547e-01  3.78408389e-02  8.26698287e-01  8.52991243e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.26327356
Centerline is valid?  [True, True]
Translation: X:128.38, Y:-19.88, Z:85.33
[[ 8.21723335e-01  9.29402784e-02 -5.62256939e-01  1.28381470e+02]
 [-9.82275891e-02  9.94944362e-01  2.09059294e-02 -1.98790317e+01]
 [ 5.61357374e-01  3.80502536e-02  8.26698298e-01  8.53327654e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.32327356
Centerline is valid?  [True, True]
Translation: X:128.43, Y:-19.88, Z:85.37
[[ 8.21136272e-01  9.79890943e-02 -5.62257379e-01  1.28431276e+02]
 [-1.04349037e-01  9.94321233e-01  2.08940929e-02 -1.98786165e+01]
 [ 5.61111844e-01  4.15141185e-02  8.26698299e-01  8.53666230e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.38327356
Centerline is valid?  [True, True]
Translation: X:128.48, Y:-19.88, Z:85.40
[[ 8.21231146e-01  9.71899661e-02 -5.62257517e-01  1.28480533e+02]
 [-1.03383906e-01  9.94422124e-01  2.08903727e-02 -1.98778456e+01]
 [ 5.61151649e-01  4.09725535e-02  8.26698299e-01  8.54001027e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.44327356
Centerline is valid?  [True, True]
Translation: X:128.53, Y:-19.88, Z:85.43
[[ 8.21083236e-01  9.83983358e-02 -5.62263361e-01  1.28530137e+02]
 [-1.04954920e-01  9.94260854e-01  2.07320790e-02 -1.98763990e+01]
 [ 5.61076451e-01  4.19895433e-02  8.26698309e-01  8.54337300e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.50327356
Centerline is valid?  [True, True]
Translation: X:128.58, Y:-19.86, Z:85.47
[[ 8.21291095e-01  9.66429082e-02 -5.62264249e-01  1.28579372e+02]
 [-1.02845701e-01  9.94481745e-01  2.07079665e-02 -1.98648607e+01]
 [ 5.61162810e-01  4.08191926e-02  8.26698309e-01  8.54669161e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.56327356
Centerline is valid?  [True, True]
Translation: X:128.63, Y:-19.87, Z:85.50
[[ 8.21925102e-01  9.10554440e-02 -5.62270427e-01  1.28629271e+02]
 [-9.61953465e-02  9.95150543e-01  2.05390573e-02 -1.98682210e+01]
 [ 5.61413914e-01  3.72062318e-02  8.26698321e-01  8.55008617e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.62327356
Centerline is valid?  [True, True]
Translation: X:128.68, Y:-19.87, Z:85.53
[[ 8.22409968e-01  8.65637136e-02 -5.62270902e-01  1.28678329e+02]
 [-9.07660304e-02  9.95660690e-01  2.05260462e-02 -1.98719969e+01]
 [ 5.61607845e-01  3.41542728e-02  8.26698321e-01  8.55343159e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.68327356
Centerline is valid?  [True, True]
Translation: X:128.73, Y:-19.89, Z:85.57
[[ 8.23405700e-01  7.65081486e-02 -5.62271782e-01  1.28726171e+02]
 [-7.86096191e-02  9.96694637e-01  2.05019233e-02 -1.98943777e+01]
 [ 5.61981834e-01  2.73185701e-02  8.26698321e-01  8.55673997e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.74327356
Centerline is valid?  [True, True]
Translation: X:128.78, Y:-19.90, Z:85.60
[[ 8.23753905e-01  7.26584261e-02 -5.62272405e-01  1.28775449e+02]
 [-7.39615094e-02  9.97050684e-01  2.04848239e-02 -1.99013316e+01]
 [ 5.62102481e-01  2.47120621e-02  8.26698321e-01  8.56010795e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.80327356
Centerline is valid?  [True, True]
Translation: X:128.82, Y:-19.90, Z:85.63
[[ 8.23928786e-01  7.06441359e-02 -5.62272853e-01  1.28824613e+02]
 [-7.15318865e-02  9.97228191e-01  2.04725221e-02 -1.99030366e+01]
 [ 5.62160604e-01  2.33525376e-02  8.26698321e-01  8.56345542e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.86327356
Centerline is valid?  [True, True]
Translation: X:128.87, Y:-19.91, Z:85.67
[[ 8.23682706e-01  7.34508405e-02 -5.62273754e-01  1.28873053e+02]
 [-7.49458901e-02  9.96977935e-01  2.04477511e-02 -1.99133170e+01]
 [ 5.62076431e-01  2.52976480e-02  8.26698322e-01  8.56677431e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.92327355999998
Centerline is valid?  [True, True]
Translation: X:128.92, Y:-19.91, Z:85.70
[[ 8.23466712e-01  7.58288065e-02 -5.62274459e-01  1.28921428e+02]
 [-7.78374270e-02  9.96756749e-01  2.04283592e-02 -1.99143952e+01]
 [ 5.61999920e-01  2.69439234e-02  8.26698322e-01  8.57006618e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.98327356
Centerline is valid?  [True, True]
Translation: X:128.97, Y:-19.92, Z:85.73
[[ 8.23193669e-01  7.86932275e-02 -5.62280677e-01  1.28970240e+02]
 [-8.14221475e-02  9.96473848e-01  2.02559814e-02 -1.99193818e+01]
 [ 5.61891998e-01  2.91075046e-02  8.26698334e-01  8.57338982e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.04327356
Centerline is valid?  [True, True]
Translation: X:129.02, Y:-19.92, Z:85.77
[[ 8.22699339e-01  8.36978124e-02 -5.62281489e-01  1.29019498e+02]
 [-8.74958185e-02  9.95959382e-01  2.02334056e-02 -1.99234702e+01]
 [ 5.61703017e-01  3.25512698e-02  8.26698334e-01  8.57674902e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.10327356
Centerline is valid?  [True, True]
Translation: X:129.07, Y:-19.91, Z:85.80
[[ 8.21715583e-01  9.28566596e-02 -5.62282083e-01  1.29069343e+02]
 [-9.85956179e-02  9.94922199e-01  2.02168921e-02 -1.99116146e+01]
 [ 5.61304200e-01  3.88260141e-02  8.26698334e-01  8.58010945e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.16327356
Centerline is valid?  [True, True]
Translation: X:129.12, Y:-19.91, Z:85.83
[[ 8.21515794e-01  9.46043816e-02 -5.62282680e-01  1.29118815e+02]
 [-1.00723075e-01  9.94709410e-01  2.02002870e-02 -1.99129699e+01]
 [ 5.61218908e-01  4.00399859e-02  8.26698335e-01  8.58347679e+01]
 [ 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 235.22327356
Centerline is valid?  [True, True]
Translation: X:129.17, Y:-19.93, Z:85.87
[[ 8.21528215e-01  9.44914071e-02 -5.62283528e-01  1.29167678e+02]
 [-1.00602378e-01  9.94722104e-01  2.01766528e-02 -1.99309121e+01]
 [ 5.61222374e-01  3.99913703e-02  8.26698335e-01  8.58684293e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.28327356
Centerline is valid?  [True, True]
Translation: X:129.22, Y:-19.92, Z:85.90
[[ 8.21196584e-01  9.73265705e-02 -5.62284367e-01  1.29218083e+02]
 [-1.04051272e-01  9.94367729e-01  2.01532393e-02 -1.99185263e+01]
 [ 5.61078875e-01  4.19566326e-02  8.26698335e-01  8.59023987e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.34327356
Centerline is valid?  [True, True]
Translation: X:129.27, Y:-19.94, Z:85.94
[[ 8.21710759e-01  9.28819631e-02 -5.62284954e-01  1.29267069e+02]
 [-9.86807482e-02  9.94915381e-01  2.01368740e-02 -1.99397004e+01]
 [ 5.61296301e-01  3.89400139e-02  8.26698335e-01  8.59362247e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.40327356
Centerline is valid?  [True, True]
Translation: X:129.32, Y:-19.94, Z:85.97
[[ 8.22397834e-01  8.65859235e-02 -5.62285231e-01  1.29315861e+02]
 [-9.10632727e-02  9.95641652e-01  2.01291321e-02 -1.99400462e+01]
 [ 5.61577495e-01  3.46493787e-02  8.26698335e-01  8.59694154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.46327356
Centerline is valid?  [True, True]
Translation: X:129.36, Y:-19.95, Z:86.00
[[ 8.22610617e-01  8.45340496e-02 -5.62286196e-01  1.29364358e+02]
 [-8.85975930e-02  9.95864635e-01  2.01021292e-02 -1.99450653e+01]
 [ 5.61660252e-01  3.32809787e-02  8.26698335e-01  8.60025096e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.52327356
Centerline is valid?  [True, True]
Translation: X:129.41, Y:-19.95, Z:86.04
[[ 8.22767739e-01  8.29797583e-02 -5.62287833e-01  1.29413421e+02]
 [-8.67472081e-02  9.96028447e-01  2.00562681e-02 -1.99508049e+01]
 [ 5.61718941e-01  3.22752493e-02  8.26698336e-01  8.60359957e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.58327356
Centerline is valid?  [True, True]
Translation: X:129.46, Y:-19.95, Z:86.07
[[ 8.22919781e-01  8.14520329e-02 -5.62288717e-01  1.29461882e+02]
 [-8.49146910e-02  9.96186848e-01  2.00314619e-02 -1.99529553e+01]
 [ 5.61776227e-01  3.12622864e-02  8.26698337e-01  8.60689966e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.64327356
Centerline is valid?  [True, True]
Translation: X:129.51, Y:-19.96, Z:86.10
[[ 8.22974110e-01  8.08592244e-02 -5.62294763e-01  1.29511767e+02]
 [-8.43135238e-02  9.96241331e-01  1.98604984e-02 -1.99582186e+01]
 [ 5.61787188e-01  3.10643769e-02  8.26698349e-01  8.61029649e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.70327355999999
Centerline is valid?  [True, True]
Translation: X:129.56, Y:-19.96, Z:86.14
[[ 8.22907876e-01  8.15275635e-02 -5.62295193e-01  1.29560455e+02]
 [-8.51308740e-02  9.96172063e-01  1.98483191e-02 -1.99619645e+01]
 [ 5.61760948e-01  3.15353431e-02  8.26698349e-01  8.61361642e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.76327356
Centerline is valid?  [True, True]
Translation: X:129.61, Y:-19.95, Z:86.17
[[ 8.22546150e-01  8.50949761e-02 -5.62295897e-01  1.29610327e+02]
 [-8.94631204e-02  9.95792742e-01  1.98283758e-02 -1.99503678e+01]
 [ 5.61617468e-01  3.39949913e-02  8.26698349e-01  8.61697972e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.82327356
Centerline is valid?  [True, True]
Translation: X:129.66, Y:-19.97, Z:86.20
[[ 8.23326025e-01  7.71823280e-02 -5.62296314e-01  1.29658385e+02]
 [-7.98925860e-02  9.96606482e-01  1.98165324e-02 -1.99667956e+01]
 [ 5.61917637e-01  2.86078397e-02  8.26698349e-01  8.62028726e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.88327356
Centerline is valid?  [True, True]
Translation: X:129.71, Y:-19.97, Z:86.24
[[ 8.23413583e-01  7.62374605e-02 -5.62297005e-01  1.29708156e+02]
 [-7.87622296e-02  9.96696841e-01  1.97969157e-02 -1.99698018e+01]
 [ 5.61948915e-01  2.79867165e-02  8.26698349e-01  8.62367871e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.94327356
Centerline is valid?  [True, True]
Translation: X:129.76, Y:-19.97, Z:86.27
[[ 8.23806766e-01  7.18578120e-02 -5.62297846e-01  1.29756468e+02]
 [-7.34773880e-02  9.97100848e-01  1.97730012e-02 -1.99726427e+01]
 [ 5.62088504e-01  2.50270449e-02  8.26698349e-01  8.62697026e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.00327356
Centerline is valid?  [True, True]
Translation: X:129.81, Y:-19.98, Z:86.30
[[ 8.24192091e-01  6.72800623e-02 -5.62299555e-01  1.29805859e+02]
 [-6.79700646e-02  9.97492367e-01  1.97242889e-02 -1.99753001e+01]
 [ 5.62216566e-01  2.19629342e-02  8.26698350e-01  8.63033349e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.06327356
Centerline is valid?  [True, True]
Translation: X:129.85, Y:-19.98, Z:86.34
[[ 8.24474207e-01  6.37269391e-02 -5.62299883e-01  1.29854645e+02]
 [-6.36763294e-02  9.97775850e-01  1.97149420e-02 -1.99763974e+01]
 [ 5.62305617e-01  1.95507313e-02  8.26698350e-01  8.63365395e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.12327356
Centerline is valid?  [True, True]
Translation: X:129.90, Y:-19.97, Z:86.37
[[ 8.24649154e-01  6.13664219e-02 -5.62305909e-01  1.29904680e+02]
 [-6.09376336e-02  9.97950261e-01  1.95417984e-02 -1.99749186e+01]
 [ 5.62352539e-01  1.81504639e-02  8.26698363e-01  8.63704458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.18327356
Centerline is valid?  [True, True]
Translation: X:129.95, Y:-19.98, Z:86.40
[[ 8.24633751e-01  6.15692174e-02 -5.62306329e-01  1.29953703e+02]
 [-6.11912915e-02  9.97934976e-01  1.95296953e-02 -1.99780436e+01]
 [ 5.62347581e-01  1.83034046e-02  8.26698363e-01  8.64038578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.24327356
Centerline is valid?  [True, True]
Translation: X:130.00, Y:-19.96, Z:86.44
[[ 8.24277103e-01  6.61258086e-02 -5.62311866e-01  1.30004396e+02]
 [-6.68150332e-02  9.97577359e-01  1.93691582e-02 -1.99647178e+01]
 [ 5.62230388e-01  2.16053324e-02  8.26698374e-01  8.64379414e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.30327356
Centerline is valid?  [True, True]
Translation: X:130.05, Y:-19.98, Z:86.47
[[ 8.24391314e-01  6.46860543e-02 -5.62311903e-01  1.30053491e+02]
 [-6.50733287e-02  9.97692507e-01  1.93680850e-02 -1.99769326e+01]
 [ 5.62267218e-01  2.06246263e-02  8.26698374e-01  8.64716210e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.36327356
Centerline is valid?  [True, True]
Translation: X:130.10, Y:-19.96, Z:86.51
[[ 8.23734142e-01  7.25735702e-02 -5.62312316e-01  1.30103678e+02]
 [-7.46277077e-02  9.97023594e-01  1.93560958e-02 -1.99641982e+01]
 [ 5.62043387e-01  2.60198021e-02  8.26698374e-01  8.65054534e+01]
 [ 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 236.42327355999998
Centerline is valid?  [True, True]
Translation: X:130.15, Y:-19.96, Z:86.54
[[ 8.23066952e-01  7.97817407e-02 -5.62312783e-01  1.30152353e+02]
 [-8.33620200e-02  9.96331592e-01  1.93425177e-02 -1.99639043e+01]
 [ 5.61793170e-01  3.09553424e-02  8.26698374e-01  8.65385481e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.48327356
Centerline is valid?  [True, True]
Translation: X:130.20, Y:-19.96, Z:86.57
[[ 8.22433079e-01  8.60678352e-02 -5.62313221e-01  1.30202305e+02]
 [-9.09804608e-02  9.95665062e-01  1.93297891e-02 -1.99622023e+01]
 [ 5.61539301e-01  3.52620580e-02  8.26698374e-01  8.65724787e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.54327356
Centerline is valid?  [True, True]
Translation: X:130.25, Y:-19.98, Z:86.61
[[ 8.22168244e-01  8.85594187e-02 -5.62313621e-01  1.30251774e+02]
 [-9.40048463e-02  9.95384297e-01  1.93181436e-02 -1.99783985e+01]
 [ 5.61428952e-01  3.69774413e-02  8.26698374e-01  8.66064996e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.60327356
Centerline is valid?  [True, True]
Translation: X:130.30, Y:-19.98, Z:86.64
[[ 8.22011861e-01  8.99994026e-02 -5.62313621e-01  1.30300469e+02]
 [-9.57482291e-02  9.95218110e-01  1.93181436e-02 -1.99777959e+01]
 [ 5.61363320e-01  3.79607902e-02  8.26698374e-01  8.66396075e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.66327356
Centerline is valid?  [True, True]
Translation: X:130.35, Y:-19.96, Z:86.67
[[ 8.21557316e-01  9.40236277e-02 -5.62319423e-01  1.30351178e+02]
 [-1.00736405e-01  9.94728873e-01  1.91479903e-02 -1.99618504e+01]
 [ 5.61155729e-01  4.09148655e-02  8.26698386e-01  8.66736434e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.72327356
Centerline is valid?  [True, True]
Translation: X:130.40, Y:-19.96, Z:86.71
[[ 8.21782961e-01  9.20306803e-02 -5.62319410e-01  1.30400966e+02]
 [-9.83231528e-02  9.94970300e-01  1.91483731e-02 -1.99633515e+01]
 [ 5.61253350e-01  3.95532105e-02  8.26698386e-01  8.67075442e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.78327356
Centerline is valid?  [True, True]
Translation: X:130.45, Y:-19.97, Z:86.74
[[ 8.22164680e-01  8.85481443e-02 -5.62320607e-01  1.30450434e+02]
 [-9.41307786e-02  9.95376353e-01  1.91131665e-02 -1.99658297e+01]
 [ 5.61413070e-01  3.72175061e-02  8.26698386e-01  8.67412323e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.84327356
Centerline is valid?  [True, True]
Translation: X:130.50, Y:-19.99, Z:86.78
[[ 8.22739806e-01  8.30303448e-02 -5.62321237e-01  1.30499896e+02]
 [-8.74634317e-02  9.95984711e-01  1.90946142e-02 -1.99855631e+01]
 [ 5.61648787e-01  3.34726459e-02  8.26698386e-01  8.67753234e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.90327356
Centerline is valid?  [True, True]
Translation: X:130.55, Y:-19.97, Z:86.81
[[ 8.22891506e-01  8.15111353e-02 -5.62321531e-01  1.30547966e+02]
 [-8.56302452e-02  9.96144160e-01  1.90859489e-02 -1.99697081e+01]
 [ 5.61709027e-01  3.24460653e-02  8.26698386e-01  8.68076496e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.96327356
Centerline is valid?  [True, True]
Translation: X:130.60, Y:-19.97, Z:86.84
[[ 8.23101115e-01  7.93492183e-02 -5.62323978e-01  1.30597761e+02]
 [-8.30624570e-02  9.96362941e-01  1.90136291e-02 -1.99721325e+01]
 [ 5.61787489e-01  3.10578720e-02  8.26698389e-01  8.68415409e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.02327356
Centerline is valid?  [True, True]
Translation: X:130.65, Y:-19.97, Z:86.88
[[ 8.23151709e-01  7.88145696e-02 -5.62325108e-01  1.30647018e+02]
 [-8.24380719e-02  9.96415435e-01  1.89801481e-02 -1.99731252e+01]
 [ 5.61805329e-01  3.07334564e-02  8.26698389e-01  8.68750522e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.08327356
Centerline is valid?  [True, True]
Translation: X:130.70, Y:-19.97, Z:86.91
[[ 8.23156401e-01  7.87596385e-02 -5.62325936e-01  1.30695385e+02]
 [-8.23882976e-02  9.96420019e-01  1.89556008e-02 -1.99737967e+01]
 [ 5.61805756e-01  3.07256525e-02  8.26698389e-01  8.69079551e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.14327356
Centerline is valid?  [True, True]
Translation: X:130.75, Y:-19.97, Z:86.94
[[ 8.23064751e-01  7.96717308e-02 -5.62331602e-01  1.30745574e+02]
 [-8.36077194e-02  9.96321648e-01  1.87862522e-02 -1.99744916e+01]
 [ 5.61759881e-01  3.15529608e-02  8.26698401e-01  8.69420266e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.20327355999999
Centerline is valid?  [True, True]
Translation: X:130.80, Y:-19.98, Z:86.98
[[ 8.23060118e-01  7.97162033e-02 -5.62332080e-01  1.30795244e+02]
 [-8.36713169e-02  9.96316579e-01  1.87719167e-02 -1.99759655e+01]
 [ 5.61757200e-01  3.16006497e-02  8.26698401e-01  8.69758389e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.26327356
Centerline is valid?  [True, True]
Translation: X:130.84, Y:-19.98, Z:87.01
[[ 8.23096137e-01  7.93405238e-02 -5.62332491e-01  1.30842943e+02]
 [-8.32249445e-02  9.96354197e-01  1.87596018e-02 -1.99787394e+01]
 [ 5.61770734e-01  3.13591346e-02  8.26698401e-01  8.70083417e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.32327356
Centerline is valid?  [True, True]
Translation: X:130.89, Y:-19.98, Z:87.04
[[ 8.23209421e-01  7.81099241e-02 -5.62338945e-01  1.30890947e+02]
 [-8.18682404e-02  9.96470247e-01  1.85644417e-02 -1.99809544e+01]
 [ 5.61804094e-01  3.07552766e-02  8.26698417e-01  8.70409490e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.38327356
Centerline is valid?  [True, True]
Translation: X:130.94, Y:-19.98, Z:87.07
[[ 8.23418677e-01  7.58507746e-02 -5.62341838e-01  1.30940672e+02]
 [-7.91935777e-02  9.96688014e-01  1.84764609e-02 -1.99823635e+01]
 [ 5.61880823e-01  2.93199991e-02  8.26698420e-01  8.70747611e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.44327356
Centerline is valid?  [True, True]
Translation: X:130.99, Y:-19.98, Z:87.11
[[ 8.23628441e-01  7.35295457e-02 -5.62342953e-01  1.30988629e+02]
 [-7.64071132e-02  9.96906128e-01  1.84424524e-02 -1.99820079e+01]
 [ 5.61959201e-01  2.77772734e-02  8.26698421e-01  8.71073579e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.50327356
Centerline is valid?  [True, True]
Translation: X:131.04, Y:-19.98, Z:87.14
[[ 8.23783328e-01  7.17586165e-02 -5.62344849e-01  1.31038146e+02]
 [-7.43031201e-02  9.97066225e-01  1.83844865e-02 -1.99819779e+01]
 [ 5.62014301e-01  2.66391434e-02  8.26698422e-01  8.71410119e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.56327356
Centerline is valid?  [True, True]
Translation: X:131.09, Y:-19.98, Z:87.18
[[ 8.23375876e-01  7.62891310e-02 -5.62345210e-01  1.31088305e+02]
 [-7.97943469e-02  9.96642002e-01  1.83734329e-02 -1.99827822e+01]
 [ 5.61858549e-01  2.97437274e-02  8.26698422e-01  8.71751438e+01]
 [ 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 237.62327356
Centerline is valid?  [True, True]
Translation: X:131.14, Y:-19.98, Z:87.21
[[ 8.24771969e-01  5.93207745e-02 -5.62345307e-01  1.31138453e+02]
 [-5.92599509e-02  9.98073536e-01  1.83704723e-02 -1.99815113e+01]
 [ 5.62351720e-01  1.81731047e-02  8.26698422e-01  8.72092270e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.68327356
Centerline is valid?  [True, True]
Translation: X:131.19, Y:-19.98, Z:87.24
[[ 8.24615471e-01  6.14552878e-02 -5.62345598e-01  1.31188247e+02]
 [-6.18490882e-02  9.97916602e-01  1.83615502e-02 -1.99830055e+01]
 [ 5.62302423e-01  1.96393441e-02  8.26698422e-01  8.72431271e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.74327356
Centerline is valid?  [True, True]
Translation: X:131.24, Y:-19.98, Z:87.28
[[ 8.25534779e-01  4.75328093e-02 -5.62345945e-01  1.31237380e+02]
 [-4.50096688e-02  9.98817988e-01  1.83509424e-02 -1.99842055e+01]
 [ 5.62553517e-01  1.01616635e-02  8.26698422e-01  8.72765699e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.80327356
Centerline is valid?  [True, True]
Translation: X:131.29, Y:-19.98, Z:87.31
[[ 8.26559485e-01  2.37860558e-02 -5.62346549e-01  1.31286781e+02]
 [-1.62961526e-02  9.99699134e-01  1.83323965e-02 -1.99810181e+01]
 [ 5.62613414e-01 -5.98873098e-03  8.26698422e-01  8.73100948e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.86327356
Centerline is valid?  [True, True]
Translation: X:131.34, Y:-19.98, Z:87.34
[[ 8.26539896e-01  2.44389368e-02 -5.62347348e-01  1.31335820e+02]
 [-1.71024721e-02  9.99686114e-01  1.83078845e-02 -1.99789305e+01]
 [ 5.62618260e-01 -5.51466713e-03  8.26698423e-01  8.73433950e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.92327355999998
Centerline is valid?  [True, True]
Translation: X:131.39, Y:-19.97, Z:87.38
[[ 8.26555288e-01  2.37823435e-02 -5.62352875e-01  1.31385319e+02]
 [-1.64247582e-02  9.99700598e-01  1.81367478e-02 -1.99739869e+01]
 [ 5.62615840e-01 -5.75451482e-03  8.26698435e-01  8.73768764e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.98327356
Centerline is valid?  [True, True]
Translation: X:131.43, Y:-19.96, Z:87.41
[[ 8.26266712e-01  3.22820111e-02 -5.62353262e-01  1.31434972e+02]
 [-2.67137468e-02  9.99478799e-01  1.81247386e-02 -1.99642320e+01]
 [ 5.62645266e-01  4.66944935e-05  8.26698435e-01  8.74104332e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.04327356
Centerline is valid?  [True, True]
Translation: X:131.48, Y:-19.97, Z:87.44
[[ 8.26134979e-01  3.54820602e-02 -5.62353998e-01  1.31484860e+02]
 [-3.06002802e-02  9.99367773e-01  1.81018818e-02 -1.99667799e+01]
 [ 5.62640755e-01  2.25359218e-03  8.26698435e-01  8.74444141e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.10327356
Centerline is valid?  [True, True]
Translation: X:131.54, Y:-19.94, Z:87.48
[[ 8.24739128e-01  5.96891053e-02 -5.62354499e-01  1.31535432e+02]
 [-5.98992136e-02  9.98040565e-01  1.80863195e-02 -1.99391746e+01]
 [ 5.62332158e-01  1.87680969e-02  8.26698435e-01  8.74782044e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.16327356
Centerline is valid?  [True, True]
Translation: X:131.59, Y:-19.93, Z:87.51
[[ 8.23872105e-01  7.06508555e-02 -5.62355058e-01  1.31585536e+02]
 [-7.31772869e-02  9.97155253e-01  1.80689160e-02 -1.99292314e+01]
 [ 5.62031885e-01  2.62651416e-02  8.26698435e-01  8.75120624e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.22327356
Centerline is valid?  [True, True]
Translation: X:131.63, Y:-19.94, Z:87.55
[[ 8.24123097e-01  6.76557252e-02 -5.62355603e-01  1.31634029e+02]
 [-6.95638371e-02  9.97414157e-01  1.80519463e-02 -1.99373453e+01]
 [ 5.62122757e-01  2.42425876e-02  8.26698435e-01  8.75452199e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.28327356
Centerline is valid?  [True, True]
Translation: X:131.68, Y:-19.91, Z:87.58
[[ 8.22699758e-01  8.31883407e-02 -5.62356478e-01  1.31683974e+02]
 [-8.83833261e-02  9.95923441e-01  1.80246480e-02 -1.99119385e+01]
 [ 5.61563439e-01  3.48740624e-02  8.26698436e-01  8.75786299e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.34327356
Centerline is valid?  [True, True]
Translation: X:131.73, Y:-19.92, Z:87.61
[[ 8.23195202e-01  7.81288855e-02 -5.62357126e-01  1.31732750e+02]
 [-8.22725813e-02  9.96447220e-01  1.80044249e-02 -1.99238484e+01]
 [ 5.61765860e-01  3.14454161e-02  8.26698436e-01  8.76120612e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.40327356
Centerline is valid?  [True, True]
Translation: X:131.78, Y:-19.92, Z:87.65
[[ 8.22944883e-01  8.07183309e-02 -5.62357778e-01  1.31782108e+02]
 [-8.54209554e-02  9.96182631e-01  1.79840334e-02 -1.99203824e+01]
 [ 5.61662692e-01  3.32372704e-02  8.26698436e-01  8.76455534e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.46327356
Centerline is valid?  [True, True]
Translation: X:131.83, Y:-19.92, Z:87.68
[[ 8.23048982e-01  7.96473126e-02 -5.62358141e-01  1.31832144e+02]
 [-8.41322246e-02  9.96292503e-01  1.79726724e-02 -1.99184019e+01]
 [ 5.61704675e-01  3.25200517e-02  8.26698436e-01  8.76795425e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.52327356
Centerline is valid?  [True, True]
Translation: X:131.88, Y:-19.92, Z:87.71
[[ 8.23187498e-01  7.82001876e-02 -5.62358493e-01  1.31881147e+02]
 [-8.23880140e-02  9.96438455e-01  1.79616583e-02 -1.99190956e+01]
 [ 5.61760233e-01  3.15457868e-02  8.26698436e-01  8.77128877e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.58327356
Centerline is valid?  [True, True]
Translation: X:131.93, Y:-19.92, Z:87.75
[[ 8.23245210e-01  7.75503576e-02 -5.62363998e-01  1.31930395e+02]
 [-8.17197544e-02  9.96496599e-01  1.77878941e-02 -1.99191926e+01]
 [ 5.61773269e-01  3.13124492e-02  8.26698449e-01  8.77463245e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.64327356
Centerline is valid?  [True, True]
Translation: X:131.98, Y:-19.92, Z:87.78
[[ 8.23257426e-01  7.74149520e-02 -5.62364771e-01  1.31978954e+02]
 [-8.15725317e-02  9.96509099e-01  1.77634021e-02 -1.99204798e+01]
 [ 5.61776764e-01  3.12496654e-02  8.26698449e-01  8.77793752e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.70327355999999
Centerline is valid?  [True, True]
Translation: X:132.03, Y:-19.92, Z:87.81
[[ 8.23016264e-01  7.99006126e-02 -5.62370092e-01  1.32028551e+02]
 [-8.46969837e-02  9.96251418e-01  1.75935805e-02 -1.99225968e+01]
 [ 5.61667739e-01  3.31512476e-02  8.26698461e-01  8.78130949e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.76327356
Centerline is valid?  [True, True]
Translation: X:132.08, Y:-19.92, Z:87.85
[[ 8.22866828e-01  8.14225324e-02 -5.62370478e-01  1.32078042e+02]
 [-8.65476589e-02  9.96092567e-01  1.75812603e-02 -1.99223797e+01]
 [ 5.61604563e-01  3.42048124e-02  8.26698461e-01  8.78467526e+01]
 [ 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 238.82327356
Centerline is valid?  [True, True]
Translation: X:132.13, Y:-19.93, Z:87.88
[[ 8.22528923e-01  8.47629829e-02 -5.62371237e-01  1.32127382e+02]
 [-9.06079756e-02  9.95731866e-01  1.75569481e-02 -1.99252563e+01]
 [ 5.61459140e-01  3.65142217e-02  8.26698461e-01  8.78803686e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.88327356
Centerline is valid?  [True, True]
Translation: X:132.18, Y:-19.93, Z:87.91
[[ 8.22603855e-01  8.40300236e-02 -5.62371632e-01  1.32175911e+02]
 [-8.97293105e-02  9.95811654e-01  1.75442706e-02 -1.99285277e+01]
 [ 5.61490470e-01  3.60292342e-02  8.26698461e-01  8.79134458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.94327356
Centerline is valid?  [True, True]
Translation: X:132.22, Y:-19.93, Z:87.95
[[ 8.22680174e-01  8.32744572e-02 -5.62372382e-01  1.32224607e+02]
 [-8.88310379e-02  9.95892609e-01  1.75202109e-02 -1.99299947e+01]
 [ 5.61521485e-01  3.55425922e-02  8.26698461e-01  8.79465940e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.00327356
Centerline is valid?  [True, True]
Translation: X:132.27, Y:-19.93, Z:87.98
[[ 8.22947543e-01  8.05784891e-02 -5.62373940e-01  1.32272940e+02]
 [-8.56016322e-02  9.96176268e-01  1.74700940e-02 -1.99343196e+01]
 [ 5.61631286e-01  3.37631562e-02  8.26698463e-01  8.79795457e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.06327356
Centerline is valid?  [True, True]
Translation: X:132.32, Y:-19.94, Z:88.01
[[ 8.22996494e-01  8.00688779e-02 -5.62375094e-01  1.32321596e+02]
 [-8.50100935e-02  9.96227574e-01  1.74328757e-02 -1.99386528e+01]
 [ 5.61649406e-01  3.34603637e-02  8.26698463e-01  8.80127218e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.12327356
Centerline is valid?  [True, True]
Translation: X:132.37, Y:-19.94, Z:88.05
[[ 8.22820495e-01  8.18210428e-02 -5.62380431e-01  1.32370887e+02]
 [-8.72493258e-02  9.96036984e-01  1.72592267e-02 -1.99418028e+01]
 [ 5.61563877e-01  3.48660680e-02  8.26698476e-01  8.80462518e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.18327356
Centerline is valid?  [True, True]
Translation: X:132.42, Y:-19.94, Z:88.08
[[ 8.22534774e-01  8.46430142e-02 -5.62380749e-01  1.32420390e+02]
 [-9.06724771e-02  9.95731378e-01  1.72488831e-02 -1.99444841e+01]
 [ 5.61440155e-01  3.68046494e-02  8.26698476e-01  8.80799793e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.24327356
Centerline is valid?  [True, True]
Translation: X:132.47, Y:-19.95, Z:88.11
[[ 8.22007649e-01  8.96142775e-02 -5.62381282e-01  1.32469805e+02]
 [-9.67025838e-02  9.95164151e-01  1.72314641e-02 -1.99464418e+01]
 [ 5.61205877e-01  4.02193278e-02  8.26698476e-01  8.81136287e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.30327356
Centerline is valid?  [True, True]
Translation: X:132.52, Y:-19.95, Z:88.15
[[ 8.21422731e-01  9.48231334e-02 -5.62381783e-01  1.32518306e+02]
 [-1.03020060e-01  9.94530295e-01  1.72151022e-02 -1.99499655e+01]
 [ 5.60938111e-01  4.37957288e-02  8.26698476e-01  8.81466894e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.36327356
Centerline is valid?  [True, True]
Translation: X:132.57, Y:-19.95, Z:88.18
[[ 8.20919665e-01  9.90823605e-02 -5.62382067e-01  1.32567997e+02]
 [-1.08183344e-01  9.93982054e-01  1.72058354e-02 -1.99544742e+01]
 [ 5.60702477e-01  4.67157643e-02  8.26698476e-01  8.81805833e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.42327355999998
Centerline is valid?  [True, True]
Translation: X:132.62, Y:-19.96, Z:88.21
[[ 8.20701060e-01  1.00875507e-01 -5.62382345e-01  1.32616686e+02]
 [-1.10360738e-01  9.93742814e-01  1.71967272e-02 -1.99594199e+01]
 [ 5.60598143e-01  4.79515585e-02  8.26698476e-01  8.82138047e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.48327356
Centerline is valid?  [True, True]
Translation: X:132.66, Y:-19.96, Z:88.25
[[ 8.20724162e-01  1.00680887e-01 -5.62383507e-01  1.32664974e+02]
 [-1.10150965e-01  9.93766746e-01  1.71586805e-02 -1.99647962e+01]
 [ 5.60605578e-01  4.78645421e-02  8.26698477e-01  8.82467502e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.54327356
Centerline is valid?  [True, True]
Translation: X:132.71, Y:-19.97, Z:88.28
[[ 8.20669524e-01  1.01095316e-01 -5.62388895e-01  1.32712671e+02]
 [-1.10773963e-01  9.93700554e-01  1.69805206e-02 -1.99723293e+01]
 [ 5.60562808e-01  4.83626507e-02  8.26698490e-01  8.82792799e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.60327356
Centerline is valid?  [True, True]
Translation: X:132.76, Y:-19.98, Z:88.31
[[ 8.20921041e-01  9.89976291e-02 -5.62394980e-01  1.32761450e+02]
 [-1.08372536e-01  9.93968776e-01  1.67769222e-02 -1.99763626e+01]
 [ 5.60663926e-01  4.71756420e-02  8.26698507e-01  8.83124613e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.66327356
Centerline is valid?  [True, True]
Translation: X:132.81, Y:-19.98, Z:88.35
[[ 8.21093445e-01  9.75271583e-02 -5.62400220e-01  1.32811188e+02]
 [-1.06712684e-01  9.94151323e-01  1.65996880e-02 -1.99819563e+01]
 [ 5.60729844e-01  4.63853419e-02  8.26698520e-01  8.83463366e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.72327356
Centerline is valid?  [True, True]
Translation: X:132.86, Y:-19.99, Z:88.38
[[ 8.21099083e-01  9.74775342e-02 -5.62400592e-01  1.32859446e+02]
 [-1.06661174e-01  9.94157061e-01  1.65870860e-02 -1.99890535e+01]
 [ 5.60731388e-01  4.63666662e-02  8.26698520e-01  8.83793035e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.78327356
Centerline is valid?  [True, True]
Translation: X:132.91, Y:-20.00, Z:88.41
[[ 8.21407981e-01  9.48092028e-02 -5.62405676e-01  1.32908851e+02]
 [-1.03548828e-01  9.94488938e-01  1.64131869e-02 -1.99958257e+01]
 [ 5.60862344e-01  4.47545259e-02  8.26698532e-01  8.84129734e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.84327356
Centerline is valid?  [True, True]
Translation: X:132.96, Y:-20.00, Z:88.45
[[ 8.21280807e-01  9.59016535e-02 -5.62406178e-01  1.32958034e+02]
 [-1.04883204e-01  9.94349378e-01  1.63959558e-02 -2.00026835e+01]
 [ 5.60800633e-01  4.55212782e-02  8.26698533e-01  8.84465614e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.90327356
Centerline is valid?  [True, True]
Translation: X:133.01, Y:-20.01, Z:88.48
[[ 8.21157597e-01  9.69489540e-02 -5.62406526e-01  1.33006953e+02]
 [-1.06159340e-01  9.94214141e-01  1.63840072e-02 -2.00087384e+01]
 [ 5.60740934e-01  4.62508536e-02  8.26698533e-01  8.84799558e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.96327356
Centerline is valid?  [True, True]
Translation: X:133.06, Y:-20.01, Z:88.51
[[ 8.21467623e-01  9.42572628e-02 -5.62411337e-01  1.33055533e+02]
 [-1.03013775e-01  9.94547715e-01  1.62174267e-02 -2.00123873e+01]
 [ 5.60873521e-01  4.46140238e-02  8.26698544e-01  8.85130026e+01]
 [ 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 240.02327356
Centerline is valid?  [True, True]
Translation: X:133.10, Y:-20.02, Z:88.55
[[ 8.21799796e-01  9.13118511e-02 -5.62411986e-01  1.33103887e+02]
 [-9.94631664e-02  9.94909445e-01  1.61949131e-02 -2.00187935e+01]
 [ 5.61027784e-01  4.26303006e-02  8.26698544e-01  8.85460137e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.08327356
Centerline is valid?  [True, True]
Translation: X:133.15, Y:-20.02, Z:88.58
[[ 8.22133030e-01  8.82548910e-02 -5.62412976e-01  1.33153483e+02]
 [-9.57857794e-02  9.95270779e-01  1.61604753e-02 -2.00233751e+01]
 [ 5.61179441e-01  4.05851047e-02  8.26698545e-01  8.85798285e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.14327356
Centerline is valid?  [True, True]
Translation: X:133.20, Y:-20.03, Z:88.61
[[ 8.22353313e-01  8.61760168e-02 -5.62413302e-01  1.33202651e+02]
 [-9.32768708e-02  9.95509232e-01  1.61491141e-02 -2.00268760e+01]
 [ 5.61279301e-01  3.91798754e-02  8.26698545e-01  8.86133408e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.20327355999999
Centerline is valid?  [True, True]
Translation: X:133.25, Y:-20.03, Z:88.65
[[ 8.22490593e-01  8.48519418e-02 -5.62413880e-01  1.33250069e+02]
 [-9.16877190e-02  9.95657179e-01  1.61289737e-02 -2.00297662e+01]
 [ 5.61339992e-01  3.83005165e-02  8.26698545e-01  8.86456469e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.26327356
Centerline is valid?  [True, True]
Translation: X:133.30, Y:-20.03, Z:88.68
[[ 8.22443534e-01  8.52953579e-02 -5.62415626e-01  1.33299096e+02]
 [-9.22660608e-02  9.95604739e-01  1.60678991e-02 -2.00323891e+01]
 [ 5.61314179e-01  3.86769346e-02  8.26698547e-01  8.86790233e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.32327356
Centerline is valid?  [True, True]
Translation: X:133.35, Y:-20.02, Z:88.71
[[ 8.22658304e-01  8.31661018e-02 -5.62420406e-01  1.33348217e+02]
 [-8.98034566e-02  9.95832596e-01  1.58990599e-02 -2.00244784e+01]
 [ 5.61398836e-01  3.74278029e-02  8.26698558e-01  8.87122104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.38327356
Centerline is valid?  [True, True]
Translation: X:133.40, Y:-20.04, Z:88.75
[[ 8.23099684e-01  7.86730414e-02 -5.62421073e-01  1.33397141e+02]
 [-8.43808055e-02  9.96307106e-01  1.58754647e-02 -2.00430766e+01]
 [ 5.61593082e-01  3.43904532e-02  8.26698559e-01  8.87458411e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.44327356
Centerline is valid?  [True, True]
Translation: X:133.45, Y:-20.05, Z:88.78
[[ 8.23699086e-01  7.21233712e-02 -5.62421581e-01  1.33446281e+02]
 [-7.64654817e-02  9.96946123e-01  1.58574426e-02 -2.00469981e+01]
 [ 5.61847707e-01  2.99440761e-02  8.26698559e-01  8.87793387e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.50327356
Centerline is valid?  [True, True]
Translation: X:133.50, Y:-20.05, Z:88.81
[[ 8.24250241e-01  6.55200034e-02 -5.62422146e-01  1.33495311e+02]
 [-6.84872455e-02  9.97526278e-01  1.58373859e-02 -2.00490884e+01]
 [ 5.62068535e-01  2.54647745e-02  8.26698559e-01  8.88127255e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.56327356
Centerline is valid?  [True, True]
Translation: X:133.54, Y:-20.05, Z:88.85
[[ 8.24386938e-01  6.37730713e-02 -5.62422592e-01  1.33544548e+02]
 [-6.63838841e-02  9.97668712e-01  1.58215390e-02 -2.00543381e+01]
 [ 5.62120411e-01  2.42927260e-02  8.26698559e-01  8.88463158e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.62327356
Centerline is valid?  [True, True]
Translation: X:133.59, Y:-20.05, Z:88.88
[[ 8.24624337e-01  6.06203837e-02 -5.62423214e-01  1.33593143e+02]
 [-6.25836728e-02  9.97914657e-01  1.57994007e-02 -2.00535092e+01]
 [ 5.62208134e-01  2.21699401e-02  8.26698559e-01  8.88793492e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.68327356
Centerline is valid?  [True, True]
Translation: X:133.64, Y:-20.06, Z:88.91
[[ 8.24572937e-01  6.12716982e-02 -5.62427996e-01  1.33641830e+02]
 [-6.34888695e-02  9.97860182e-01  1.56275726e-02 -2.00557710e+01]
 [ 5.62182031e-01  2.28218443e-02  8.26698571e-01  8.89124325e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.74327356
Centerline is valid?  [True, True]
Translation: X:133.69, Y:-20.06, Z:88.95
[[ 8.24652499e-01  6.01478874e-02 -5.62432651e-01  1.33691717e+02]
 [-6.22440261e-02  9.97941239e-01  1.54585007e-02 -2.00563557e+01]
 [ 5.62204533e-01  2.22601814e-02  8.26698583e-01  8.89463016e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.80327356
Centerline is valid?  [True, True]
Translation: X:133.74, Y:-20.06, Z:88.98
[[ 8.24575690e-01  6.11874783e-02 -5.62433128e-01  1.33740697e+02]
 [-6.35139110e-02  9.97861491e-01  1.54411269e-02 -2.00579050e+01]
 [ 5.62175164e-01  2.29899497e-02  8.26698583e-01  8.89796454e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.86327356
Centerline is valid?  [True, True]
Translation: X:133.79, Y:-20.06, Z:89.01
[[ 8.24592955e-01  6.09104136e-02 -5.62437891e-01  1.33788432e+02]
 [-6.32978747e-02  9.97877913e-01  1.52659964e-02 -2.00581643e+01]
 [ 5.62174206e-01  2.30128900e-02  8.26698596e-01  8.90120418e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.92327355999998
Centerline is valid?  [True, True]
Translation: X:133.84, Y:-20.06, Z:89.05
[[ 8.24409505e-01  6.33302127e-02 -5.62439554e-01  1.33837630e+02]
 [-6.62681013e-02  9.97686004e-01  1.52045036e-02 -2.00588188e+01]
 [ 5.62100975e-01  2.47370640e-02  8.26698598e-01  8.90454959e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.98327356
Centerline is valid?  [True, True]
Translation: X:133.89, Y:-20.06, Z:89.08
[[ 8.24488574e-01  6.22794714e-02 -5.62440982e-01  1.33886107e+02]
 [-6.50325987e-02  9.97768106e-01  1.51515196e-02 -2.00599752e+01]
 [ 5.62129302e-01  2.40847439e-02  8.26698599e-01  8.90784726e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.04327356
Centerline is valid?  [True, True]
Translation: X:133.94, Y:-20.06, Z:89.11
[[ 8.24504072e-01  6.20327446e-02 -5.62445530e-01  1.33935369e+02]
 [-6.48500623e-02  9.97782560e-01  1.49810955e-02 -2.00608835e+01]
 [ 5.62127659e-01  2.41226534e-02  8.26698611e-01  8.91119226e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.10327356
Centerline is valid?  [True, True]
Translation: X:133.99, Y:-20.06, Z:89.15
[[ 8.24732364e-01  5.89137742e-02 -5.62446171e-01  1.33985366e+02]
 [-6.10921090e-02  9.98020062e-01  1.49569675e-02 -2.00595695e+01]
 [ 5.62213734e-01  2.20255276e-02  8.26698611e-01  8.91459027e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.16327356
Centerline is valid?  [True, True]
Translation: X:134.03, Y:-20.06, Z:89.18
[[ 8.24844617e-01  5.73175414e-02 -5.62446493e-01  1.34034834e+02]
 [-5.91687370e-02  9.98136119e-01  1.49448778e-02 -2.00605507e+01]
 [ 5.62254763e-01  2.09520466e-02  8.26698611e-01  8.91795705e+01]
 [ 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 241.22327356
Centerline is valid?  [True, True]
Translation: X:134.08, Y:-20.06, Z:89.21
[[ 8.25055285e-01  5.41979251e-02 -5.62446764e-01  1.34083378e+02]
 [-5.54007379e-02  9.98352500e-01  1.49346799e-02 -2.00610055e+01]
 [ 5.62329561e-01  1.88380292e-02  8.26698611e-01  8.92126006e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.28327356
Centerline is valid?  [True, True]
Translation: X:134.13, Y:-20.05, Z:89.25
[[ 8.25417900e-01  4.83097437e-02 -5.62451294e-01  1.34133043e+02]
 [-4.83933743e-02  9.98719257e-01  1.47623696e-02 -2.00537541e+01]
 [ 5.62444105e-01  1.50337919e-02  8.26698623e-01  8.92461798e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.34327356
Centerline is valid?  [True, True]
Translation: X:134.18, Y:-20.06, Z:89.28
[[ 8.25634637e-01  4.44468295e-02 -5.62451710e-01  1.34182704e+02]
 [-4.37303124e-02  9.98934532e-01  1.47465322e-02 -2.00572765e+01]
 [ 5.62507872e-01  1.24209412e-02  8.26698623e-01  8.92800222e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.40327356
Centerline is valid?  [True, True]
Translation: X:134.23, Y:-20.06, Z:89.31
[[ 8.26114772e-01  3.43816916e-02 -5.62452027e-01  1.34231956e+02]
 [-3.15614996e-02  9.99393200e-01  1.47344260e-02 -2.00561713e+01]
 [ 5.62617326e-01  5.57950248e-03  8.26698624e-01  8.93135061e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.46327356
Centerline is valid?  [True, True]
Translation: X:134.28, Y:-20.06, Z:89.35
[[ 8.25971460e-01  3.76583093e-02 -5.62452663e-01  1.34280413e+02]
 [-3.55420266e-02  9.99259915e-01  1.47101078e-02 -2.00565881e+01]
 [ 5.62590358e-01  7.84057830e-03  8.26698624e-01  8.93464700e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.52327356
Centerline is valid?  [True, True]
Translation: X:134.33, Y:-20.06, Z:89.38
[[ 8.25966082e-01  3.77110166e-02 -5.62457030e-01  1.34329351e+02]
 [-3.57205684e-02  9.99256016e-01  1.45415237e-02 -2.00561340e+01]
 [ 5.62586946e-01  8.08047937e-03  8.26698636e-01  8.93796797e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.58327356
Centerline is valid?  [True, True]
Translation: X:134.38, Y:-20.05, Z:89.41
[[ 8.25800879e-01  4.11109036e-02 -5.62461379e-01  1.34377280e+02]
 [-3.99495158e-02  9.99098340e-01  1.43716362e-02 -2.00538503e+01]
 [ 5.62545060e-01  1.06019499e-02  8.26698647e-01  8.94121708e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.64327356
Centerline is valid?  [True, True]
Translation: X:134.43, Y:-20.06, Z:89.45
[[ 8.25490309e-01  4.68771039e-02 -5.62466254e-01  1.34426622e+02]
 [-4.70574230e-02  9.98791552e-01  1.41786439e-02 -2.00629750e+01]
 [ 5.62451197e-01  1.47638793e-02  8.26698663e-01  8.94458106e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.70327355999999
Centerline is valid?  [True, True]
Translation: X:134.48, Y:-20.05, Z:89.48
[[ 8.25339941e-01  4.94498073e-02 -5.62466620e-01  1.34476067e+02]
 [-5.01801684e-02  9.98639739e-01  1.41641214e-02 -2.00481629e+01]
 [ 5.62401931e-01  1.65344546e-02  8.26698663e-01  8.94791911e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.76327356
Centerline is valid?  [True, True]
Translation: X:134.53, Y:-20.05, Z:89.51
[[ 8.25159477e-01  5.23686477e-02 -5.62467210e-01  1.34525799e+02]
 [-5.37279258e-02  9.98455483e-01  1.41406577e-02 -2.00470584e+01]
 [ 5.62338997e-01  1.85518988e-02  8.26698663e-01  8.95129982e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.82327356
Centerline is valid?  [True, True]
Translation: X:134.57, Y:-20.06, Z:89.55
[[ 8.24353749e-01  6.38061528e-02 -5.62467485e-01  1.34574342e+02]
 [-6.75758762e-02  9.97614080e-01  1.41296871e-02 -2.00593868e+01]
 [ 5.62027044e-01  2.63613726e-02  8.26698663e-01  8.95462315e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.88327356
Centerline is valid?  [True, True]
Translation: X:134.62, Y:-20.06, Z:89.58
[[ 8.24293909e-01  6.45699704e-02 -5.62468017e-01  1.34623721e+02]
 [-6.85146649e-02  9.97550345e-01  1.41084916e-02 -2.00584691e+01]
 [ 5.62001150e-01  2.69077641e-02  8.26698663e-01  8.95798024e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.94327356
Centerline is valid?  [True, True]
Translation: X:134.67, Y:-20.04, Z:89.61
[[ 8.23721247e-01  7.15009541e-02 -5.62468595e-01  1.34673607e+02]
 [-7.69185033e-02  9.96937884e-01  1.40854165e-02 -2.00427972e+01]
 [ 5.61753372e-01  3.16617857e-02  8.26698664e-01  8.96134663e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.00327356
Centerline is valid?  [True, True]
Translation: X:134.72, Y:-20.05, Z:89.65
[[ 8.23983275e-01  6.84123159e-02 -5.62468948e-01  1.34721795e+02]
 [-7.31900345e-02  9.97218741e-01  1.40713176e-02 -2.00506875e+01]
 [ 5.61867227e-01  2.95725914e-02  8.26698664e-01  8.96463805e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.06327356
Centerline is valid?  [True, True]
Translation: X:134.77, Y:-20.05, Z:89.68
[[ 8.23554781e-01  7.33838879e-02 -5.62469846e-01  1.34771980e+02]
 [-7.92314953e-02  9.96757432e-01  1.40353460e-02 -2.00491876e+01]
 [ 5.61675968e-01  3.30064506e-02  8.26698664e-01  8.96804844e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.12327356
Centerline is valid?  [True, True]
Translation: X:134.82, Y:-20.06, Z:89.71
[[ 8.23547022e-01  7.34709127e-02 -5.62469846e-01  1.34820782e+02]
 [-7.93368224e-02  9.96749055e-01  1.40353460e-02 -2.00570355e+01]
 [ 5.61672477e-01  3.30658028e-02  8.26698664e-01  8.97138217e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.18327356
Centerline is valid?  [True, True]
Translation: X:134.87, Y:-20.08, Z:89.75
[[ 8.23314397e-01  7.60291155e-02 -5.62470424e-01  1.34869867e+02]
 [-8.24488741e-02  9.96496785e-01  1.40121575e-02 -2.00752392e+01]
 [ 5.61565301e-01  3.48386421e-02  8.26698664e-01  8.97475160e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.24327356
Centerline is valid?  [True, True]
Translation: X:134.92, Y:-20.08, Z:89.78
[[ 8.23275138e-01  7.64486812e-02 -5.62471018e-01  1.34918016e+02]
 [-8.29729586e-02  9.96453620e-01  1.39882606e-02 -2.00811543e+01]
 [ 5.61545666e-01  3.51536973e-02  8.26698665e-01  8.97803649e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.30327356
Centerline is valid?  [True, True]
Translation: X:134.97, Y:-20.08, Z:89.81
[[ 8.24122760e-01  6.66587355e-02 -5.62475146e-01  1.34966690e+02]
 [-7.12384913e-02  9.97363559e-01  1.38205781e-02 -2.00844966e+01]
 [ 5.61913476e-01  2.86800278e-02  8.26698676e-01  8.98134585e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.36327356
Centerline is valid?  [True, True]
Translation: X:135.02, Y:-20.09, Z:89.85
[[ 8.23750504e-01  7.11068546e-02 -5.62475708e-01  1.35016023e+02]
 [-7.66373752e-02  9.96963558e-01  1.37976916e-02 -2.00923728e+01]
 [ 5.61748894e-01  3.17408065e-02  8.26698677e-01  8.98471445e+01]
 [ 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 242.42327355999998
Centerline is valid?  [True, True]
Translation: X:135.07, Y:-20.10, Z:89.88
[[ 8.24320307e-01  6.41613272e-02 -5.62476093e-01  1.35065493e+02]
 [-6.82424223e-02  9.97573571e-01  1.37819721e-02 -2.00986340e+01]
 [ 5.61995554e-01  2.70239716e-02  8.26698677e-01  8.98808998e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.48327356
Centerline is valid?  [True, True]
Translation: X:135.11, Y:-20.11, Z:89.91
[[ 8.24871056e-01  5.66405942e-02 -5.62476296e-01  1.35114559e+02]
 [-5.91470340e-02  9.98154254e-01  1.37736890e-02 -2.01052267e+01]
 [ 5.62218257e-01  2.19072872e-02  8.26698677e-01  8.99143898e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.54327356
Centerline is valid?  [True, True]
Translation: X:135.16, Y:-20.11, Z:89.95
[[ 8.24886199e-01  5.64155646e-02 -5.62476704e-01  1.35163151e+02]
 [-5.88860780e-02  9.98169912e-01  1.37570250e-02 -2.01122724e+01]
 [ 5.62223432e-01  2.17740670e-02  8.26698677e-01  8.99475598e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.60327356
Centerline is valid?  [True, True]
Translation: X:135.21, Y:-20.12, Z:89.98
[[ 8.25207513e-01  5.14895063e-02 -5.62477903e-01  1.35212663e+02]
 [-5.29588516e-02  9.98502606e-01  1.37078522e-02 -2.01156389e+01]
 [ 5.62341462e-01  1.84763612e-02  8.26698678e-01  8.99812785e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.66327356
Centerline is valid?  [True, True]
Translation: X:135.26, Y:-20.12, Z:90.02
[[ 8.25179109e-01  5.19392280e-02 -5.62478225e-01  1.35262779e+02]
 [-5.35120450e-02  9.98473294e-01  1.36945930e-02 -2.01189488e+01]
 [ 5.62330773e-01  1.87988681e-02  8.26698678e-01  9.00154251e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.72327356
Centerline is valid?  [True, True]
Translation: X:135.31, Y:-20.11, Z:90.05
[[ 8.25187472e-01  5.18061989e-02 -5.62478225e-01  1.35311743e+02]
 [-5.33510790e-02  9.98481908e-01  1.36945930e-02 -2.01077072e+01]
 [ 5.62333797e-01  1.87082136e-02  8.26698678e-01  9.00485537e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.78327356
Centerline is valid?  [True, True]
Translation: X:135.36, Y:-20.12, Z:90.08
[[ 8.24948089e-01  5.54460852e-02 -5.62482340e-01  1.35361011e+02]
 [-5.78717353e-02  9.98232422e-01  1.35238068e-02 -2.01216785e+01]
 [ 5.62237951e-01  2.13953905e-02  8.26698690e-01  9.00822191e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.84327356
Centerline is valid?  [True, True]
Translation: X:135.41, Y:-20.12, Z:90.12
[[ 8.24931857e-01  5.56832696e-02 -5.62482715e-01  1.35409639e+02]
 [-5.81693752e-02  9.98215334e-01  1.35081891e-02 -2.01235823e+01]
 [ 5.62231051e-01  2.15759326e-02  8.26698690e-01  9.01153284e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.90327356
Centerline is valid?  [True, True]
Translation: X:135.46, Y:-20.12, Z:90.15
[[ 8.24754995e-01  5.82064277e-02 -5.62486631e-01  1.35459758e+02]
 [-6.13347437e-02  9.98028057e-01  1.33434490e-02 -2.01230285e+01]
 [ 5.62154113e-01  2.34948971e-02  8.26698701e-01  9.01493361e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.96327356
Centerline is valid?  [True, True]
Translation: X:135.51, Y:-20.12, Z:90.18
[[ 8.24445424e-01  6.24382394e-02 -5.62486631e-01  1.35509480e+02]
 [-6.64557381e-02  9.97700149e-01  1.33434490e-02 -2.01224414e+01]
 [ 5.62026137e-01  2.63795187e-02  8.26698701e-01  9.01831581e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.02327356
Centerline is valid?  [True, True]
Translation: X:135.56, Y:-20.12, Z:90.22
[[ 8.24353703e-01  6.36352061e-02 -5.62486918e-01  1.35557947e+02]
 [-6.79124901e-02  9.97602210e-01  1.33313491e-02 -2.01218721e+01]
 [ 5.61986535e-01  2.72101403e-02  8.26698701e-01  9.02161193e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.08327356
Centerline is valid?  [True, True]
Translation: X:135.61, Y:-20.12, Z:90.25
[[ 8.24435922e-01  6.25246127e-02 -5.62490963e-01  1.35607841e+02]
 [-6.66859696e-02  9.97687239e-01  1.31587882e-02 -2.01235814e+01]
 [ 5.62012804e-01  2.66616776e-02  8.26698714e-01  9.02500079e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.14327356
Centerline is valid?  [True, True]
Translation: X:135.66, Y:-20.12, Z:90.28
[[ 8.24675487e-01  5.92736669e-02 -5.62491755e-01  1.35657203e+02]
 [-6.27750235e-02  9.97941398e-01  1.31248555e-02 -2.01230627e+01]
 [ 5.62111767e-01  2.44866865e-02  8.26698714e-01  9.02835687e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.20327355999999
Centerline is valid?  [True, True]
Translation: X:135.71, Y:-20.12, Z:90.32
[[ 8.25139686e-01  5.24105837e-02 -5.62492336e-01  1.35705673e+02]
 [-5.44873005e-02  9.98428529e-01  1.30998904e-02 -2.01231224e+01]
 [ 5.62294969e-01  1.98394494e-02  8.26698714e-01  9.03165360e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.26327356
Centerline is valid?  [True, True]
Translation: X:135.76, Y:-20.12, Z:90.35
[[ 8.25519484e-01  4.60341112e-02 -5.62493059e-01  1.35755224e+02]
 [-4.67931281e-02  9.98819108e-01  1.30688028e-02 -2.01243465e+01]
 [ 5.62430426e-01  1.55322584e-02  8.26698715e-01  9.03502551e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.32327356
Centerline is valid?  [True, True]
Translation: X:135.80, Y:-20.12, Z:90.38
[[ 8.25836907e-01  3.99312678e-02 -5.62493463e-01  1.35803889e+02]
 [-3.94212288e-02  9.99137442e-01  1.30513855e-02 -2.01246443e+01]
 [ 5.62529438e-01  1.13958677e-02  8.26698715e-01  9.03833630e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.38327356
Centerline is valid?  [True, True]
Translation: X:135.85, Y:-20.12, Z:90.42
[[ 8.25947092e-01  3.75254868e-02 -5.62497323e-01  1.35852522e+02]
 [-3.66251358e-02  9.99246027e-01  1.28832065e-02 -2.01229471e+01]
 [ 5.62556664e-01  9.96069384e-03  8.26698727e-01  9.04163425e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.44327356
Centerline is valid?  [True, True]
Translation: X:135.90, Y:-20.12, Z:90.45
[[ 8.25831859e-01  3.99280692e-02 -5.62501102e-01  1.35901164e+02]
 [-3.96454448e-02  9.99132890e-01  1.27163766e-02 -2.01213127e+01]
 [ 5.62521093e-01  1.17990174e-02  8.26698738e-01  9.04493313e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.50327356
Centerline is valid?  [True, True]
Translation: X:135.95, Y:-20.12, Z:90.48
[[ 8.25704952e-01  4.24218509e-02 -5.62504860e-01  1.35950327e+02]
 [-4.27770397e-02  9.99005839e-01  1.25482705e-02 -2.01194423e+01]
 [ 5.62477961e-01  1.37011237e-02  8.26698750e-01  9.04826708e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.56327356
Centerline is valid?  [True, True]
Translation: X:136.00, Y:-20.12, Z:90.52
[[ 8.25591481e-01  4.45656591e-02 -5.62505652e-01  1.36000333e+02]
 [-4.53950433e-02  9.98890746e-01  1.25126982e-02 -2.01171129e+01]
 [ 5.62439327e-01  1.52045914e-02  8.26698750e-01  9.05166439e+01]
 [ 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 243.62327356
Centerline is valid?  [True, True]
Translation: X:136.05, Y:-20.11, Z:90.55
[[ 8.25461435e-01  4.69048727e-02 -5.62506313e-01  1.36049369e+02]
 [-4.82455746e-02  9.98757498e-01  1.24829391e-02 -2.01145104e+01]
 [ 5.62392908e-01  1.68342554e-02  8.26698751e-01  9.05499551e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.68327356
Centerline is valid?  [True, True]
Translation: X:136.10, Y:-20.09, Z:90.58
[[ 8.25350250e-01  4.88163482e-02 -5.62506825e-01  1.36098525e+02]
 [-5.05741062e-02  9.98642585e-01  1.24598185e-02 -2.00927331e+01]
 [ 5.62351513e-01  1.81645656e-02  8.26698751e-01  9.05830624e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.74327356
Centerline is valid?  [True, True]
Translation: X:136.15, Y:-20.09, Z:90.62
[[ 8.24949321e-01  5.51431815e-02 -5.62510308e-01  1.36148391e+02]
 [-5.83378018e-02  9.98221113e-01  1.23008556e-02 -2.00885129e+01]
 [ 5.62187974e-01  2.26680324e-02  8.26698761e-01  9.06168578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.80327356
Centerline is valid?  [True, True]
Translation: X:136.20, Y:-20.09, Z:90.65
[[ 8.24818237e-01  5.70676736e-02 -5.62510584e-01  1.36197789e+02]
 [-6.06751183e-02  9.98081925e-01  1.22882477e-02 -2.00881234e+01]
 [ 5.62132908e-01  2.39948254e-02  8.26698761e-01  9.06504579e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.86327356
Centerline is valid?  [True, True]
Translation: X:136.25, Y:-20.09, Z:90.68
[[ 8.24542870e-01  6.09122395e-02 -5.62511116e-01  1.36246746e+02]
 [-6.53439812e-02  9.97787433e-01  1.22638525e-02 -2.00851984e+01]
 [ 5.62013541e-01  2.66446436e-02  8.26698762e-01  9.06837157e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.92327355999998
Centerline is valid?  [True, True]
Translation: X:136.30, Y:-20.08, Z:90.72
[[ 8.24716008e-01  5.85109742e-02 -5.62512198e-01  1.36295390e+02]
 [-6.24721262e-02  9.97971969e-01  1.22140457e-02 -2.00840517e+01]
 [ 5.62086061e-01  2.50682140e-02  8.26698763e-01  9.07167755e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.98327356
Centerline is valid?  [True, True]
Translation: X:136.35, Y:-20.09, Z:90.75
[[ 8.25321898e-01  4.92232278e-02 -5.62512968e-01  1.36345192e+02]
 [-5.12579306e-02  9.98611190e-01  1.21785167e-02 -2.00852680e+01]
 [ 5.62331210e-01  1.87820541e-02  8.26698763e-01  9.07506647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.04327356
Centerline is valid?  [True, True]
Translation: X:136.39, Y:-20.09, Z:90.78
[[ 8.25549034e-01  4.52527654e-02 -5.62513093e-01  1.36394875e+02]
 [-4.64578614e-02  9.98846080e-01  1.21727028e-02 -2.00874958e+01]
 [ 5.62414847e-01  1.60839923e-02  8.26698763e-01  9.07845008e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.10327356
Centerline is valid?  [True, True]
Translation: X:136.44, Y:-20.09, Z:90.82
[[ 8.25790366e-01  4.06078505e-02 -5.62513354e-01  1.36443896e+02]
 [-4.08462274e-02  9.99091439e-01  1.21606619e-02 -2.00884411e+01]
 [ 5.62496094e-01  1.29343909e-02  8.26698763e-01  9.08178653e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.16327356
Centerline is valid?  [True, True]
Translation: X:136.49, Y:-20.09, Z:90.85
[[ 8.25979620e-01  3.65003026e-02 -5.62517018e-01  1.36492928e+02]
 [-3.59935532e-02  9.99280103e-01  1.19891213e-02 -2.00897321e+01]
 [ 5.62549671e-01  1.03442163e-02  8.26698775e-01  9.08511716e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.22327356
Centerline is valid?  [True, True]
Translation: X:136.54, Y:-20.09, Z:90.88
[[ 8.26051336e-01  3.48316053e-02 -5.62517511e-01  1.36541196e+02]
 [-3.39905187e-02  9.99350519e-01  1.19659732e-02 -2.00887592e+01]
 [ 5.62568960e-01  9.23575387e-03  8.26698776e-01  9.08839907e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.28327356
Centerline is valid?  [True, True]
Translation: X:136.59, Y:-20.09, Z:90.92
[[ 8.25523226e-01  4.56508492e-02 -5.62518803e-01  1.36590084e+02]
 [-4.71218042e-02  9.98818206e-01  1.19049452e-02 -2.00891057e+01]
 [ 5.62397493e-01  1.66790922e-02  8.26698777e-01  9.09172337e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.34327356
Centerline is valid?  [True, True]
Translation: X:136.64, Y:-20.08, Z:90.95
[[ 8.25877621e-01  3.87023709e-02 -5.62519584e-01  1.36639395e+02]
 [-3.87401436e-02  9.99178839e-01  1.18679821e-02 -2.00845633e+01]
 [ 5.62516983e-01  1.19905886e-02  8.26698778e-01  9.09507055e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.40327356
Centerline is valid?  [True, True]
Translation: X:136.69, Y:-20.08, Z:90.98
[[ 8.25666936e-01  4.29563331e-02 -5.62520102e-01  1.36689093e+02]
 [-4.39036078e-02  9.98965569e-01  1.18433820e-02 -2.00795668e+01]
 [ 5.62446961e-01  1.49179730e-02  8.26698778e-01  9.09844398e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.46327356
Centerline is valid?  [True, True]
Translation: X:136.74, Y:-20.09, Z:91.02
[[ 8.25761557e-01  4.10917272e-02 -5.62520507e-01  1.36738561e+02]
 [-4.16607972e-02  9.99061844e-01  1.18240880e-02 -2.00873529e+01]
 [ 5.62478648e-01  1.36711754e-02  8.26698778e-01  9.10182036e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.52327356
Centerline is valid?  [True, True]
Translation: X:136.79, Y:-20.08, Z:91.05
[[ 8.25577690e-01  4.46303814e-02 -5.62520761e-01  1.36787486e+02]
 [-4.59503928e-02  9.98873885e-01  1.18120143e-02 -2.00827545e+01]
 [ 5.62414472e-01  1.60963144e-02  8.26698778e-01  9.10514230e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.58327356
Centerline is valid?  [True, True]
Translation: X:136.84, Y:-20.08, Z:91.08
[[ 8.25395510e-01  4.78383769e-02 -5.62524436e-01  1.36836604e+02]
 [-4.99525216e-02  9.98683823e-01  1.16347409e-02 -2.00754532e+01]
 [ 5.62340642e-01  1.84962511e-02  8.26698791e-01  9.10846669e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.64327356
Centerline is valid?  [True, True]
Translation: X:136.89, Y:-20.06, Z:91.12
[[ 8.24112528e-01  6.63653726e-02 -5.62524825e-01  1.36886416e+02]
 [-7.23840016e-02  9.97309193e-01  1.16159028e-02 -2.00640532e+01]
 [ 5.61782074e-01  3.11449868e-02  8.26698791e-01  9.11183930e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.70327355999999
Centerline is valid?  [True, True]
Translation: X:136.94, Y:-20.06, Z:91.15
[[ 8.24503195e-01  6.13181795e-02 -5.62525167e-01  1.36935147e+02]
 [-6.62874917e-02  9.97733142e-01  1.15993588e-02 -2.00638025e+01]
 [ 5.61961254e-01  2.77246740e-02  8.26698792e-01  9.11515423e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.76327356
Centerline is valid?  [True, True]
Translation: X:136.99, Y:-20.06, Z:91.19
[[ 8.24319951e-01  6.37297697e-02 -5.62525675e-01  1.36985216e+02]
 [-6.92225987e-02  9.97534089e-01  1.15746691e-02 -2.00642912e+01]
 [ 5.61876188e-01  2.93982584e-02  8.26698792e-01  9.11856083e+01]
 [ 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 244.82327356
Centerline is valid?  [True, True]
Translation: X:137.04, Y:-20.07, Z:91.22
[[ 8.23970989e-01  6.80931295e-02 -5.62525675e-01  1.37035086e+02]
 [-7.45029409e-02  9.97153618e-01  1.15746691e-02 -2.00667401e+01]
 [ 5.61712668e-01  3.23726255e-02  8.26698792e-01  9.12195764e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.88327356
Centerline is valid?  [True, True]
Translation: X:137.09, Y:-20.07, Z:91.25
[[ 8.23657673e-01  7.17818802e-02 -5.62525909e-01  1.37085189e+02]
 [-7.89748412e-02  9.96809543e-01  1.15632527e-02 -2.00696832e+01]
 [ 5.61561227e-01  3.49012325e-02  8.26698792e-01  9.12537053e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.94327356
Centerline is valid?  [True, True]
Translation: X:137.13, Y:-20.09, Z:91.29
[[ 8.23749057e-01  7.07229109e-02 -5.62526231e-01  1.37134003e+02]
 [-7.77039012e-02  9.96909603e-01  1.15476103e-02 -2.00856742e+01]
 [ 5.61604482e-01  3.41981496e-02  8.26698792e-01  9.12871378e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.00327356
Centerline is valid?  [True, True]
Translation: X:137.18, Y:-20.08, Z:91.32
[[ 8.23007623e-01  7.88804303e-02 -5.62526737e-01  1.37183953e+02]
 [-8.75934166e-02  9.96089663e-01  1.15228863e-02 -2.00775595e+01]
 [ 5.61235998e-01  3.97902156e-02  8.26698792e-01  9.13210027e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.06327356
Centerline is valid?  [True, True]
Translation: X:137.23, Y:-20.08, Z:91.35
[[ 8.22577199e-01  8.32474563e-02 -5.62526988e-01  1.37233370e+02]
 [-9.28872975e-02  9.95610092e-01  1.15106204e-02 -2.00835389e+01]
 [ 5.61015777e-01  4.27832378e-02  8.26698792e-01  9.13547073e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.12327356
Centerline is valid?  [True, True]
Translation: X:137.28, Y:-20.09, Z:91.39
[[ 8.22341260e-01  8.55454153e-02 -5.62527185e-01  1.37282945e+02]
 [-9.56752188e-02  9.95346161e-01  1.15009922e-02 -2.00899889e+01]
 [ 5.60893131e-01  4.43621711e-02  8.26698792e-01  9.13885257e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.18327356
Centerline is valid?  [True, True]
Translation: X:137.33, Y:-20.10, Z:91.42
[[ 8.22179678e-01  8.70833601e-02 -5.62527392e-01  1.37332682e+02]
 [-9.75435987e-02  9.95164914e-01  1.14908894e-02 -2.00979260e+01]
 [ 5.60808188e-01  4.54233703e-02  8.26698792e-01  9.14224758e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.24327356
Centerline is valid?  [True, True]
Translation: X:137.38, Y:-20.11, Z:91.46
[[ 8.22004130e-01  8.87235108e-02 -5.62527643e-01  1.37382471e+02]
 [-9.95372222e-02  9.94967630e-01  1.14785711e-02 -2.01050618e+01]
 [ 5.60715215e-01  4.65570062e-02  8.26698792e-01  9.14564482e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.30327356
Centerline is valid?  [True, True]
Translation: X:137.43, Y:-20.11, Z:91.49
[[ 8.21901981e-01  8.96628013e-02 -5.62527969e-01  1.37431348e+02]
 [-1.00685015e-01  9.94852319e-01  1.14625983e-02 -2.01102501e+01]
 [ 5.60660023e-01  4.72170050e-02  8.26698792e-01  9.14897715e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.36327356
Centerline is valid?  [True, True]
Translation: X:137.48, Y:-20.12, Z:91.52
[[ 8.20437036e-01  1.02197060e-01 -5.62528960e-01  1.37481103e+02]
 [-1.15890895e-01  9.93196369e-01  1.14137535e-02 -2.01216645e+01]
 [ 5.59868173e-01  5.58277185e-02  8.26698793e-01  9.15237633e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.42327355999998
Centerline is valid?  [True, True]
Translation: X:137.53, Y:-20.15, Z:91.56
[[ 8.21986445e-01  8.88768069e-02 -5.62529286e-01  1.37530152e+02]
 [-9.97777404e-02  9.94944468e-01  1.13976949e-02 -2.01462926e+01]
 [ 5.60698392e-01  4.67591503e-02  8.26698794e-01  9.15574713e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.48327356
Centerline is valid?  [True, True]
Translation: X:137.58, Y:-20.14, Z:91.59
[[ 8.22191511e-01  8.69576108e-02 -5.62529549e-01  1.37577949e+02]
 [-9.74635844e-02  9.95173974e-01  1.13846811e-02 -2.01401364e+01]
 [ 5.60804752e-01  4.54657580e-02  8.26698794e-01  9.15899040e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.54327356
Centerline is valid?  [True, True]
Translation: X:137.63, Y:-20.16, Z:91.62
[[ 8.21814844e-01  9.04404927e-02 -5.62530781e-01  1.37627224e+02]
 [-1.01720870e-01  9.94748532e-01  1.13235162e-02 -2.01597225e+01]
 [ 5.60600774e-01  4.79152868e-02  8.26698795e-01  9.16236723e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.60327356
Centerline is valid?  [True, True]
Translation: X:137.68, Y:-20.15, Z:91.66
[[ 8.22147274e-01  8.73651434e-02 -5.62531058e-01  1.37677348e+02]
 [-9.80077836e-02  9.95121381e-01  1.13097578e-02 -2.01541309e+01]
 [ 5.60774762e-01  4.58341357e-02  8.26698795e-01  9.16576961e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.66327356
Centerline is valid?  [True, True]
Translation: X:137.73, Y:-20.16, Z:91.69
[[ 8.22131803e-01  8.75095035e-02 -5.62531231e-01  1.37725992e+02]
 [-9.81883676e-02  9.95103677e-01  1.13011487e-02 -2.01619815e+01]
 [ 5.60765855e-01  4.59429896e-02  8.26698795e-01  9.16908989e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.72327356
Centerline is valid?  [True, True]
Translation: X:137.77, Y:-20.17, Z:91.72
[[ 8.21958829e-01  8.91130081e-02 -5.62532271e-01  1.37774866e+02]
 [-1.00164573e-01  9.94907289e-01  1.12491797e-02 -2.01737187e+01]
 [ 5.60669905e-01  4.70994419e-02  8.26698796e-01  9.17242893e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.78327356
Centerline is valid?  [True, True]
Translation: X:137.82, Y:-20.19, Z:91.76
[[ 8.23187881e-01  7.69329023e-02 -5.62532703e-01  1.37824410e+02]
 [-8.54372034e-02  9.96280295e-01  1.12275504e-02 -2.01883565e+01]
 [ 5.61304015e-01  3.88188375e-02  8.26698797e-01  9.17581895e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.84327356
Centerline is valid?  [True, True]
Translation: X:137.87, Y:-20.18, Z:91.79
[[ 8.23166636e-01  7.71578345e-02 -5.62532984e-01  1.37873073e+02]
 [-8.57190081e-02  9.96256247e-01  1.12134706e-02 -2.01788943e+01]
 [ 5.61292206e-01  3.89892145e-02  8.26698797e-01  9.17911668e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.90327356
Centerline is valid?  [True, True]
Translation: X:137.92, Y:-20.20, Z:91.83
[[ 8.23790966e-01  7.01515257e-02 -5.62536406e-01  1.37922564e+02]
 [-7.73580733e-02  9.96942254e-01  1.10395311e-02 -2.02022672e+01]
 [ 5.61590752e-01  3.44224665e-02  8.26698809e-01  9.18250661e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.96327356
Centerline is valid?  [True, True]
Translation: X:137.97, Y:-20.20, Z:91.86
[[ 8.23911183e-01  6.87238500e-02 -5.62536572e-01  1.37970869e+02]
 [-7.56361123e-02  9.97074468e-01  1.10310294e-02 -2.02038821e+01]
 [ 5.61648948e-01  3.34594909e-02  8.26698809e-01  9.18579529e+01]
 [ 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 246.02327356
Centerline is valid?  [True, True]
Translation: X:138.02, Y:-20.19, Z:91.89
[[ 8.23727778e-01  7.08807437e-02 -5.62537526e-01  1.38020963e+02]
 [-7.82795450e-02  9.96870956e-01  1.09822347e-02 -2.01881374e+01]
 [ 5.61555750e-01  3.49888098e-02  8.26698810e-01  9.18918040e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.08327356
Centerline is valid?  [True, True]
Translation: X:138.07, Y:-20.19, Z:91.92
[[ 8.23822324e-01  6.97716672e-02 -5.62537726e-01  1.38069598e+02]
 [-7.69443532e-02  9.96975016e-01  1.09719452e-02 -2.01916263e+01]
 [ 5.61601590e-01  3.42451681e-02  8.26698810e-01  9.19249392e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.14327356
Centerline is valid?  [True, True]
Translation: X:138.12, Y:-20.21, Z:91.96
[[ 8.24043070e-01  6.71063675e-02 -5.62538669e-01  1.38117535e+02]
 [-7.37519128e-02  9.97216794e-01  1.09234163e-02 -2.02101097e+01]
 [ 5.61706039e-01  3.24869374e-02  8.26698811e-01  9.19577776e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.20327355999999
Centerline is valid?  [True, True]
Translation: X:138.17, Y:-20.21, Z:91.99
[[ 8.24088000e-01  6.65376223e-02 -5.62540410e-01  1.38166115e+02]
 [-7.31250679e-02  9.97263941e-01  1.08331426e-02 -2.02070526e+01]
 [ 5.61722078e-01  3.22083428e-02  8.26698815e-01  9.19907449e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.26327356
Centerline is valid?  [True, True]
Translation: X:138.22, Y:-20.21, Z:92.02
[[ 8.24063978e-01  6.68355712e-02 -5.62540280e-01  1.38215206e+02]
 [-7.34810443e-02  9.97237701e-01  1.08398811e-02 -2.02133559e+01]
 [ 5.61710866e-01  3.24032917e-02  8.26698815e-01  9.20242355e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.32327356
Centerline is valid?  [True, True]
Translation: X:138.26, Y:-20.20, Z:92.06
[[ 8.23825900e-01  6.97051676e-02 -5.62540733e-01  1.38264655e+02]
 [-7.69697195e-02  9.96974758e-01  1.08163619e-02 -2.01974475e+01]
 [ 5.61592867e-01  3.43878033e-02  8.26698815e-01  9.20576633e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.38327356
Centerline is valid?  [True, True]
Translation: X:138.31, Y:-20.21, Z:92.09
[[ 8.24048438e-01  6.70193293e-02 -5.62541182e-01  1.38313853e+02]
 [-7.37353443e-02  9.97219440e-01  1.07929568e-02 -2.02138140e+01]
 [ 5.61700339e-01  3.25852485e-02  8.26698815e-01  9.20913421e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.44327356
Centerline is valid?  [True, True]
Translation: X:138.36, Y:-20.21, Z:92.13
[[ 8.23956282e-01  6.81410378e-02 -5.62541416e-01  1.38363584e+02]
 [-7.51010883e-02  9.97117647e-01  1.07807491e-02 -2.02131244e+01]
 [ 5.61654584e-01  3.33646066e-02  8.26698815e-01  9.21251664e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.50327356
Centerline is valid?  [True, True]
Translation: X:138.41, Y:-20.21, Z:92.16
[[ 8.23680857e-01  7.13919705e-02 -5.62541582e-01  1.38412471e+02]
 [-7.90411992e-02  9.96813148e-01  1.07720607e-02 -2.02125532e+01]
 [ 5.61517884e-01  3.55912211e-02  8.26698815e-01  9.21584202e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.56327356
Centerline is valid?  [True, True]
Translation: X:138.46, Y:-20.21, Z:92.19
[[ 8.23648634e-01  7.17378001e-02 -5.62544768e-01  1.38460954e+02]
 [-7.95743831e-02  9.96772534e-01  1.06034881e-02 -2.02130358e+01]
 [ 5.61489844e-01  3.60306044e-02  8.26698827e-01  9.21913258e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.62327356
Centerline is valid?  [True, True]
Translation: X:138.51, Y:-20.21, Z:92.23
[[ 8.23664650e-01  7.15290486e-02 -5.62547899e-01  1.38510786e+02]
 [-7.94362849e-02  9.96785326e-01  1.04351045e-02 -2.02114848e+01]
 [ 5.61485904e-01  3.60916885e-02  8.26698839e-01  9.22251242e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.68327356
Centerline is valid?  [True, True]
Translation: X:138.56, Y:-20.21, Z:92.26
[[ 8.23590692e-01  7.23738217e-02 -5.62548133e-01  1.38559488e+02]
 [-8.04671985e-02  9.96702765e-01  1.04224904e-02 -2.02102005e+01]
 [ 5.61447595e-01  3.66828062e-02  8.26698839e-01  9.22582419e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.74327356
Centerline is valid?  [True, True]
Translation: X:138.61, Y:-20.21, Z:92.29
[[ 8.23908617e-01  6.86561816e-02 -5.62548593e-01  1.38608397e+02]
 [-7.59851338e-02  9.97054737e-01  1.03976167e-02 -2.02132562e+01]
 [ 5.61605600e-01  3.41786441e-02  8.26698839e-01  9.22915480e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.80327356
Centerline is valid?  [True, True]
Translation: X:138.66, Y:-20.22, Z:92.32
[[ 8.23938778e-01  6.82807286e-02 -5.62550115e-01  1.38657250e+02]
 [-7.55871875e-02  9.97085846e-01  1.03146956e-02 -2.02159326e+01]
 [ 5.61615052e-01  3.40229034e-02  8.26698842e-01  9.23247799e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.86327356
Centerline is valid?  [True, True]
Translation: X:138.71, Y:-20.21, Z:92.36
[[ 8.24275055e-01  6.40857798e-02 -5.62551016e-01  1.38707238e+02]
 [-7.05443509e-02  9.97455822e-01  1.02653541e-02 -2.02144121e+01]
 [ 5.61777650e-01  3.12233210e-02  8.26698843e-01  9.23587501e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.92327355999998
Centerline is valid?  [True, True]
Translation: X:138.76, Y:-20.21, Z:92.39
[[ 8.24486725e-01  6.12982688e-02 -5.62551476e-01  1.38755876e+02]
 [-6.71883984e-02  9.97687756e-01  1.02401114e-02 -2.02127812e+01]
 [ 5.61878421e-01  2.93540968e-02  8.26698843e-01  9.23918133e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.98327356
Centerline is valid?  [True, True]
Translation: X:138.80, Y:-20.21, Z:92.42
[[ 8.24489791e-01  6.12282644e-02 -5.62554606e-01  1.38803822e+02]
 [-6.72223773e-02  9.97687243e-01  1.00656796e-02 -2.02141885e+01]
 [ 5.61869857e-01  2.95172079e-02  8.26698856e-01  9.24243632e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.04327356
Centerline is valid?  [True, True]
Translation: X:138.85, Y:-20.22, Z:92.46
[[ 8.24590514e-01  5.98411271e-02 -5.62556241e-01  1.38852647e+02]
 [-6.56065291e-02  9.97795726e-01  9.97357947e-03 -2.02160587e+01]
 [ 5.61913043e-01  2.86832433e-02  8.26698859e-01  9.24575607e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.10327356
Centerline is valid?  [True, True]
Translation: X:138.90, Y:-20.22, Z:92.49
[[ 8.24672274e-01  5.86954698e-02 -5.62557093e-01  1.38901788e+02]
 [-6.42530860e-02  9.97884277e-01  9.92530000e-03 -2.02163426e+01]
 [ 5.61949448e-01  2.79609096e-02  8.26698860e-01  9.24909777e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.16327356
Centerline is valid?  [True, True]
Translation: X:138.95, Y:-20.20, Z:92.52
[[ 8.24457494e-01  6.16136260e-02 -5.62559865e-01  1.38951770e+02]
 [-6.78925570e-02  9.97644839e-01  9.76605155e-03 -2.01979744e+01]
 [ 5.61836668e-01  3.01419333e-02  8.26698871e-01  9.25246874e+01]
 [ 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 247.22327356
Centerline is valid?  [True, True]
Translation: X:139.00, Y:-20.20, Z:92.56
[[ 8.24394729e-01  6.24439964e-02 -5.62560289e-01  1.39000342e+02]
 [-6.89139992e-02  9.97575041e-01  9.74159514e-03 -2.01971072e+01]
 [ 5.61804407e-01  3.07373596e-02  8.26698871e-01  9.25577168e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.28327356
Centerline is valid?  [True, True]
Translation: X:139.05, Y:-20.21, Z:92.59
[[ 8.24482161e-01  6.12521547e-02 -5.62563187e-01  1.39048605e+02]
 [-6.75873784e-02  9.97667444e-01  9.57171195e-03 -2.02116414e+01]
 [ 5.61837265e-01  3.01304653e-02  8.26698883e-01  9.25906409e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.34327356
Centerline is valid?  [True, True]
Translation: X:139.10, Y:-20.21, Z:92.62
[[ 8.24345799e-01  6.30534390e-02 -5.62564012e-01  1.39097437e+02]
 [-6.98001540e-02  9.97515539e-01  9.52304336e-03 -2.02117460e+01]
 [ 5.61766804e-01  3.14167739e-02  8.26698884e-01  9.26238461e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.40327356
Centerline is valid?  [True, True]
Translation: X:139.15, Y:-20.19, Z:92.66
[[ 8.23929941e-01  6.82492425e-02 -5.62566879e-01  1.39147592e+02]
 [-7.62045399e-02  9.97048357e-01  9.35105350e-03 -2.01908289e+01]
 [ 5.61544584e-01  3.51655372e-02  8.26698896e-01  9.26576486e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.46327356
Centerline is valid?  [True, True]
Translation: X:139.20, Y:-20.19, Z:92.69
[[ 8.23745079e-01  7.04447404e-02 -5.62566958e-01  1.39196492e+02]
 [-7.88646182e-02  9.96841522e-01  9.34626707e-03 -2.01880057e+01]
 [ 5.61448498e-01  3.66676868e-02  8.26698896e-01  9.26908903e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.52327356
Centerline is valid?  [True, True]
Translation: X:139.24, Y:-20.19, Z:92.72
[[ 8.23659771e-01  7.14321750e-02 -5.62567353e-01  1.39244687e+02]
 [-8.00757429e-02  9.96745187e-01  9.32245451e-03 -2.01858343e+01]
 [ 5.61402225e-01  3.73694680e-02  8.26698896e-01  9.27236510e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.58327356
Centerline is valid?  [True, True]
Translation: X:139.29, Y:-20.19, Z:92.76
[[ 8.23760636e-01  7.02532375e-02 -5.62568126e-01  1.39293334e+02]
 [-7.86809188e-02  9.96856698e-01  9.27561733e-03 -2.01850161e+01]
 [ 5.61451447e-01  3.66224886e-02  8.26698897e-01  9.27567228e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.64327356
Centerline is valid?  [True, True]
Translation: X:139.34, Y:-20.20, Z:92.79
[[ 8.24209820e-01  6.47467289e-02 -5.62570915e-01  1.39342685e+02]
 [-7.21343555e-02  9.97353376e-01  9.10378472e-03 -2.02025326e+01]
 [ 5.61671441e-01  3.30772616e-02  8.26698909e-01  9.27904143e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.70327355999999
Centerline is valid?  [True, True]
Translation: X:139.39, Y:-20.18, Z:92.82
[[ 8.24049259e-01  6.67566901e-02 -5.62571207e-01  1.39392409e+02]
 [-7.45788535e-02  9.97173728e-01  9.08572738e-03 -2.01842136e+01]
 [ 5.61587761e-01  3.44688287e-02  8.26698910e-01  9.28240412e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.76327356
Centerline is valid?  [True, True]
Translation: X:139.44, Y:-20.18, Z:92.86
[[ 8.24228781e-01  6.45005891e-02 -5.62571409e-01  1.39442393e+02]
 [-7.18573283e-02  9.97373652e-01  9.07317703e-03 -2.01842366e+01]
 [ 5.61679126e-01  3.29465048e-02  8.26698910e-01  9.28580494e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.82327356
Centerline is valid?  [True, True]
Translation: X:139.49, Y:-20.18, Z:92.89
[[ 8.24293684e-01  6.36643696e-02 -5.62571570e-01  1.39490372e+02]
 [-7.08522388e-02  9.97445647e-01  9.06319421e-03 -2.01845387e+01]
 [ 5.61711566e-01  3.23887215e-02  8.26698910e-01  9.28906976e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.88327356
Centerline is valid?  [True, True]
Translation: X:139.54, Y:-20.19, Z:92.92
[[ 8.24658421e-01  5.87420324e-02 -5.62572539e-01  1.39539720e+02]
 [-6.49371686e-02  9.97848744e-01  9.00271499e-03 -2.01945518e+01]
 [ 5.61891139e-01  2.91077031e-02  8.26698911e-01  9.29243584e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.94327356
Centerline is valid?  [True, True]
Translation: X:139.59, Y:-20.20, Z:92.96
[[ 8.24436459e-01  6.17763352e-02 -5.62572848e-01  1.39589185e+02]
 [-6.86219059e-02  9.97602292e-01  8.98339214e-03 -2.01968903e+01]
 [ 5.61778923e-01  3.11985850e-02  8.26698911e-01  9.29580358e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.00327356
Centerline is valid?  [True, True]
Translation: X:139.64, Y:-20.20, Z:92.99
[[ 8.23927861e-01  6.82236469e-02 -5.62573030e-01  1.39638552e+02]
 [-7.64313740e-02  9.97034477e-01  8.97197219e-03 -2.01998273e+01]
 [ 5.61516807e-01  3.56059718e-02  8.26698911e-01  9.29916566e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.06327356
Centerline is valid?  [True, True]
Translation: X:139.69, Y:-20.20, Z:93.02
[[ 8.23560630e-01  7.25200895e-02 -5.62573307e-01  1.39687497e+02]
 [-8.16424151e-02  9.96621459e-01  8.95456367e-03 -2.01978279e+01]
 [ 5.61322015e-01  3.85552174e-02  8.26698911e-01  9.30249334e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.12327356
Centerline is valid?  [True, True]
Translation: X:139.74, Y:-20.18, Z:93.06
[[ 8.22586994e-01  8.28346493e-02 -5.62573603e-01  1.39737183e+02]
 [-9.41375819e-02  9.95519093e-01  8.93594077e-03 -2.01831986e+01]
 [ 5.60792968e-01  4.56087300e-02  8.26698912e-01  9.30585777e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.18327356
Centerline is valid?  [True, True]
Translation: X:139.79, Y:-20.20, Z:93.09
[[ 8.22786382e-01  8.08281164e-02 -5.62573894e-01  1.39785753e+02]
 [-9.17217003e-02  9.95744750e-01  8.91759592e-03 -2.01995381e+01]
 [ 5.60900793e-01  4.42629576e-02  8.26698912e-01  9.30917973e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.24327356
Centerline is valid?  [True, True]
Translation: X:139.83, Y:-20.20, Z:93.13
[[ 8.22674431e-01  8.19424965e-02 -5.62576402e-01  1.39834961e+02]
 [-9.31795069e-02  9.95610815e-01  8.75692244e-03 -2.01974986e+01]
 [ 5.60824714e-01  4.52164955e-02  8.26698922e-01  9.31251812e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.30327356
Centerline is valid?  [True, True]
Translation: X:139.89, Y:-20.18, Z:93.16
[[ 8.22034794e-01  8.81258652e-02 -5.62576777e-01  1.39885291e+02]
 [-1.00679272e-01  9.94880607e-01  8.73276382e-03 -2.01806900e+01]
 [ 5.60466308e-01  4.94611844e-02  8.26698923e-01  9.31592418e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.36327356
Centerline is valid?  [True, True]
Translation: X:139.93, Y:-20.18, Z:93.19
[[ 8.21990728e-01  8.85348750e-02 -5.62576945e-01  1.39934805e+02]
 [-1.01181647e-01  9.94829735e-01  8.72191970e-03 -2.01797549e+01]
 [ 5.60440468e-01  4.97531246e-02  8.26698923e-01  9.31929213e+01]
 [ 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 248.42327355999998
Centerline is valid?  [True, True]
Translation: X:139.98, Y:-20.18, Z:93.23
[[ 8.20562618e-01  1.00914527e-01 -5.62577327e-01  1.39984849e+02]
 [-1.16181779e-01  9.93189887e-01  8.69722776e-03 -2.01836916e+01]
 [ 5.59623789e-01  5.82246145e-02  8.26698923e-01  9.32270063e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.48327356
Centerline is valid?  [True, True]
Translation: X:140.03, Y:-20.18, Z:93.26
[[ 8.22234463e-01  8.62383551e-02 -5.62577491e-01  1.40033499e+02]
 [-9.84262407e-02  9.95106435e-01  8.68661660e-03 -2.01817326e+01]
 [ 5.60573601e-01  4.82299520e-02  8.26698923e-01  9.32600878e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.54327356
Centerline is valid?  [True, True]
Translation: X:140.08, Y:-20.20, Z:93.29
[[ 8.23212253e-01  7.63405852e-02 -5.62577729e-01  1.40082701e+02]
 [-8.64584160e-02  9.96217724e-01  8.67118684e-03 -2.01992148e+01]
 [ 5.61111868e-01  4.15013520e-02  8.26698923e-01  9.32937464e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.60327356
Centerline is valid?  [True, True]
Translation: X:140.13, Y:-20.19, Z:93.33
[[ 8.21544448e-01  9.25783338e-02 -5.62577970e-01  1.40132771e+02]
 [-1.06120481e-01  9.94315607e-01  8.65549389e-03 -2.01892591e+01]
 [ 5.60181367e-01  5.25901719e-02  8.26698923e-01  9.33277074e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.66327356
Centerline is valid?  [True, True]
Translation: X:140.18, Y:-20.19, Z:93.36
[[ 8.21884811e-01  8.95049346e-02 -5.62578194e-01  1.40181870e+02]
 [-1.02410669e-01  9.94704674e-01  8.64093881e-03 -2.01922076e+01]
 [ 5.60372566e-01  5.05121527e-02  8.26698923e-01  9.33611433e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.72327356
Centerline is valid?  [True, True]
Translation: X:140.23, Y:-20.21, Z:93.40
[[ 8.23682325e-01  7.10838396e-02 -5.62578453e-01  1.40231716e+02]
 [-8.01290692e-02  9.96747188e-01  8.62407578e-03 -2.02079126e+01]
 [ 5.61361523e-01  3.79753890e-02  8.26698923e-01  9.33952197e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.78327356
Centerline is valid?  [True, True]
Translation: X:140.28, Y:-20.21, Z:93.43
[[ 8.23767580e-01  7.00874324e-02 -5.62578640e-01  1.40280657e+02]
 [-7.89316341e-02  9.96842833e-01  8.61183338e-03 -2.02082430e+01]
 [ 5.61406067e-01  3.73111022e-02  8.26698923e-01  9.34285225e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.84327356
Centerline is valid?  [True, True]
Translation: X:140.33, Y:-20.21, Z:93.46
[[ 8.23601283e-01  7.20123324e-02 -5.62579018e-01  1.40329829e+02]
 [-8.12777873e-02  9.96654495e-01  8.58710456e-03 -2.02121728e+01]
 [ 5.61315284e-01  3.86528274e-02  8.26698924e-01  9.34620127e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.90327356
Centerline is valid?  [True, True]
Translation: X:140.38, Y:-20.21, Z:93.50
[[ 8.23458765e-01  7.36201777e-02 -5.62579534e-01  1.40379542e+02]
 [-8.32465287e-02  9.96492277e-01  8.55319903e-03 -2.02132322e+01]
 [ 5.61235848e-01  3.97895866e-02  8.26698924e-01  9.34958372e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.96327356
Centerline is valid?  [True, True]
Translation: X:140.43, Y:-20.21, Z:93.53
[[ 8.23340230e-01  7.49332368e-02 -5.62579662e-01  1.40427597e+02]
 [-8.48412521e-02  9.96357842e-01  8.54474916e-03 -2.02133150e+01]
 [ 5.61170944e-01  4.06947272e-02  8.26698924e-01  9.35285358e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.02327356
Centerline is valid?  [True, True]
Translation: X:140.48, Y:-20.22, Z:93.56
[[ 8.23365741e-01  7.46421106e-02 -5.62581027e-01  1.40476108e+02]
 [-8.45505905e-02  9.96383323e-01  8.45406164e-03 -2.02165312e+01]
 [ 5.61177382e-01  4.06057733e-02  8.26698928e-01  9.35615348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.08327356
Centerline is valid?  [True, True]
Translation: X:140.53, Y:-20.22, Z:93.59
[[ 8.23459369e-01  7.35828176e-02 -5.62583538e-01  1.40525154e+02]
 [-8.33842380e-02  9.96483037e-01  8.28409880e-03 -2.02190701e+01]
 [ 5.61214520e-01  4.00889808e-02  8.26698940e-01  9.35948503e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.14327356
Centerline is valid?  [True, True]
Translation: X:140.58, Y:-20.22, Z:93.63
[[ 8.24041914e-01  6.67370884e-02 -5.62584291e-01  1.40575092e+02]
 [-7.51352637e-02  9.97139366e-01  8.23267110e-03 -2.02190496e+01]
 [ 5.61524368e-01  3.54858530e-02  8.26698941e-01  9.36288076e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.20327355999999
Centerline is valid?  [True, True]
Translation: X:140.62, Y:-20.22, Z:93.66
[[ 8.24479952e-01  6.10857207e-02 -5.62584521e-01  1.40624262e+02]
 [-6.83075865e-02  9.97630470e-01  8.21697095e-03 -2.02197632e+01]
 [ 5.61753399e-01  3.16540630e-02  8.26698941e-01  9.36622676e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.26327356
Centerline is valid?  [True, True]
Translation: X:140.67, Y:-20.23, Z:93.70
[[ 8.25084598e-01  5.22860735e-02 -5.62584726e-01  1.40673168e+02]
 [-5.76697943e-02  9.98302012e-01  8.20291267e-03 -2.02275595e+01]
 [ 5.62058362e-01  2.56760485e-02  8.26698941e-01  9.36956193e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.32327356
Centerline is valid?  [True, True]
Translation: X:140.72, Y:-20.23, Z:93.73
[[ 8.25189203e-01  5.06050792e-02 -5.62585020e-01  1.40723065e+02]
 [-5.56496611e-02  9.98416826e-01  8.18269753e-03 -2.02285078e+01]
 [ 5.62108436e-01  2.45553921e-02  8.26698941e-01  9.37295743e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.38327356
Centerline is valid?  [True, True]
Translation: X:140.77, Y:-20.23, Z:93.76
[[ 8.25160853e-01  5.10634033e-02 -5.62585190e-01  1.40771481e+02]
 [-5.62121572e-02  9.98385411e-01  8.17100294e-03 -2.02311055e+01]
 [ 5.62094085e-01  2.48817354e-02  8.26698941e-01  9.37625416e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.44327356
Centerline is valid?  [True, True]
Translation: X:140.82, Y:-20.23, Z:93.80
[[ 8.25047374e-01  5.28401426e-02 -5.62587548e-01  1.40820099e+02]
 [-5.84742985e-02  9.98256812e-01  8.00580446e-03 -2.02321224e+01]
 [ 5.62029880e-01  2.62917443e-02  8.26698952e-01  9.37955506e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.50327356
Centerline is valid?  [True, True]
Translation: X:140.87, Y:-20.23, Z:93.83
[[ 8.24876803e-01  5.54368954e-02 -5.62587780e-01  1.40868911e+02]
 [-6.16273651e-02  9.98067251e-01  7.98944806e-03 -2.02333879e+01]
 [ 5.61943349e-01  2.80804922e-02  8.26698952e-01  9.38287723e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.56327356
Centerline is valid?  [True, True]
Translation: X:140.92, Y:-20.23, Z:93.86
[[ 8.24480707e-01  6.10407052e-02 -5.62588300e-01  1.40918414e+02]
 [-6.84328716e-02  9.97624026e-01  7.95269240e-03 -2.02339150e+01]
 [ 5.61737043e-01  3.19426914e-02  8.26698953e-01  9.38624457e+01]
 [ 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 249.62327356
Centerline is valid?  [True, True]
Translation: X:140.97, Y:-20.23, Z:93.90
[[ 8.24303268e-01  6.33902262e-02 -5.62588483e-01  1.40966859e+02]
 [-7.12846000e-02  9.97424416e-01  7.93978330e-03 -2.02341760e+01]
 [ 5.61642793e-01  3.35591056e-02  8.26698953e-01  9.38954096e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.68327356
Centerline is valid?  [True, True]
Translation: X:141.02, Y:-20.24, Z:93.93
[[ 8.23898880e-01  6.84262891e-02 -5.62590863e-01  1.41016062e+02]
 [-7.74952441e-02  9.96962459e-01  7.76798380e-03 -2.02358603e+01]
 [ 5.61413505e-01  3.71980831e-02  8.26698965e-01  9.39288199e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.74327356
Centerline is valid?  [True, True]
Translation: X:141.07, Y:-20.23, Z:93.96
[[ 8.23811506e-01  6.94690020e-02 -5.62591025e-01  1.41065017e+02]
 [-7.87649584e-02  9.96863041e-01  7.75625884e-03 -2.02320446e+01]
 [ 5.61365019e-01  3.79227634e-02  8.26698965e-01  9.39620929e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.80327356
Centerline is valid?  [True, True]
Translation: X:141.11, Y:-20.24, Z:94.00
[[ 8.23667769e-01  7.11348063e-02 -5.62593322e-01  1.41114517e+02]
 [-8.08960932e-02  9.96693668e-01  7.58648610e-03 -2.02378973e+01]
 [ 5.61272865e-01  3.92628577e-02  8.26698977e-01  9.39957449e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.86327356
Centerline is valid?  [True, True]
Translation: X:141.16, Y:-20.24, Z:94.03
[[ 8.23537230e-01  7.26291813e-02 -5.62593489e-01  1.41163764e+02]
 [-8.27127927e-02  9.96544643e-01  7.57413210e-03 -2.02389950e+01]
 [ 5.61199631e-01  4.02960988e-02  8.26698977e-01  9.40292623e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.92327355999998
Centerline is valid?  [True, True]
Translation: X:141.21, Y:-20.24, Z:94.06
[[ 8.23672121e-01  7.10804794e-02 -5.62593817e-01  1.41212267e+02]
 [-8.08553578e-02  9.96697253e-01  7.54969991e-03 -2.02350911e+01]
 [ 5.61272348e-01  3.92702470e-02  8.26698978e-01  9.40622215e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.98327356
Centerline is valid?  [True, True]
Translation: X:141.26, Y:-20.24, Z:94.10
[[ 8.23656603e-01  7.12562707e-02 -5.62594298e-01  1.41261112e+02]
 [-8.10925521e-02  9.96678254e-01  7.51369048e-03 -2.02406596e+01]
 [ 5.61260900e-01  3.94335067e-02  8.26698978e-01  9.40954940e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.04327356
Centerline is valid?  [True, True]
Translation: X:141.31, Y:-20.24, Z:94.13
[[ 8.23647153e-01  7.13481368e-02 -5.62596490e-01  1.41308651e+02]
 [-8.13173775e-02  9.96661183e-01  7.34645885e-03 -2.02442053e+01]
 [ 5.61242239e-01  3.96979812e-02  8.26698990e-01  9.41277895e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.10327356
Centerline is valid?  [True, True]
Translation: X:141.36, Y:-20.25, Z:94.16
[[ 8.23651387e-01  7.12932338e-02 -5.62597252e-01  1.41357289e+02]
 [-8.12908920e-02  9.96663775e-01  7.28767792e-03 -2.02459691e+01]
 [ 5.61239863e-01  3.97315264e-02  8.26698991e-01  9.41608737e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.16327356
Centerline is valid?  [True, True]
Translation: X:141.41, Y:-20.25, Z:94.19
[[ 8.23633135e-01  7.15027442e-02 -5.62597384e-01  1.41406231e+02]
 [-8.15513267e-02  9.96642573e-01  7.27750293e-03 -2.02458230e+01]
 [ 5.61228866e-01  3.98865705e-02  8.26698991e-01  9.41941739e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.22327356
Centerline is valid?  [True, True]
Translation: X:141.46, Y:-20.24, Z:94.23
[[ 8.23796526e-01  6.95774314e-02 -5.62599559e-01  1.41455270e+02]
 [-7.93382429e-02  9.96822426e-01  7.10589803e-03 -2.02375785e+01]
 [ 5.61306268e-01  3.87818464e-02  8.26699003e-01  9.42273849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.28327356
Centerline is valid?  [True, True]
Translation: X:141.50, Y:-20.24, Z:94.26
[[ 8.23806338e-01  6.94587113e-02 -5.62599862e-01  1.41503998e+02]
 [-7.92109420e-02  9.96832721e-01  7.08183631e-03 -2.02366542e+01]
 [ 5.61309847e-01  3.87300034e-02  8.26699004e-01  9.42605255e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.34327356
Centerline is valid?  [True, True]
Translation: X:141.55, Y:-20.24, Z:94.29
[[ 8.23835322e-01  6.90969536e-02 -5.62601967e-01  1.41553612e+02]
 [-7.88892032e-02  9.96859433e-01  6.91117007e-03 -2.02369666e+01]
 [ 5.61312619e-01  3.86895549e-02  8.26699016e-01  9.42942035e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.40327356
Centerline is valid?  [True, True]
Translation: X:141.60, Y:-20.24, Z:94.33
[[ 8.23896541e-01  6.83595591e-02 -5.62602400e-01  1.41603661e+02]
 [-7.80210021e-02  9.96928005e-01  6.87577086e-03 -2.02372909e+01]
 [ 5.61344113e-01  3.82298792e-02  8.26699016e-01  9.43282483e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.46327356
Centerline is valid?  [True, True]
Translation: X:141.65, Y:-20.24, Z:94.36
[[ 8.23920012e-01  6.80760826e-02 -5.62602400e-01  1.41652192e+02]
 [-7.76779912e-02  9.96954790e-01  6.87577086e-03 -2.02380984e+01]
 [ 5.61357233e-01  3.80367391e-02  8.26699016e-01  9.43612829e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.52327356
Centerline is valid?  [True, True]
Translation: X:141.70, Y:-20.24, Z:94.39
[[ 8.23944419e-01  6.77630214e-02 -5.62604450e-01  1.41701237e+02]
 [-7.74156120e-02  9.96976365e-01  6.70447827e-03 -2.02390231e+01]
 [ 5.61357655e-01  3.80302503e-02  8.26699028e-01  9.43945790e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.58327356
Centerline is valid?  [True, True]
Translation: X:141.75, Y:-20.24, Z:94.43
[[ 8.24132577e-01  6.54178570e-02 -5.62606434e-01  1.41749676e+02]
 [-7.46936185e-02  9.97185121e-01  6.53435345e-03 -2.02411526e+01]
 [ 5.61450228e-01  3.66379368e-02  8.26699040e-01  9.44274721e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.64327356
Centerline is valid?  [True, True]
Translation: X:141.80, Y:-20.24, Z:94.46
[[ 8.24439010e-01  6.14322250e-02 -5.62606790e-01  1.41798450e+02]
 [-6.98920669e-02  9.97533359e-01  6.50356054e-03 -2.02441149e+01]
 [ 5.61618569e-01  3.39599624e-02  8.26699041e-01  9.44606724e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.70327355999999
Centerline is valid?  [True, True]
Translation: X:141.85, Y:-20.25, Z:94.49
[[ 8.24624671e-01  5.88689990e-02 -5.62608739e-01  1.41848275e+02]
 [-6.69079883e-02  9.97739063e-01  6.33108210e-03 -2.02458583e+01]
 [ 5.61709421e-01  3.24222524e-02  8.26699053e-01  9.44945041e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.76327356
Centerline is valid?  [True, True]
Translation: X:141.90, Y:-20.25, Z:94.53
[[ 8.24628873e-01  5.88088145e-02 -5.62608875e-01  1.41896184e+02]
 [-6.68433737e-02  9.97743471e-01  6.31901662e-03 -2.02471805e+01]
 [ 5.61710945e-01  3.23958317e-02  8.26699053e-01  9.45271122e+01]
 [ 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 250.82327356
Centerline is valid?  [True, True]
Translation: X:141.95, Y:-20.25, Z:94.56
[[ 8.24618002e-01  5.89547284e-02 -5.62609537e-01  1.41945735e+02]
 [-6.70603335e-02  9.97729287e-01  6.25958267e-03 -2.02482790e+01]
 [ 5.61701044e-01  3.25670186e-02  8.26699054e-01  9.45608112e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.88327356
Centerline is valid?  [True, True]
Translation: X:142.00, Y:-20.25, Z:94.59
[[ 8.24655005e-01  5.84337224e-02 -5.62609655e-01  1.41995011e+02]
 [-6.64371576e-02  9.97771043e-01  6.24898903e-03 -2.02500578e+01]
 [ 5.61720774e-01  3.22249262e-02  8.26699054e-01  9.45943535e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.94327356
Centerline is valid?  [True, True]
Translation: X:142.04, Y:-20.25, Z:94.63
[[ 8.24785402e-01  5.65608075e-02 -5.62609914e-01  1.42044313e+02]
 [-6.41869938e-02  9.97918470e-01  6.22559054e-03 -2.02506549e+01]
 [ 5.61790948e-01  3.09774629e-02  8.26699055e-01  9.46278986e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.00327356
Centerline is valid?  [True, True]
Translation: X:142.09, Y:-20.25, Z:94.66
[[ 8.24973688e-01  5.37422280e-02 -5.62610155e-01  1.42092862e+02]
 [-6.07916535e-02  9.98131198e-01  6.20372704e-03 -2.02513893e+01]
 [ 5.61892150e-01  2.90840900e-02  8.26699055e-01  9.46609325e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.06327356
Centerline is valid?  [True, True]
Translation: X:142.14, Y:-20.25, Z:94.69
[[ 8.25248915e-01  4.93302288e-02 -5.62610662e-01  1.42142261e+02]
 [-5.54851496e-02  9.98440526e-01  6.15743773e-03 -2.02521387e+01]
 [ 5.62037033e-01  2.61351179e-02  8.26699056e-01  9.46945317e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.12327356
Centerline is valid?  [True, True]
Translation: X:142.19, Y:-20.25, Z:94.73
[[ 8.25445464e-01  4.59219057e-02 -5.62610846e-01  1.42191998e+02]
 [-5.13730199e-02  9.98660656e-01  6.14061063e-03 -2.02528776e+01]
 [ 5.62139305e-01  2.38342790e-02  8.26699056e-01  9.47283768e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.18327356
Centerline is valid?  [True, True]
Translation: X:142.24, Y:-20.25, Z:94.76
[[ 8.25653576e-01  4.20126231e-02 -5.62610978e-01  1.42240605e+02]
 [-4.66516708e-02  9.98892418e-01  6.12851862e-03 -2.02493016e+01]
 [ 5.62245315e-01  2.11867088e-02  8.26699056e-01  9.47614241e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.24327356
Centerline is valid?  [True, True]
Translation: X:142.29, Y:-20.25, Z:94.80
[[ 8.25787633e-01  3.92820760e-02 -5.62611503e-01  1.42290510e+02]
 [-4.33812537e-02  9.99040090e-01  6.07997855e-03 -2.02464622e+01]
 [ 5.62310280e-01  1.93860212e-02  8.26699057e-01  9.47953401e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.30327356
Centerline is valid?  [True, True]
Translation: X:142.34, Y:-20.26, Z:94.83
[[ 8.25835080e-01  3.82663642e-02 -5.62611860e-01  1.42339680e+02]
 [-4.21750581e-02  9.99091938e-01  6.04675041e-03 -2.02600077e+01]
 [ 5.62332361e-01  1.87345693e-02  8.26699057e-01  9.48288849e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.36327356
Centerline is valid?  [True, True]
Translation: X:142.39, Y:-20.24, Z:94.86
[[ 8.25767421e-01  3.96959556e-02 -5.62612119e-01  1.42388871e+02]
 [-4.39210393e-02  9.99016852e-01  6.02255989e-03 -2.02363285e+01]
 [ 5.62298060e-01  1.97372753e-02  8.26699058e-01  9.48621768e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.42327355999998
Centerline is valid?  [True, True]
Translation: X:142.44, Y:-20.23, Z:94.90
[[ 8.25796669e-01  3.90800980e-02 -5.62612307e-01  1.42437555e+02]
 [-4.31879187e-02  9.99048920e-01  6.00500592e-03 -2.02327714e+01]
 [ 5.62311893e-01  1.93391407e-02  8.26699058e-01  9.48952741e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.48327356
Centerline is valid?  [True, True]
Translation: X:142.49, Y:-20.24, Z:94.93
[[ 8.26114778e-01  3.16464266e-02 -5.62612547e-01  1.42486869e+02]
 [-3.42101879e-02  9.99396755e-01  5.98243728e-03 -2.02432955e+01]
 [ 5.62462476e-01  1.43049011e-02  8.26699058e-01  9.49288997e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.54327356
Centerline is valid?  [True, True]
Translation: X:142.54, Y:-20.24, Z:94.96
[[ 8.26231510e-01  2.84310475e-02 -5.62612804e-01  1.42536805e+02]
 [-3.03368837e-02  9.99521972e-01  5.95821384e-03 -2.02439526e+01]
 [ 5.62513257e-01  1.21450552e-02  8.26699058e-01  9.49628760e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.60327356
Centerline is valid?  [True, True]
Translation: X:142.59, Y:-20.24, Z:95.00
[[ 8.26512869e-01  1.85250885e-02 -5.62612921e-01  1.42585391e+02]
 [-1.83611009e-02  9.99813733e-01  5.94716468e-03 -2.02395312e+01]
 [ 5.62618296e-01  5.41478445e-03  8.26699058e-01  9.49959037e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.66327356
Centerline is valid?  [True, True]
Translation: X:142.63, Y:-20.24, Z:95.03
[[ 8.26622298e-01  1.27219026e-02 -5.62613304e-01  1.42634572e+02]
 [-1.13660295e-02  9.99917935e-01  5.91071195e-03 -2.02354816e+01]
 [ 5.62642329e-01  1.50875310e-03  8.26699059e-01  9.50293264e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.72327356
Centerline is valid?  [True, True]
Translation: X:142.68, Y:-20.23, Z:95.06
[[ 8.26630385e-01  1.21750045e-02 -5.62613523e-01  1.42683779e+02]
 [-1.07186957e-02  9.99925207e-01  5.88982343e-03 -2.02321351e+01]
 [ 5.62643152e-01  1.16177612e-03  8.26699059e-01  9.50627801e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.78327356
Centerline is valid?  [True, True]
Translation: X:142.73, Y:-20.22, Z:95.10
[[ 8.26511311e-01  1.85687310e-02 -5.62613771e-01  1.42732860e+02]
 [-1.84691027e-02  9.99812223e-01  5.86605245e-03 -2.02244430e+01]
 [ 5.62617050e-01  5.54261282e-03  8.26699059e-01  9.50961160e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.84327356
Centerline is valid?  [True, True]
Translation: X:142.78, Y:-20.22, Z:95.13
[[ 8.26269812e-01  2.72676787e-02 -5.62614140e-01  1.42781320e+02]
 [-2.90164969e-02  9.99561929e-01  5.83042230e-03 -2.02184738e+01]
 [ 5.62526657e-01  1.15075895e-02  8.26699060e-01  9.51290363e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.90327356
Centerline is valid?  [True, True]
Translation: X:142.83, Y:-20.22, Z:95.16
[[ 8.26080333e-01  3.24993162e-02 -5.62614502e-01  1.42830984e+02]
 [-3.53693129e-02  9.99357506e-01  5.79533901e-03 -2.02156981e+01]
 [ 5.62441370e-01  1.51118728e-02  8.26699060e-01  9.51627990e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.96327356
Centerline is valid?  [True, True]
Translation: X:142.88, Y:-20.21, Z:95.20
[[ 8.25710440e-01  4.08295143e-02 -5.62614628e-01  1.42880097e+02]
 [-4.54553918e-02  9.98949630e-01  5.78306442e-03 -2.02093231e+01]
 [ 5.62259794e-01  2.07987317e-02  8.26699060e-01  9.51961727e+01]
 [ 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 252.02327356
Centerline is valid?  [True, True]
Translation: X:142.93, Y:-20.20, Z:95.23
[[ 8.25688517e-01  4.12672206e-02 -5.62614868e-01  1.42928674e+02]
 [-4.60008564e-02  9.98924796e-01  5.75966123e-03 -2.02039615e+01]
 [ 5.62247627e-01  2.11250796e-02  8.26699061e-01  9.52291839e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.08327356
Centerline is valid?  [True, True]
Translation: X:142.98, Y:-20.20, Z:95.26
[[ 8.25670822e-01  4.15964531e-02 -5.62616592e-01  1.42976762e+02]
 [-4.65167121e-02  9.98901888e-01  5.58690186e-03 -2.02046533e+01]
 [ 5.62231171e-01  2.15581322e-02  8.26699073e-01  9.52618355e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.14327356
Centerline is valid?  [True, True]
Translation: X:143.03, Y:-20.20, Z:95.30
[[ 8.25778991e-01  3.93639964e-02 -5.62618462e-01  1.43025824e+02]
 [-4.39479231e-02  9.99019268e-01  5.39285419e-03 -2.02016425e+01]
 [ 5.62278969e-01  2.02726072e-02  8.26699088e-01  9.52951165e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.20327355999999
Centerline is valid?  [True, True]
Translation: X:143.07, Y:-20.20, Z:95.33
[[ 8.25732057e-01  4.03147213e-02 -5.62620025e-01  1.43074614e+02]
 [-4.52119950e-02  9.98963748e-01  5.22546544e-03 -2.02026054e+01]
 [ 5.62247672e-01  2.11223394e-02  8.26699100e-01  9.53282505e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.26327356
Centerline is valid?  [True, True]
Translation: X:143.12, Y:-20.20, Z:95.36
[[ 8.25633684e-01  4.22616617e-02 -5.62621518e-01  1.43123336e+02]
 [-4.76797206e-02  9.98849857e-01  5.06036699e-03 -2.02037183e+01]
 [ 5.62188282e-01  2.26476273e-02  8.26699111e-01  9.53613402e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.32327356
Centerline is valid?  [True, True]
Translation: X:143.17, Y:-20.20, Z:95.39
[[ 8.25779918e-01  3.92799033e-02 -5.62622978e-01  1.43171474e+02]
 [-4.41860800e-02  9.99011334e-01  4.89331439e-03 -2.02036081e+01]
 [ 5.62258941e-01  2.08193032e-02  8.26699123e-01  9.53940238e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.38327356
Centerline is valid?  [True, True]
Translation: X:143.22, Y:-20.21, Z:95.43
[[ 8.25856984e-01  3.76172564e-02 -5.62623484e-01  1.43221066e+02]
 [-4.22145759e-02  9.99096870e-01  4.83463781e-03 -2.02065110e+01]
 [ 5.62297227e-01  1.97581923e-02  8.26699124e-01  9.54277649e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.44327356
Centerline is valid?  [True, True]
Translation: X:143.27, Y:-20.21, Z:95.46
[[ 8.26105812e-01  3.16841409e-02 -5.62623588e-01  1.43269127e+02]
 [-3.50452534e-02  9.99374091e-01  4.82244622e-03 -2.02117124e+01]
 [ 5.62424232e-01  1.57334354e-02  8.26699124e-01  9.54604980e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.50327356
Centerline is valid?  [True, True]
Translation: X:143.32, Y:-20.21, Z:95.49
[[ 8.26355095e-01  2.43207053e-02 -5.62623996e-01  1.43318558e+02]
 [-2.61701978e-02  9.99646100e-01  4.77445314e-03 -2.02125852e+01]
 [ 5.62541001e-01  1.07785876e-02  8.26699125e-01  9.54941219e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.56327356
Centerline is valid?  [True, True]
Translation: X:143.37, Y:-20.22, Z:95.53
[[ 8.26607361e-01  1.32061661e-02 -5.62624092e-01  1.43367483e+02]
 [-1.27328743e-02  9.99907589e-01  4.76314138e-03 -2.02162860e+01]
 [ 5.62635002e-01  3.22657413e-03  8.26699125e-01  9.55274346e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.62327356
Centerline is valid?  [True, True]
Translation: X:143.42, Y:-20.22, Z:95.56
[[ 8.26576067e-01  1.49851658e-02 -5.62625497e-01  1.43417323e+02]
 [-1.50013628e-02  9.99876929e-01  4.59196065e-03 -2.02177511e+01]
 [ 5.62625066e-01  4.64454441e-03  8.26699137e-01  9.55612819e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.68327356
Centerline is valid?  [True, True]
Translation: X:143.47, Y:-20.21, Z:95.60
[[ 8.26284941e-01  2.65637847e-02 -5.62625596e-01  1.43467353e+02]
 [-2.90161120e-02  9.99568452e-01  4.57985697e-03 -2.02130617e+01]
 [ 5.62504454e-01  1.25409404e-02  8.26699137e-01  9.55952986e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.74327356
Centerline is valid?  [True, True]
Translation: X:143.52, Y:-20.21, Z:95.63
[[ 8.26086959e-01  3.21357304e-02 -5.62625658e-01  1.43515421e+02]
 [-3.57618902e-02  9.99349880e-01  4.57214690e-03 -2.02098486e+01]
 [ 5.62406814e-01  1.63435661e-02  8.26699138e-01  9.56279909e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.80327356
Centerline is valid?  [True, True]
Translation: X:143.56, Y:-20.21, Z:95.66
[[ 8.25878625e-01  3.70987983e-02 -5.62626143e-01  1.43564960e+02]
 [-4.18069693e-02  9.99115519e-01  4.51188219e-03 -2.02060028e+01]
 [ 5.62295896e-01  1.97954268e-02  8.26699139e-01  9.56616568e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.86327356
Centerline is valid?  [True, True]
Translation: X:143.61, Y:-20.20, Z:95.69
[[ 8.25594004e-01  4.29677049e-02 -5.62626267e-01  1.43613825e+02]
 [-4.89175947e-02  9.98792697e-01  4.49633636e-03 -2.02017935e+01]
 [ 5.62140204e-01  2.38101754e-02  8.26699139e-01  9.56948829e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.92327355999998
Centerline is valid?  [True, True]
Translation: X:143.66, Y:-20.20, Z:95.73
[[ 8.25637487e-01  4.21214283e-02 -5.62626452e-01  1.43662895e+02]
 [-4.79096020e-02  9.98841660e-01  4.47308146e-03 -2.01991770e+01]
 [ 5.62163152e-01  2.32620657e-02  8.26699139e-01  9.57282535e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.98327356
Centerline is valid?  [True, True]
Translation: X:143.71, Y:-20.20, Z:95.76
[[ 8.25395690e-01  4.66047871e-02 -5.62627718e-01  1.43711990e+02]
 [-5.34452845e-02  9.98561483e-01  4.30877786e-03 -2.01960849e+01]
 [ 5.62019178e-01  2.65133518e-02  8.26699151e-01  9.57615770e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.04327356
Centerline is valid?  [True, True]
Translation: X:143.76, Y:-20.19, Z:95.80
[[ 8.25144727e-01  5.08520025e-02 -5.62627988e-01  1.43761814e+02]
 [-5.86077638e-02  9.98271942e-01  4.27323216e-03 -2.01919774e+01]
 [ 5.61873037e-01  2.94483333e-02  8.26699151e-01  9.57954482e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.10327356
Centerline is valid?  [True, True]
Translation: X:143.81, Y:-20.19, Z:95.83
[[ 8.24722863e-01  5.72877975e-02 -5.62628037e-01  1.43811934e+02]
 [-6.63983104e-02  9.97784074e-01  4.26684629e-03 -2.01910833e+01]
 [ 5.61625733e-01  3.38385853e-02  8.26699151e-01  9.58295515e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.16327356
Centerline is valid?  [True, True]
Translation: X:143.86, Y:-20.19, Z:95.86
[[ 8.24529823e-01  6.00021178e-02 -5.62628045e-01  1.43861512e+02]
 [-6.96829405e-02  9.97560069e-01  4.26579189e-03 -2.01896992e+01]
 [ 5.61511228e-01  3.56883040e-02  8.26699151e-01  9.58632849e+01]
 [ 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 253.22327356
Centerline is valid?  [True, True]
Translation: X:143.91, Y:-20.19, Z:95.90
[[ 8.24241680e-01  6.38368722e-02 -5.62628213e-01  1.43911169e+02]
 [-7.43376459e-02  9.97224101e-01  4.24344410e-03 -2.01914247e+01]
 [ 5.61337303e-01  3.83268334e-02  8.26699151e-01  9.58970794e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.28327356
Centerline is valid?  [True, True]
Translation: X:143.96, Y:-20.19, Z:95.93
[[ 8.24179658e-01  6.46319518e-02 -5.62628299e-01  1.43960811e+02]
 [-7.53073025e-02  9.97151393e-01  4.23209050e-03 -2.01898285e+01]
 [ 5.61299120e-01  3.88820166e-02  8.26699151e-01  9.59308511e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.34327356
Centerline is valid?  [True, True]
Translation: X:144.01, Y:-20.19, Z:95.96
[[ 8.23921475e-01  6.78432313e-02 -5.62628384e-01  1.44010284e+02]
 [-7.92002469e-02  9.96849791e-01  4.22077304e-03 -2.01924387e+01]
 [ 5.61142338e-01  4.10827214e-02  8.26699151e-01  9.59645294e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.40327356
Centerline is valid?  [True, True]
Translation: X:144.06, Y:-20.19, Z:96.00
[[ 8.24039508e-01  6.63929920e-02 -5.62628527e-01  1.44060141e+02]
 [-7.74586769e-02  9.96986710e-01  4.20156558e-03 -2.01902330e+01]
 [ 5.61212119e-01  4.01182053e-02  8.26699152e-01  9.59984412e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.46327356
Centerline is valid?  [True, True]
Translation: X:144.11, Y:-20.19, Z:96.03
[[ 8.24171014e-01  6.47393986e-02 -5.62628608e-01  1.44107918e+02]
 [-7.54654044e-02  9.97139614e-01  4.19072202e-03 -2.01926862e+01]
 [ 5.61290578e-01  3.90051238e-02  8.26699152e-01  9.60309647e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.52327356
Centerline is valid?  [True, True]
Translation: X:144.16, Y:-20.20, Z:96.06
[[ 8.24419269e-01  6.14914298e-02 -5.62629250e-01  1.44157621e+02]
 [-7.15953886e-02  9.97425318e-01  4.10304109e-03 -2.01986406e+01]
 [ 5.61432960e-01  3.68990337e-02  8.26699155e-01  9.60647829e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.58327356
Centerline is valid?  [True, True]
Translation: X:144.21, Y:-20.21, Z:96.10
[[ 8.24821284e-01  5.58399577e-02 -5.62629318e-01  1.44207014e+02]
 [-6.47643705e-02  9.97892188e-01  4.09368351e-03 -2.02074420e+01]
 [ 5.61671992e-01  3.30617763e-02  8.26699155e-01  9.60984374e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.64327356
Centerline is valid?  [True, True]
Translation: X:144.26, Y:-20.21, Z:96.13
[[ 8.25373124e-01  4.69816706e-02 -5.62629478e-01  1.44256540e+02]
 [-5.40625273e-02  9.98529251e-01  4.07162329e-03 -2.02121650e+01]
 [ 5.61993283e-01  2.70565631e-02  8.26699155e-01  9.61321571e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.70327355999999
Centerline is valid?  [True, True]
Translation: X:144.31, Y:-20.21, Z:96.17
[[ 8.25723718e-01  4.03514199e-02 -5.62629633e-01  1.44306332e+02]
 [-4.60561129e-02  9.98930644e-01  4.04999129e-03 -2.02142853e+01]
 [ 5.62191405e-01  2.25683601e-02  8.26699155e-01  9.61660443e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.76327356
Centerline is valid?  [True, True]
Translation: X:144.35, Y:-20.21, Z:96.20
[[ 8.25907294e-01  3.63995918e-02 -5.62629728e-01  1.44354710e+02]
 [-4.12843395e-02  9.99139283e-01  4.03680216e-03 -2.02139395e+01]
 [ 5.62292401e-01  1.98937724e-02  8.26699155e-01  9.61989614e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.82327356
Centerline is valid?  [True, True]
Translation: X:144.40, Y:-20.22, Z:96.23
[[ 8.26053432e-01  3.29109066e-02 -5.62630074e-01  1.44403268e+02]
 [-3.70970979e-02  9.99303708e-01  3.98806623e-03 -2.02162977e+01]
 [ 5.62369570e-01  1.75775871e-02  8.26699156e-01  9.62319977e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.88327356
Centerline is valid?  [True, True]
Translation: X:144.45, Y:-20.21, Z:96.27
[[ 8.26169337e-01  2.98537300e-02 -5.62630413e-01  1.44452596e+02]
 [-3.34315866e-02  9.99433243e-01  3.93981263e-03 -2.02139610e+01]
 [ 5.62429156e-01  1.55546750e-02  8.26699157e-01  9.62655358e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.94327356
Centerline is valid?  [True, True]
Translation: X:144.50, Y:-20.21, Z:96.30
[[ 8.26188287e-01  2.93214223e-02 -5.62630580e-01  1.44501411e+02]
 [-3.28039338e-02  9.99454135e-01  3.91587486e-03 -2.02135449e+01]
 [ 5.62438278e-01  1.52212463e-02  8.26699157e-01  9.62987450e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.00327356
Centerline is valid?  [True, True]
Translation: X:144.55, Y:-20.21, Z:96.33
[[ 8.26167892e-01  2.98858276e-02 -5.62630830e-01  1.44549027e+02]
 [-3.35113769e-02  9.99430806e-01  3.87961882e-03 -2.02094553e+01]
 [ 5.62426530e-01  1.56493173e-02  8.26699158e-01  9.63311154e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.06327356
Centerline is valid?  [True, True]
Translation: X:144.60, Y:-20.21, Z:96.36
[[ 8.26270620e-01  2.68779746e-02 -5.62631706e-01  1.44598554e+02]
 [-2.99617407e-02  9.99544016e-01  3.74883356e-03 -2.02059048e+01]
 [ 5.62475916e-01  1.37598743e-02  8.26699165e-01  9.63647469e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.12327356
Centerline is valid?  [True, True]
Translation: X:144.65, Y:-20.20, Z:96.40
[[ 8.26390718e-01  2.28878069e-02 -5.62631788e-01  1.44647297e+02]
 [-2.51432484e-02  9.99676876e-01  3.73648321e-03 -2.02008365e+01]
 [ 5.62535508e-01  1.10585958e-02  8.26699165e-01  9.63978917e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.18327356
Centerline is valid?  [True, True]
Translation: X:144.70, Y:-20.20, Z:96.43
[[ 8.26340241e-01  2.46179810e-02 -5.62632883e-01  1.44695685e+02]
 [-2.73528863e-02  9.99619483e-01  3.56506494e-03 -2.02004286e+01]
 [ 5.62506556e-01  1.24436766e-02  8.26699177e-01  9.64307458e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.24327356
Centerline is valid?  [True, True]
Translation: X:144.74, Y:-20.19, Z:96.46
[[ 8.26251997e-01  2.74125996e-02 -5.62633261e-01  1.44744882e+02]
 [-3.07747497e-02  9.99520202e-01  3.50450069e-03 -2.01937866e+01]
 [ 5.62459378e-01  1.44192971e-02  8.26699179e-01  9.64641738e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.30327356
Centerline is valid?  [True, True]
Translation: X:144.79, Y:-20.18, Z:96.50
[[ 8.25983540e-01  3.45603589e-02 -5.62633783e-01  1.44794442e+02]
 [-3.94797464e-02  9.99214522e-01  3.41890577e-03 -2.01802205e+01]
 [ 5.62310005e-01  1.93886792e-02  8.26699182e-01  9.64978098e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.36327356
Centerline is valid?  [True, True]
Translation: X:144.84, Y:-20.18, Z:96.53
[[ 8.25455679e-01  4.54535717e-02 -5.62633891e-01  1.44844222e+02]
 [-5.26698528e-02  9.98606188e-01  3.40112625e-03 -2.01806922e+01]
 [ 5.62004278e-01  2.68263652e-02  8.26699182e-01  9.65316838e+01]
 [ 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 254.42327355999998
Centerline is valid?  [True, True]
Translation: X:144.89, Y:-20.18, Z:96.57
[[ 8.24857554e-01  5.52538169e-02 -5.62634012e-01  1.44893845e+02]
 [-6.45396559e-02  9.97909415e-01  3.38102806e-03 -2.01793042e+01]
 [ 5.61644592e-01  3.35233390e-02  8.26699182e-01  9.65654417e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.48327356
Centerline is valid?  [True, True]
Translation: X:144.94, Y:-20.18, Z:96.60
[[ 8.24397113e-01  6.17437298e-02 -5.62634083e-01  1.44942513e+02]
 [-7.23993447e-02  9.97370034e-01  3.36903708e-03 -2.01750539e+01]
 [ 5.61362392e-01  3.79569145e-02  8.26699182e-01  9.65985422e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.54327356
Centerline is valid?  [True, True]
Translation: X:144.99, Y:-20.17, Z:96.63
[[ 8.24156667e-01  6.48736094e-02 -5.62634165e-01  1.44991925e+02]
 [-7.61952199e-02  9.97087273e-01  3.35538076e-03 -2.01732782e+01]
 [ 5.61213041e-01  4.01046745e-02  8.26699182e-01  9.66321578e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.60327356
Centerline is valid?  [True, True]
Translation: X:145.04, Y:-20.17, Z:96.67
[[ 8.22996315e-01  7.82286452e-02 -5.62634290e-01  1.45041306e+02]
 [-9.23671065e-02  9.95719438e-01  3.33430508e-03 -2.01727759e+01]
 [ 5.60486737e-01  4.92247806e-02  8.26699182e-01  9.66657550e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.66327356
Centerline is valid?  [True, True]
Translation: X:145.09, Y:-20.18, Z:96.70
[[ 8.23692747e-01  7.05180411e-02 -5.62634397e-01  1.45091180e+02]
 [-8.30506615e-02  9.96539809e-01  3.31619900e-03 -2.01762361e+01]
 [ 5.60921426e-01  4.39956298e-02  8.26699183e-01  9.66997047e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.72327356
Centerline is valid?  [True, True]
Translation: X:145.14, Y:-20.18, Z:96.73
[[ 8.23216855e-01  7.58711624e-02 -5.62634496e-01  1.45140941e+02]
 [-8.95386431e-02  9.95977884e-01  3.29926376e-03 -2.01765640e+01]
 [ 5.60621834e-01  4.76615198e-02  8.26699183e-01  9.67335657e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.78327356
Centerline is valid?  [True, True]
Translation: X:145.19, Y:-20.18, Z:96.77
[[ 8.22753304e-01  8.07425559e-02 -5.62634554e-01  1.45190738e+02]
 [-9.54390520e-02  9.95429840e-01  3.28944281e-03 -2.01785685e+01]
 [ 5.60328822e-01  5.09909085e-02  8.26699183e-01  9.67674603e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.84327356
Centerline is valid?  [True, True]
Translation: X:145.24, Y:-20.18, Z:96.80
[[ 8.22738606e-01  8.08917741e-02 -5.62634612e-01  1.45238191e+02]
 [-9.56263989e-02  9.95411893e-01  3.27939989e-03 -2.01791269e+01]
 [ 5.60318461e-01  5.11046330e-02  8.26699183e-01  9.67997537e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.90327356
Centerline is valid?  [True, True]
Translation: X:145.29, Y:-20.18, Z:96.83
[[ 8.22630178e-01  8.19841360e-02 -5.62635043e-01  1.45287589e+02]
 [-9.69991787e-02  9.95279304e-01  3.20396373e-03 -2.01786819e+01]
 [ 5.60241689e-01  5.19394599e-02  8.26699185e-01  9.68333406e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.96327356
Centerline is valid?  [True, True]
Translation: X:145.34, Y:-20.18, Z:96.87
[[ 8.22733338e-01  8.09413759e-02 -5.62635182e-01  1.45336264e+02]
 [-9.57542385e-02  9.95399928e-01  3.17938807e-03 -2.01806312e+01]
 [ 5.60304364e-01  5.12589149e-02  8.26699185e-01  9.68664650e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.02327356
Centerline is valid?  [True, True]
Translation: X:145.38, Y:-20.18, Z:96.90
[[ 8.23124704e-01  7.68574129e-02 -5.62635459e-01  1.45384729e+02]
 [-9.08468093e-02  9.95859961e-01  3.12985458e-03 -2.01841568e+01]
 [ 5.60546678e-01  4.85373756e-02  8.26699186e-01  9.68994421e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.08327356
Centerline is valid?  [True, True]
Translation: X:145.43, Y:-20.19, Z:96.93
[[ 8.23587317e-01  7.17294461e-02 -5.62635599e-01  1.45433910e+02]
 [-8.46600434e-02  9.96405058e-01  3.10439799e-03 -2.01902383e+01]
 [ 5.60835634e-01  4.50760115e-02  8.26699187e-01  9.69329265e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.14327356
Centerline is valid?  [True, True]
Translation: X:145.48, Y:-20.19, Z:96.97
[[ 8.23716313e-01  7.02317848e-02 -5.62635702e-01  1.45483239e+02]
 [-8.28607961e-02  9.96556354e-01  3.08573018e-03 -2.01911137e+01]
 [ 5.60914900e-01  4.40786759e-02  8.26699187e-01  9.69664936e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.20327355999999
Centerline is valid?  [True, True]
Translation: X:145.53, Y:-20.20, Z:97.00
[[ 8.24334368e-01  6.25601071e-02 -5.62635835e-01  1.45532240e+02]
 [-7.35960186e-02  9.97283437e-01  3.06136053e-03 -2.01978034e+01]
 [ 5.61298918e-01  3.88841727e-02  8.26699187e-01  9.69998572e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.26327356
Centerline is valid?  [True, True]
Translation: X:145.58, Y:-20.20, Z:97.03
[[ 8.24679727e-01  5.78285783e-02 -5.62635943e-01  1.45582125e+02]
 [-6.78853972e-02  9.97688490e-01  3.04139144e-03 -2.02016760e+01]
 [ 5.61511283e-01  3.56865906e-02  8.26699187e-01  9.70338138e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.32327356
Centerline is valid?  [True, True]
Translation: X:145.63, Y:-20.20, Z:97.07
[[ 8.24834147e-01  5.55821988e-02 -5.62635983e-01  1.45630509e+02]
 [-6.51728049e-02  9.97869381e-01  3.03396758e-03 -2.02041467e+01]
 [ 5.61605854e-01  3.41660450e-02  8.26699187e-01  9.70667492e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.38327356
Centerline is valid?  [True, True]
Translation: X:145.68, Y:-20.21, Z:97.10
[[ 8.25225153e-01  4.94286087e-02 -5.62636881e-01  1.45679082e+02]
 [-5.78474367e-02  9.98321342e-01  2.85881579e-03 -2.02083975e+01]
 [ 5.61833713e-01  3.01879347e-02  8.26699200e-01  9.70997442e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.44327356
Centerline is valid?  [True, True]
Translation: X:145.73, Y:-20.21, Z:97.13
[[ 8.25462378e-01  4.52932481e-02 -5.62636991e-01  1.45727664e+02]
 [-5.28594905e-02  9.98597930e-01  2.83703891e-03 -2.02112647e+01]
 [ 5.61976633e-01  2.73988358e-02  8.26699200e-01  9.71328090e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.50327356
Centerline is valid?  [True, True]
Translation: X:145.78, Y:-20.21, Z:97.17
[[ 8.25430241e-01  4.58650232e-02 -5.62637820e-01  1.45776026e+02]
 [-5.36690721e-02  9.98555224e-01  2.66367334e-03 -2.02123873e+01]
 [ 5.61947104e-01  2.79975732e-02  8.26699213e-01  9.71656489e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.56327356
Centerline is valid?  [True, True]
Translation: X:145.82, Y:-20.21, Z:97.20
[[ 8.25591244e-01  4.28663661e-02 -5.62638047e-01  1.45823665e+02]
 [-5.00745892e-02  9.98742057e-01  2.61500329e-03 -2.02147999e+01]
 [ 5.62042377e-01  2.60149452e-02  8.26699213e-01  9.71980568e+01]
 [ 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 255.62327356
Centerline is valid?  [True, True]
Translation: X:145.87, Y:-20.21, Z:97.23
[[ 8.25480438e-01  4.49450059e-02 -5.62638422e-01  1.45873271e+02]
 [-5.26454911e-02  9.98610054e-01  2.53219778e-03 -2.02142381e+01]
 [ 5.61970195e-01  2.75300963e-02  8.26699216e-01  9.72317792e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.68327356
Centerline is valid?  [True, True]
Translation: X:145.92, Y:-20.21, Z:97.27
[[ 8.25623767e-01  4.22295024e-02 -5.62638485e-01  1.45922837e+02]
 [-4.93700533e-02  9.98777381e-01  2.51810448e-03 -2.02145809e+01]
 [ 5.62056931e-01  2.56984851e-02  8.26699216e-01  9.72655075e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.74327356
Centerline is valid?  [True, True]
Translation: X:145.97, Y:-20.22, Z:97.30
[[ 8.25911907e-01  3.61577720e-02 -5.62638550e-01  1.45972791e+02]
 [-4.20348480e-02  9.99113008e-01  2.50359471e-03 -2.02159300e+01]
 [ 5.62230018e-01  2.15826772e-02  8.26699216e-01  9.72995032e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.80327356
Centerline is valid?  [True, True]
Translation: X:146.02, Y:-20.22, Z:97.33
[[ 8.26141561e-01  3.04608204e-02 -5.62638658e-01  1.46022424e+02]
 [-3.51600046e-02  9.99378621e-01  2.47894750e-03 -2.02168361e+01]
 [ 5.62364558e-01  1.77344162e-02  8.26699217e-01  9.73332738e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.86327356
Centerline is valid?  [True, True]
Translation: X:146.07, Y:-20.22, Z:97.37
[[ 8.26257717e-01  2.71261250e-02 -5.62638746e-01  1.46071211e+02]
 [-3.11396300e-02  9.99512019e-01  2.45899946e-03 -2.02202534e+01]
 [ 5.62430892e-01  1.54885951e-02  8.26699217e-01  9.73664787e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.92327355999998
Centerline is valid?  [True, True]
Translation: X:146.12, Y:-20.22, Z:97.40
[[ 8.26308867e-01  2.55050085e-02 -5.62639450e-01  1.46118893e+02]
 [-2.92950489e-02  9.99568190e-01  2.28785338e-03 -2.02183099e+01]
 [ 5.62454848e-01  1.45920766e-02  8.26699229e-01  9.73988466e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.98327356
Centerline is valid?  [True, True]
Translation: X:146.17, Y:-20.21, Z:97.43
[[ 8.26168690e-01  2.96867690e-02 -5.62640197e-01  1.46168714e+02]
 [-3.44884343e-02  9.99402912e-01  2.08975253e-03 -2.02146403e+01]
 [ 5.62366289e-01  1.76780913e-02  8.26699245e-01  9.74326551e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.04327356
Centerline is valid?  [True, True]
Translation: X:146.22, Y:-20.21, Z:97.47
[[ 8.25909083e-01  3.61959130e-02 -5.62640242e-01  1.46218144e+02]
 [-4.23708077e-02  9.99099794e-01  2.07751630e-03 -2.02069226e+01]
 [ 5.62208947e-01  2.21236819e-02  8.26699245e-01  9.74662712e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.10327356
Centerline is valid?  [True, True]
Translation: X:146.27, Y:-20.21, Z:97.50
[[ 8.25930758e-01  3.56965289e-02 -5.62640330e-01  1.46266416e+02]
 [-4.17831612e-02  9.99124592e-01  2.05332215e-03 -2.02068545e+01]
 [ 5.62221087e-01  2.18129897e-02  8.26699246e-01  9.74991142e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.16327356
Centerline is valid?  [True, True]
Translation: X:146.32, Y:-20.20, Z:97.53
[[ 8.25752626e-01  3.95991156e-02 -5.62640659e-01  1.46315740e+02]
 [-4.65677568e-02  9.98913211e-01  1.95974507e-03 -2.02039423e+01]
 [ 5.62106791e-01  2.45826487e-02  8.26699249e-01  9.75326348e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.22327356
Centerline is valid?  [True, True]
Translation: X:146.37, Y:-20.20, Z:97.57
[[ 8.25576509e-01  4.31140540e-02 -5.62640744e-01  1.46365675e+02]
 [-5.08366304e-02  9.98705108e-01  1.93497916e-03 -2.02002130e+01]
 [ 5.61995610e-01  2.70052862e-02  8.26699249e-01  9.75666005e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.28327356
Centerline is valid?  [True, True]
Translation: X:146.41, Y:-20.20, Z:97.60
[[ 8.25516112e-01  4.42549140e-02 -5.62640784e-01  1.46413895e+02]
 [-5.22247270e-02  9.98633506e-01  1.92322771e-03 -2.01979614e+01]
 [ 5.61957051e-01  2.77961059e-02  8.26699249e-01  9.75994082e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.34327356
Centerline is valid?  [True, True]
Translation: X:146.46, Y:-20.19, Z:97.63
[[ 8.25515112e-01  4.42657980e-02 -5.62641394e-01  1.46462863e+02]
 [-5.23705504e-02  9.98626226e-01  1.72810950e-03 -2.01915259e+01]
 [ 5.61944948e-01  2.80392590e-02  8.26699265e-01  9.76326380e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.40327356
Centerline is valid?  [True, True]
Translation: X:146.51, Y:-20.19, Z:97.67
[[ 8.25774092e-01  3.91367923e-02 -5.62641503e-01  1.46512775e+02]
 [-4.61905472e-02  9.98931214e-01  1.69202983e-03 -2.01903361e+01]
 [ 5.62106380e-01  2.45914845e-02  8.26699266e-01  9.76665901e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.46327356
Centerline is valid?  [True, True]
Translation: X:146.56, Y:-20.19, Z:97.70
[[ 8.26211567e-01  2.84418698e-02 -5.62641544e-01  1.46561759e+02]
 [-3.32623280e-02  9.99445246e-01  1.67846013e-03 -2.01926710e+01]
 [ 5.62377155e-01  1.73280044e-02  8.26699266e-01  9.76999266e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.52327356
Centerline is valid?  [True, True]
Translation: X:146.61, Y:-20.19, Z:97.73
[[ 8.26481500e-01  1.90460441e-02 -5.62641608e-01  1.46610986e+02]
 [-2.19113061e-02  9.99758546e-01  1.65674959e-03 -2.01914095e+01]
 [ 5.62537310e-01  1.09589396e-02  8.26699266e-01  9.77334183e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.58327356
Centerline is valid?  [True, True]
Translation: X:146.66, Y:-20.19, Z:97.77
[[ 8.26696340e-01  2.73999893e-03 -5.62641674e-01  1.46658644e+02]
 [-2.20238450e-03  9.99996240e-01  1.63387368e-03 -2.01883223e+01]
 [ 5.62644036e-01 -1.11564086e-04  8.26699266e-01  9.77658385e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.64327356
Centerline is valid?  [True, True]
Translation: X:146.71, Y:-20.19, Z:97.80
[[ 8.26670951e-01  7.02068261e-03 -5.62641848e-01  1.46707734e+02]
 [-7.42248130e-03  9.99971217e-01  1.57210287e-03 -2.01867264e+01]
 [ 5.62636691e-01  2.87658682e-03  8.26699268e-01  9.77992199e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.70327356
Centerline is valid?  [True, True]
Translation: X:146.76, Y:-20.18, Z:97.83
[[ 8.26699978e-01 -9.11722722e-04 -5.62642263e-01  1.46757332e+02]
 [ 2.06211535e-03  9.99996881e-01  1.40947613e-03 -2.01806769e+01]
 [ 5.62639223e-01 -2.32544713e-03  8.26699279e-01  9.78328975e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.76327356
Centerline is valid?  [True, True]
Translation: X:146.81, Y:-20.17, Z:97.87
[[ 8.26690875e-01 -3.98077696e-03 -5.62642294e-01  1.46806743e+02]
 [ 5.76609627e-03  9.99982400e-01  1.39710840e-03 -2.01713992e+01]
 [ 5.62626829e-01 -4.39922640e-03  8.26699279e-01  9.78665053e+01]
 [ 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 256.82327356
Centerline is valid?  [True, True]
Translation: X:146.86, Y:-20.16, Z:97.90
[[ 8.26700320e-01 -4.02671060e-04 -5.62642354e-01  1.46856054e+02]
 [ 1.42125945e-03  9.99998048e-01  1.37260440e-03 -2.01610623e+01]
 [ 5.62640703e-01 -1.93439326e-03  8.26699279e-01  9.79000395e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.88327356
Centerline is valid?  [True, True]
Translation: X:146.90, Y:-20.14, Z:97.93
[[ 8.26700290e-01 -3.84413948e-04 -5.62642412e-01  1.46904967e+02]
 [ 1.38270215e-03  9.99998135e-01  1.34840001e-03 -2.01445259e+01]
 [ 5.62640844e-01 -1.89268955e-03  8.26699279e-01  9.79332929e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.94327356
Centerline is valid?  [True, True]
Translation: X:146.95, Y:-20.12, Z:97.97
[[ 8.26676274e-01  6.28058437e-03 -5.62642775e-01  1.46953992e+02]
 [-6.79501268e-03  9.99976219e-01  1.17865060e-03 -2.01249507e+01]
 [ 5.62636798e-01  2.84880231e-03  8.26699291e-01  9.79665691e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.00327356
Centerline is valid?  [True, True]
Translation: X:147.00, Y:-20.11, Z:98.00
[[ 8.26661309e-01  7.98962919e-03 -5.62643090e-01  1.47003025e+02]
 [-8.97877451e-03  9.99959182e-01  1.00756163e-03 -2.01087623e+01]
 [ 5.62628174e-01  4.21893322e-03  8.26699303e-01  9.79998626e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.06327355999997
Centerline is valid?  [True, True]
Translation: X:147.05, Y:-20.09, Z:98.03
[[ 8.26690848e-01  3.85914405e-03 -5.62643181e-01  1.47051607e+02]
 [-4.01847327e-03  9.99991470e-01  9.54558915e-04 -2.00921134e+01]
 [ 5.62642065e-01  1.47184146e-03  8.26699304e-01  9.80328909e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.12327356
Centerline is valid?  [True, True]
Translation: X:147.10, Y:-20.08, Z:98.07
[[ 8.26542100e-01  1.61408766e-02 -5.62643430e-01  1.47101349e+02]
 [-1.89928685e-02  9.99819314e-01  7.81231521e-04 -2.00822010e+01]
 [ 5.62554378e-01  1.00404919e-02  8.26699317e-01  9.80666836e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.18327356
Centerline is valid?  [True, True]
Translation: X:147.15, Y:-20.07, Z:98.10
[[ 8.26391218e-01  2.25811178e-02 -5.62643447e-01  1.47150329e+02]
 [-2.67918020e-02  9.99640740e-01  7.68684777e-04 -2.00696576e+01]
 [ 5.62458669e-01  1.44389975e-02  8.26699317e-01  9.81000035e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.24327356
Centerline is valid?  [True, True]
Translation: X:147.20, Y:-20.06, Z:98.13
[[ 8.26491634e-01  1.85396553e-02 -5.62643636e-01  1.47199762e+02]
 [-2.20183160e-02  9.99757388e-01  5.99319772e-04 -2.00608002e+01]
 [ 5.62518243e-01  1.18931326e-02  8.26699329e-01  9.81335946e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.30327356
Centerline is valid?  [True, True]
Translation: X:147.25, Y:-20.05, Z:98.17
[[ 8.26380764e-01  2.29552590e-02 -5.62643661e-01  1.47248932e+02]
 [-2.73765719e-02  9.99625026e-01  5.74393750e-04 -2.00530379e+01]
 [ 5.62445870e-01  1.49285867e-02  8.26699329e-01  9.81670470e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.36327356
Centerline is valid?  [True, True]
Translation: X:147.30, Y:-20.04, Z:98.20
[[ 8.26192524e-01  2.89481591e-02 -5.62643686e-01  1.47297846e+02]
 [-3.46427640e-02  9.99399608e-01  5.49524009e-04 -2.00438998e+01]
 [ 5.62321787e-01  1.90375198e-02  8.26699329e-01  9.82003252e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.42327356
Centerline is valid?  [True, True]
Translation: X:147.35, Y:-20.04, Z:98.23
[[ 8.26100937e-01  3.14531365e-02 -5.62643708e-01  1.47346213e+02]
 [-3.76891274e-02  9.99289374e-01  5.25664168e-04 -2.00389716e+01]
 [ 5.62260413e-01  2.07712987e-02  8.26699330e-01  9.82332344e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.48327356
Centerline is valid?  [True, True]
Translation: X:147.40, Y:-20.03, Z:98.27
[[ 8.25570852e-01  4.31820939e-02 -5.62643826e-01  1.47396365e+02]
 [-5.19968302e-02  9.98647189e-01  3.49438244e-04 -2.00260841e+01]
 [ 5.61897765e-01  2.89672094e-02  8.26699342e-01  9.82673202e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.54327356
Centerline is valid?  [True, True]
Translation: X:147.45, Y:-20.03, Z:98.30
[[ 8.25885322e-01  3.66791115e-02 -5.62643828e-01  1.47445843e+02]
 [-4.41324145e-02  9.99025630e-01  3.46683082e-04 -2.00331690e+01]
 [ 5.62108321e-01  2.45445102e-02  8.26699342e-01  9.83009972e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.60327356
Centerline is valid?  [True, True]
Translation: X:147.50, Y:-20.03, Z:98.33
[[ 8.25505303e-01  4.44174034e-02 -5.62643838e-01  1.47495681e+02]
 [-5.35044454e-02  9.98567557e-01  3.29826010e-04 -2.00284040e+01]
 [ 5.61852533e-01  2.98316734e-02  8.26699343e-01  9.83349104e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.66327356
Centerline is valid?  [True, True]
Translation: X:147.55, Y:-20.04, Z:98.37
[[ 8.26047270e-01  3.28300515e-02 -5.62643845e-01  1.47545381e+02]
 [-3.94963006e-02  9.99219666e-01  3.17468730e-04 -2.00367515e+01]
 [ 5.62215217e-01  2.19601062e-02  8.26699343e-01  9.83687364e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.72327356
Centerline is valid?  [True, True]
Translation: X:147.60, Y:-20.04, Z:98.40
[[ 8.26180078e-01  2.92980567e-02 -5.62643851e-01  1.47595212e+02]
 [-3.52311812e-02  9.99379142e-01  3.06706791e-04 -2.00403429e+01]
 [ 5.62303515e-01  1.95692124e-02  8.26699343e-01  9.84026496e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.78327356
Centerline is valid?  [True, True]
Translation: X:147.64, Y:-20.05, Z:98.44
[[ 8.26426389e-01  2.12441313e-02 -5.62643857e-01  1.47644032e+02]
 [-2.54971115e-02  9.99674852e-01  2.94570119e-04 -2.00464856e+01]
 [ 5.62467173e-01  1.41023526e-02  8.26699343e-01  9.84358757e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.84327356
Centerline is valid?  [True, True]
Translation: X:147.69, Y:-20.05, Z:98.47
[[ 8.26602009e-01  1.26879329e-02 -5.62643880e-01  1.47692883e+02]
 [-1.51810895e-02  9.99884731e-01  2.44828575e-04 -2.00492715e+01]
 [ 5.62582130e-01  8.33917129e-03  8.26699344e-01  9.84691116e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.90327356
Centerline is valid?  [True, True]
Translation: X:147.74, Y:-20.05, Z:98.50
[[ 8.26668627e-01  7.12973711e-03 -5.62643890e-01  1.47741675e+02]
 [-8.47635179e-03  9.99964051e-01  2.17449645e-04 -2.00529732e+01]
 [ 5.62625214e-01  4.58940875e-03  8.26699344e-01  9.85023131e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.96327356
Centerline is valid?  [True, True]
Translation: X:147.79, Y:-20.04, Z:98.54
[[ 8.26688960e-01  4.14713576e-03 -5.62643906e-01  1.47789804e+02]
 [-4.90237002e-03  9.99987969e-01  1.67691673e-04 -2.00407428e+01]
 [ 5.62637832e-01  2.61965976e-03  8.26699345e-01  9.85350547e+01]
 [ 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 258.02327356
Centerline is valid?  [True, True]
Translation: X:147.84, Y:-20.04, Z:98.57
[[ 8.26674638e-01  6.39235274e-03 -5.62643921e-01  1.47838229e+02]
 [-7.68094338e-03  9.99970498e-01  7.55772289e-05 -2.00416463e+01]
 [ 5.62627805e-01  4.25915832e-03  8.26699349e-01  9.85679904e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.08327356
Centerline is valid?  [True, True]
Translation: X:147.89, Y:-20.04, Z:98.60
[[ 8.26698903e-01  8.76220774e-04 -5.62643897e-01  1.47886131e+02]
 [-1.12905646e-03  9.99999357e-01 -1.01608717e-04 -2.00400488e+01]
 [ 5.62643447e-01  7.19256541e-04  8.26699362e-01  9.86005499e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.14327356
Centerline is valid?  [True, True]
Translation: X:147.94, Y:-20.03, Z:98.63
[[ 8.26573568e-01  1.44222287e-02 -5.62643880e-01  1.47936009e+02]
 [-1.75570477e-02  9.99845850e-01 -1.63844334e-04 -2.00290214e+01]
 [ 5.62554786e-01  1.00137948e-02  8.26699363e-01  9.86344839e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.20327356
Centerline is valid?  [True, True]
Translation: X:147.98, Y:-20.03, Z:98.67
[[ 8.26696669e-01  2.11888402e-03 -5.62643873e-01  1.47984535e+02]
 [-2.69011122e-03  9.99996364e-01 -1.86671671e-04 -2.00301670e+01]
 [ 5.62641432e-01  1.66789545e-03  8.26699363e-01  9.86675052e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.26327356
Centerline is valid?  [True, True]
Translation: X:148.03, Y:-20.02, Z:98.70
[[ 8.26403761e-01  2.21067601e-02 -5.62643861e-01  1.48034374e+02]
 [-2.68890546e-02  9.99638400e-01 -2.17632370e-04 -2.00203020e+01]
 [ 5.62435598e-01  1.53088137e-02  8.26699364e-01  9.87014205e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.32327356
Centerline is valid?  [True, True]
Translation: X:148.08, Y:-20.02, Z:98.73
[[ 8.26233435e-01  2.77525318e-02 -5.62643856e-01  1.48083215e+02]
 [-3.37279662e-02  9.99431023e-01 -2.31820076e-04 -2.00156995e+01]
 [ 5.62317291e-01  1.91683705e-02  8.26699364e-01  9.87346594e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.38327356
Centerline is valid?  [True, True]
Translation: X:148.13, Y:-20.01, Z:98.77
[[ 8.25760134e-01  3.93967627e-02 -5.62643844e-01  1.48132639e+02]
 [-4.78300266e-02  9.98855456e-01 -2.56748252e-04 -2.00092030e+01]
 [ 5.61989759e-01  2.71232825e-02  8.26699364e-01  9.87682937e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.44327356
Centerline is valid?  [True, True]
Translation: X:148.18, Y:-20.00, Z:98.80
[[ 8.24995961e-01  5.30431430e-02 -5.62643839e-01  1.48182573e+02]
 [-6.43439773e-02  9.97927744e-01 -2.67126899e-04 -2.00032813e+01]
 [ 5.61463728e-01  3.64231210e-02  8.26699364e-01  9.88022785e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.50327356
Centerline is valid?  [True, True]
Translation: X:148.23, Y:-20.00, Z:98.84
[[ 8.24278777e-01  6.32172297e-02 -5.62643830e-01  1.48232094e+02]
 [-7.66640099e-02  9.97056943e-01 -2.86750736e-04 -2.00027481e+01]
 [ 5.60969809e-01  4.33708947e-02  8.26699364e-01  9.88359783e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.56327355999997
Centerline is valid?  [True, True]
Translation: X:148.28, Y:-20.00, Z:98.87
[[ 8.23733474e-01  6.99649719e-02 -5.62643818e-01  1.48281902e+02]
 [-8.48404966e-02  9.96394498e-01 -3.07910636e-04 -2.00009921e+01]
 [ 5.60593662e-01  4.79886173e-02  8.26699364e-01  9.88698737e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.62327356
Centerline is valid?  [True, True]
Translation: X:148.33, Y:-20.00, Z:98.90
[[ 8.23413050e-01  7.36403038e-02 -5.62643808e-01  1.48330423e+02]
 [-8.92983933e-02  9.96004865e-01 -3.25892837e-04 -2.00049153e+01]
 [ 5.60371971e-01  5.05115325e-02  8.26699365e-01  9.89028913e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.68327356
Centerline is valid?  [True, True]
Translation: X:148.38, Y:-20.02, Z:98.94
[[ 8.24051939e-01  6.61087556e-02 -5.62643789e-01  1.48380481e+02]
 [-8.02081296e-02  9.96778074e-01 -3.55298856e-04 -2.00201430e+01]
 [ 5.60807505e-01  4.54213907e-02  8.26699365e-01  9.89369484e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.74327356
Centerline is valid?  [True, True]
Translation: X:148.43, Y:-20.02, Z:98.97
[[ 8.23324762e-01  7.46212164e-02 -5.62643768e-01  1.48429808e+02]
 [-9.05257917e-02  9.95894036e-01 -3.86215101e-04 -2.00169353e+01]
 [ 5.60304754e-01  5.12517531e-02  8.26699365e-01  9.89705147e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.80327356
Centerline is valid?  [True, True]
Translation: X:148.48, Y:-20.02, Z:99.00
[[ 8.23122055e-01  7.68250201e-02 -5.62643759e-01  1.48479123e+02]
 [-9.32006957e-02  9.95647262e-01 -3.99768386e-04 -2.00246835e+01]
 [ 5.60164006e-01  5.27678479e-02  8.26699365e-01  9.90040715e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.86327356
Centerline is valid?  [True, True]
Translation: X:148.53, Y:-20.04, Z:99.04
[[ 8.23628692e-01  7.11884407e-02 -5.62643744e-01  1.48528664e+02]
 [-8.63961352e-02  9.96260775e-01 -4.19598884e-04 -2.00416897e+01]
 [ 5.60510022e-01  4.89558386e-02  8.26699366e-01  9.90377760e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.92327356
Centerline is valid?  [True, True]
Translation: X:148.58, Y:-20.05, Z:99.07
[[ 8.23622410e-01  7.12612140e-02 -5.62643729e-01  1.48576840e+02]
 [-8.64977943e-02  9.96251945e-01 -4.39707629e-04 -2.00516101e+01]
 [ 5.60503575e-01  4.90295945e-02  8.26699366e-01  9.90705539e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.98327356
Centerline is valid?  [True, True]
Translation: X:148.63, Y:-20.06, Z:99.10
[[ 8.23906459e-01  6.78987721e-02 -5.62643673e-01  1.48626539e+02]
 [-8.24735532e-02  9.96593127e-01 -5.03060094e-04 -2.00645179e+01]
 [ 5.60692660e-01  4.68176974e-02  8.26699367e-01  9.91043548e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.04327356
Centerline is valid?  [True, True]
Translation: X:148.68, Y:-20.07, Z:99.14
[[ 8.24306223e-01  6.28598701e-02 -5.62643660e-01  1.48675023e+02]
 [-7.63884550e-02  9.97077999e-01 -5.17708462e-04 -2.00734182e+01]
 [ 5.60967071e-01  4.34062302e-02  8.26699368e-01  9.91373428e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.10327356
Centerline is valid?  [True, True]
Translation: X:148.72, Y:-20.09, Z:99.17
[[ 8.24954929e-01  5.36797318e-02 -5.62643627e-01  1.48724536e+02]
 [-6.53067651e-02  9.97865082e-01 -5.50984150e-04 -2.00887166e+01]
 [ 5.61412853e-01  3.71989723e-02  8.26699368e-01  9.91710217e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.16327356
Centerline is valid?  [True, True]
Translation: X:148.77, Y:-20.10, Z:99.20
[[ 8.25612715e-01  4.23770436e-02 -5.62643609e-01  1.48774164e+02]
 [-5.16476252e-02  9.98665208e-01 -5.69555778e-04 -2.01014409e+01]
 [ 5.61868461e-01  2.95294387e-02  8.26699368e-01  9.92047836e+01]
 [ 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 259.22327356
Centerline is valid?  [True, True]
Translation: X:148.82, Y:-20.11, Z:99.24
[[ 8.25912945e-01  3.60553168e-02 -5.62643600e-01  1.48823377e+02]
 [-4.40063188e-02  9.99031086e-01 -5.77641162e-04 -2.01074999e+01]
 [ 5.62077620e-01  2.52369550e-02  8.26699368e-01  9.92382707e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.28327356
Centerline is valid?  [True, True]
Translation: X:148.87, Y:-20.12, Z:99.27
[[ 8.25946968e-01  3.52677048e-02 -5.62643577e-01  1.48871935e+02]
 [-4.30686363e-02  9.99071936e-01 -5.99732257e-04 -2.01203279e+01]
 [ 5.62100256e-01  2.47276386e-02  8.26699368e-01  9.92713022e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.34327356
Centerline is valid?  [True, True]
Translation: X:148.92, Y:-20.12, Z:99.31
[[ 8.26526937e-01  1.69021431e-02 -5.62643350e-01  1.48921839e+02]
 [-2.09700436e-02  9.99779807e-01 -7.71153739e-04 -2.01229565e+01]
 [ 5.62506426e-01  1.24360349e-02  8.26699380e-01  9.93052069e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.40327356
Centerline is valid?  [True, True]
Translation: X:148.97, Y:-20.12, Z:99.34
[[ 8.26438844e-01  2.07685392e-02 -5.62643320e-01  1.48970526e+02]
 [-2.56615659e-02  9.99670373e-01 -7.92725048e-04 -2.01206972e+01]
 [ 5.62441394e-01  1.50934474e-02  8.26699381e-01  9.93383373e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.46327356
Centerline is valid?  [True, True]
Translation: X:149.02, Y:-20.12, Z:99.37
[[ 8.26396599e-01  2.23878464e-02 -5.62643266e-01  1.49020291e+02]
 [-2.76452571e-02  9.99617453e-01 -8.29414505e-04 -2.01203265e+01]
 [ 5.62409460e-01  1.62398431e-02  8.26699381e-01  9.93721949e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.52327356
Centerline is valid?  [True, True]
Translation: X:149.07, Y:-20.11, Z:99.41
[[ 8.26454061e-01  2.01560803e-02 -5.62643242e-01  1.49069000e+02]
 [-2.49566740e-02  9.99688176e-01 -8.45561415e-04 -2.01128285e+01]
 [ 5.62450753e-01  1.47405217e-02  8.26699381e-01  9.94053484e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.58327356
Centerline is valid?  [True, True]
Translation: X:149.12, Y:-20.11, Z:99.44
[[ 8.26383089e-01  2.28826147e-02 -5.62643205e-01  1.49118290e+02]
 [-2.82709757e-02  9.99599918e-01 -8.69461195e-04 -2.01080686e+01]
 [ 5.62398206e-01  1.66249804e-02  8.26699382e-01  9.94388919e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.64327356
Centerline is valid?  [True, True]
Translation: X:149.17, Y:-20.10, Z:99.47
[[ 8.26235000e-01  2.77198959e-02 -5.62643166e-01  1.49167961e+02]
 [-3.41392461e-02  9.99416686e-01 -8.94551871e-04 -2.01018275e+01]
 [ 5.62290171e-01  1.99473235e-02  8.26699382e-01  9.94726963e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.70327356
Centerline is valid?  [True, True]
Translation: X:149.22, Y:-20.10, Z:99.51
[[ 8.26050915e-01  3.27502134e-02 -5.62643146e-01  1.49216840e+02]
 [-4.02323437e-02  9.99189940e-01 -9.06934723e-04 -2.00971496e+01]
 [ 5.62157669e-01  2.33856267e-02  8.26699382e-01  9.95059637e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.76327356
Centerline is valid?  [True, True]
Translation: X:149.27, Y:-20.11, Z:99.54
[[ 8.25784786e-01  3.88872059e-02 -5.62643112e-01  1.49266644e+02]
 [-4.76694754e-02  9.98862734e-01 -9.27313945e-04 -2.01067828e+01]
 [ 5.61967177e-01  2.75866638e-02  8.26699382e-01  9.95398430e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.82327356
Centerline is valid?  [True, True]
Translation: X:149.32, Y:-20.09, Z:99.57
[[ 8.26147123e-01  3.02270061e-02 -5.62643101e-01  1.49315723e+02]
 [-3.71987222e-02  9.99307451e-01 -9.34064398e-04 -2.00942781e+01]
 [ 5.62225209e-01  2.17012790e-02  8.26699382e-01  9.95732577e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.88327356
Centerline is valid?  [True, True]
Translation: X:149.37, Y:-20.09, Z:99.61
[[ 8.26365371e-01  2.35171529e-02 -5.62643064e-01  1.49365683e+02]
 [-2.90973383e-02  9.99576126e-01 -9.55931314e-04 -2.00932889e+01]
 [ 5.62382093e-01  1.71613641e-02  8.26699382e-01  9.96072540e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.94327356
Centerline is valid?  [True, True]
Translation: X:149.41, Y:-20.09, Z:99.64
[[ 8.26441600e-01  2.06668407e-02 -5.62643016e-01  1.49414183e+02]
 [-2.56682810e-02  9.99670032e-01 -9.83419119e-04 -2.00926253e+01]
 [ 5.62437038e-01  1.52548175e-02  8.26699383e-01  9.96402553e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.00327356
Centerline is valid?  [True, True]
Translation: X:149.46, Y:-20.10, Z:99.67
[[ 8.26511986e-01  1.76400010e-02 -5.62642664e-01  1.49463338e+02]
 [-2.21260719e-02  9.99754517e-01 -1.15844905e-03 -2.01034996e+01]
 [ 5.62484110e-01  1.34065441e-02  8.26699395e-01  9.96736413e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.06327355999997
Centerline is valid?  [True, True]
Translation: X:149.51, Y:-20.09, Z:99.71
[[ 8.26595956e-01  1.31307405e-02 -5.62642612e-01  1.49513064e+02]
 [-1.66887155e-02  9.99860033e-01 -1.18356154e-03 -2.00892345e+01]
 [ 5.62548320e-01  1.03681097e-02  8.26699396e-01  9.97074971e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.12327356
Centerline is valid?  [True, True]
Translation: X:149.56, Y:-20.09, Z:99.74
[[ 8.26582312e-01  1.39643535e-02 -5.62642585e-01  1.49561553e+02]
 [-1.77055932e-02  9.99842528e-01 -1.19609794e-03 -2.00941373e+01]
 [ 5.62537282e-01  1.09505941e-02  8.26699396e-01  9.97404872e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.18327356
Centerline is valid?  [True, True]
Translation: X:149.61, Y:-20.09, Z:99.77
[[ 8.26479434e-01  1.91188894e-02 -5.62642172e-01  1.49611016e+02]
 [-2.40583924e-02  9.99709617e-01 -1.36930535e-03 -2.00938444e+01]
 [ 5.62452611e-01  1.46679689e-02  8.26699408e-01  9.97740984e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.24327356
Centerline is valid?  [True, True]
Translation: X:149.66, Y:-20.08, Z:99.81
[[ 8.26532538e-01  1.66668231e-02 -5.62642142e-01  1.49658568e+02]
 [-2.11007381e-02  9.99776400e-01 -1.38160689e-03 -2.00827764e+01]
 [ 5.62493308e-01  1.30141075e-02  8.26699408e-01  9.98064770e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.30327356
Centerline is valid?  [True, True]
Translation: X:149.71, Y:-20.08, Z:99.84
[[ 8.26343940e-01  2.42835444e-02 -5.62641985e-01  1.49706659e+02]
 [-3.03558870e-02  9.99538112e-01 -1.44332489e-03 -2.00814718e+01]
 [ 5.62347058e-01  1.82721793e-02  8.26699410e-01  9.98391912e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.36327356
Centerline is valid?  [True, True]
Translation: X:149.76, Y:-20.08, Z:99.87
[[ 8.26223902e-01  2.80755840e-02 -5.62641828e-01  1.49756325e+02]
 [-3.49829685e-02  9.99386779e-01 -1.50254953e-03 -2.00765327e+01]
 [ 5.62254619e-01  2.09243237e-02  8.26699411e-01  9.98729851e+01]
 [ 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 260.42327356
Centerline is valid?  [True, True]
Translation: X:149.80, Y:-20.07, Z:99.91
[[ 8.26081135e-01  3.20029581e-02 -5.62641776e-01  1.49804748e+02]
 [-3.97463677e-02  9.99208642e-01 -1.52155829e-03 -2.00698762e+01]
 [ 5.62147831e-01  2.36198975e-02  8.26699411e-01  9.99059483e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.48327356
Centerline is valid?  [True, True]
Translation: X:149.85, Y:-20.07, Z:99.94
[[ 8.25886323e-01  3.66890871e-02 -5.62641708e-01  1.49854291e+02]
 [-4.54314401e-02  9.98966262e-01 -1.54635690e-03 -2.00691730e+01]
 [ 5.62003350e-01  2.68387381e-02  8.26699411e-01  9.99396607e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.54327356
Centerline is valid?  [True, True]
Translation: X:149.90, Y:-20.07, Z:99.97
[[ 8.25931377e-01  3.56610678e-02 -5.62641670e-01  1.49903821e+02]
 [-4.41974573e-02  9.99021596e-01 -1.56030019e-03 -2.00689131e+01]
 [ 5.62035537e-01  2.61560321e-02  8.26699412e-01  9.99733673e+01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.60327356
Centerline is valid?  [True, True]
Translation: X:149.95, Y:-20.08, Z:100.01
[[ 8.25882775e-01  3.67699836e-02 -5.62641636e-01  1.49953762e+02]
 [-4.55470542e-02  9.98960957e-01 -1.57249216e-03 -2.00758987e+01]
 [ 5.61999206e-01  2.69253633e-02  8.26699412e-01  1.00007340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.66327356
Centerline is valid?  [True, True]
Translation: X:150.00, Y:-20.08, Z:100.04
[[ 8.25914891e-01  3.60419468e-02 -5.62641601e-01  1.50003174e+02]
 [-4.46748954e-02  9.99000321e-01 -1.58492543e-03 -2.00810113e+01]
 [ 5.62022016e-01  2.64449682e-02  8.26699412e-01  1.00040955e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.72327356
Centerline is valid?  [True, True]
Translation: X:150.05, Y:-20.09, Z:100.07
[[ 8.25954387e-01  3.51257339e-02 -5.62641567e-01  1.50052834e+02]
 [-4.35747912e-02  9.99048891e-01 -1.59686828e-03 -2.00874899e+01]
 [ 5.62050342e-01  2.58359291e-02  8.26699412e-01  1.00074738e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.78327356
Centerline is valid?  [True, True]
Translation: X:150.10, Y:-20.08, Z:100.11
[[ 8.26200538e-01  2.87607251e-02 -5.62641531e-01  1.50101833e+02]
 [-3.58844583e-02  9.99354649e-01 -1.60954051e-03 -2.00815085e+01]
 [ 5.62232138e-01  2.15198897e-02  8.26699412e-01  1.00108093e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.84327356
Centerline is valid?  [True, True]
Translation: X:150.15, Y:-20.08, Z:100.14
[[ 8.26167768e-01  2.96967362e-02 -5.62641025e-01  1.50149676e+02]
 [-3.71273952e-02  9.99308969e-01 -1.77243103e-03 -2.00848665e+01]
 [ 5.62199587e-01  2.23537211e-02  8.26699423e-01  1.00140600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.90327356
Centerline is valid?  [True, True]
Translation: X:150.20, Y:-20.09, Z:100.17
[[ 8.26273155e-01  2.66077947e-02 -5.62640826e-01  1.50198379e+02]
 [-3.34328668e-02  9.99439283e-01 -1.83386095e-03 -2.00872649e+01]
 [ 5.62276548e-01  2.03259658e-02  8.26699424e-01  1.00173723e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.96327356
Centerline is valid?  [True, True]
Translation: X:150.25, Y:-20.09, Z:100.21
[[ 8.26313502e-01  2.53371282e-02 -5.62640228e-01  1.50246028e+02]
 [-3.20115248e-02  9.99485491e-01 -2.00387935e-03 -2.00913049e+01]
 [ 5.62299972e-01  1.96668042e-02  8.26699436e-01  1.00206092e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.02327356
Centerline is valid?  [True, True]
Translation: X:150.29, Y:-20.10, Z:100.24
[[ 8.26221225e-01  2.81905430e-02 -5.62640011e-01  1.50294803e+02]
 [-3.55034879e-02  9.99367422e-01 -2.06353074e-03 -2.00962424e+01]
 [ 5.62225925e-01  2.16806157e-02  8.26699438e-01  1.00239257e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.08327356
Centerline is valid?  [True, True]
Translation: X:150.34, Y:-20.10, Z:100.27
[[ 8.26084402e-01  3.19505280e-02 -5.62639959e-01  1.50344316e+02]
 [-4.00608369e-02  9.99195083e-01 -2.07738892e-03 -2.01009379e+01]
 [ 5.62120707e-01  2.42559262e-02  8.26699438e-01  1.00272938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.14327356
Centerline is valid?  [True, True]
Translation: X:150.39, Y:-20.10, Z:100.31
[[ 8.26058798e-01  3.26072849e-02 -5.62639873e-01  1.50392848e+02]
 [-4.08709890e-02  9.99162224e-01 -2.10058480e-03 -2.01040944e+01]
 [ 5.62100012e-01  2.47308546e-02  8.26699438e-01  1.00305953e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.20327356
Centerline is valid?  [True, True]
Translation: X:150.44, Y:-20.11, Z:100.34
[[ 8.25073306e-01  5.18767284e-02 -5.62639178e-01  1.50441946e+02]
 [-6.42961152e-02  9.97928272e-01 -2.27455615e-03 -2.01070378e+01]
 [ 5.61355546e-01  3.80521890e-02  8.26699451e-01  1.00339305e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.26327356
Centerline is valid?  [True, True]
Translation: X:150.49, Y:-20.11, Z:100.37
[[ 8.25237215e-01  4.92014828e-02 -5.62639097e-01  1.50491258e+02]
 [-6.10739584e-02  9.98130606e-01 -2.29453929e-03 -2.01114887e+01]
 [ 5.61474408e-01  3.62561360e-02  8.26699451e-01  1.00372847e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.32327356
Centerline is valid?  [True, True]
Translation: X:150.54, Y:-20.12, Z:100.41
[[ 8.25517281e-01  4.42551452e-02 -5.62639050e-01  1.50540883e+02]
 [-5.50990785e-02  9.98478229e-01 -2.30599446e-03 -2.01180754e+01]
 [ 5.61680790e-01  3.29045315e-02  8.26699451e-01  1.00406599e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.38327356
Centerline is valid?  [True, True]
Translation: X:150.59, Y:-20.12, Z:100.44
[[ 8.25802384e-01  3.85717515e-02 -5.62638998e-01  1.50589742e+02]
 [-4.82333832e-02  9.98833402e-01 -2.31851861e-03 -2.01221216e+01]
 [ 5.61893196e-01  2.90526206e-02  8.26699451e-01  1.00439836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.44327356
Centerline is valid?  [True, True]
Translation: X:150.64, Y:-20.12, Z:100.47
[[ 8.25806738e-01  3.84800511e-02 -5.62638887e-01  1.50638785e+02]
 [-4.81406079e-02  9.98837816e-01 -2.34521325e-03 -2.01239497e+01]
 [ 5.61894753e-01  2.90224709e-02  8.26699451e-01  1.00473199e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.50327356
Centerline is valid?  [True, True]
Translation: X:150.69, Y:-20.13, Z:100.51
[[ 8.26015657e-01  3.37014715e-02 -5.62638734e-01  1.50688581e+02]
 [-4.23854814e-02  9.99098493e-01 -2.38160266e-03 -2.01261770e+01]
 [ 5.62051247e-01  2.58149547e-02  8.26699452e-01  1.00507071e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.56327355999997
Centerline is valid?  [True, True]
Translation: X:150.74, Y:-20.14, Z:100.54
[[ 8.26043209e-01  3.30200645e-02 -5.62638687e-01  1.50736990e+02]
 [-4.15687356e-02  9.99132782e-01 -2.39255287e-03 -2.01406533e+01]
 [ 5.62071754e-01  2.53645309e-02  8.26699452e-01  1.00539972e+02]
 [ 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 261.62327356
Centerline is valid?  [True, True]
Translation: X:150.79, Y:-20.13, Z:100.57
[[ 8.26145727e-01  3.03638275e-02 -5.62637784e-01  1.50786718e+02]
 [-3.84908313e-02  9.99255594e-01 -2.59102988e-03 -2.01281797e+01]
 [ 5.62140280e-01  2.37969643e-02  8.26699468e-01  1.00573782e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.68327356
Centerline is valid?  [True, True]
Translation: X:150.84, Y:-20.13, Z:100.61
[[ 8.26119478e-01  3.10713817e-02 -5.62637696e-01  1.50835239e+02]
 [-3.93595911e-02  9.99221702e-01 -2.61007384e-03 -2.01289288e+01]
 [ 5.62118698e-01  2.43014225e-02  8.26699468e-01  1.00606795e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.74327356
Centerline is valid?  [True, True]
Translation: X:150.88, Y:-20.13, Z:100.64
[[ 8.26060834e-01  3.25962184e-02 -5.62637525e-01  1.50883667e+02]
 [-4.12286917e-02  9.99146231e-01 -2.64649746e-03 -2.01273335e+01]
 [ 5.62070897e-01  2.53829770e-02  8.26699469e-01  1.00639746e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.80327356
Centerline is valid?  [True, True]
Translation: X:150.93, Y:-20.13, Z:100.67
[[ 8.25973575e-01  3.47410770e-02 -5.62637282e-01  1.50933673e+02]
 [-4.38574482e-02  9.99034158e-01 -2.69724512e-03 -2.01253057e+01]
 [ 5.62000159e-01  2.69036887e-02  8.26699470e-01  1.00673768e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.86327356
Centerline is valid?  [True, True]
Translation: X:150.98, Y:-20.14, Z:100.71
[[ 8.25970482e-01  3.48151486e-02 -5.62637244e-01  1.50982063e+02]
 [-4.39524162e-02  9.99029963e-01 -2.70515635e-03 -2.01367751e+01]
 [ 5.61997285e-01  2.69636456e-02  8.26699470e-01  1.00706662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.92327356
Centerline is valid?  [True, True]
Translation: X:151.03, Y:-20.12, Z:100.74
[[ 8.25865410e-01  3.72271194e-02 -5.62637065e-01  1.51031920e+02]
 [-4.68948442e-02  9.98896068e-01 -2.74209898e-03 -2.01222682e+01]
 [ 5.61913871e-01  2.86493822e-02  8.26699470e-01  1.00740628e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.98327356
Centerline is valid?  [True, True]
Translation: X:151.08, Y:-20.13, Z:100.77
[[ 8.25960805e-01  3.50483328e-02 -5.62636973e-01  1.51081895e+02]
 [-4.42722698e-02  9.99015688e-01 -2.76079495e-03 -2.01330722e+01]
 [ 5.61986401e-01  2.71895243e-02  8.26699471e-01  1.00774598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.04327356
Centerline is valid?  [True, True]
Translation: X:151.13, Y:-20.13, Z:100.81
[[ 8.25990667e-01  3.43383566e-02 -5.62636912e-01  1.51130801e+02]
 [-4.34219760e-02  9.99052972e-01 -2.77320894e-03 -2.01283060e+01]
 [ 5.62008852e-01  2.67214512e-02  8.26699471e-01  1.00807894e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.10327356
Centerline is valid?  [True, True]
Translation: X:151.18, Y:-20.12, Z:100.84
[[ 8.25771863e-01  3.92622239e-02 -5.62636035e-01  1.51180670e+02]
 [-4.94924000e-02  9.98770166e-01 -2.94238794e-03 -2.01174147e+01]
 [ 5.61828562e-01  3.02759489e-02  8.26699482e-01  1.00841812e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.16327356
Centerline is valid?  [True, True]
Translation: X:151.23, Y:-20.11, Z:100.87
[[ 8.25825627e-01  3.81154253e-02 -5.62635982e-01  1.51228952e+02]
 [-4.81122310e-02  9.98837572e-01 -2.95252090e-03 -2.01140558e+01]
 [ 5.61869422e-01  2.95079398e-02  8.26699482e-01  1.00874681e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.22327356
Centerline is valid?  [True, True]
Translation: X:151.28, Y:-20.11, Z:100.91
[[ 8.25867477e-01  3.72027796e-02 -5.62635640e-01  1.51278343e+02]
 [-4.70519285e-02  9.98887890e-01 -3.01660845e-03 -2.01132361e+01]
 [ 5.61897701e-01  2.89644107e-02  8.26699484e-01  1.00908277e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.28327356
Centerline is valid?  [True, True]
Translation: X:151.33, Y:-20.11, Z:100.94
[[ 8.26015695e-01  3.37533038e-02 -5.62635572e-01  1.51327429e+02]
 [-4.28883206e-02  9.99075280e-01 -3.02919785e-03 -2.01130841e+01]
 [ 5.62013046e-01  2.66326597e-02  8.26699484e-01  1.00941680e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.34327356
Centerline is valid?  [True, True]
Translation: X:151.38, Y:-20.11, Z:100.97
[[ 8.26048968e-01  3.29444527e-02 -5.62634664e-01  1.51375721e+02]
 [-4.20196783e-02  9.99111689e-01 -3.19056790e-03 -2.01136359e+01]
 [ 5.62029758e-01  2.62772929e-02  8.26699495e-01  1.00974490e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.40327356
Centerline is valid?  [True, True]
Translation: X:151.43, Y:-20.13, Z:101.01
[[ 8.25735129e-01  4.00630501e-02 -5.62633494e-01  1.51425794e+02]
 [-5.07628537e-02  9.98704993e-01 -3.38675770e-03 -2.01282568e+01]
 [ 5.61769196e-01  3.13574465e-02  8.26699511e-01  1.01008442e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.46327356
Centerline is valid?  [True, True]
Translation: X:151.47, Y:-20.13, Z:101.04
[[ 8.25574701e-01  4.32440690e-02 -5.62633419e-01  1.51474505e+02]
 [-5.46186414e-02  9.98501502e-01 -3.39919486e-03 -2.01301580e+01]
 [ 5.61643319e-01  3.35365622e-02  8.26699511e-01  1.01041582e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.52327356
Centerline is valid?  [True, True]
Translation: X:151.52, Y:-20.13, Z:101.08
[[ 8.25039497e-01  5.24746260e-02 -5.62633310e-01  1.51524225e+02]
 [-6.57946387e-02  9.97827334e-01 -3.41707359e-03 -2.01291889e+01]
 [ 5.61231587e-01  3.98374761e-02  8.26699511e-01  1.01075417e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.58327356
Centerline is valid?  [True, True]
Translation: X:151.57, Y:-20.13, Z:101.11
[[ 8.24691402e-01  5.76887471e-02 -5.62633185e-01  1.51573919e+02]
 [-7.21146789e-02  9.97390423e-01 -3.43767804e-03 -2.01314046e+01]
 [ 5.60966635e-01  4.34091349e-02  8.26699511e-01  1.01109221e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.64327356
Centerline is valid?  [True, True]
Translation: X:151.62, Y:-20.13, Z:101.14
[[ 8.24632332e-01  5.85282696e-02 -5.62633058e-01  1.51623500e+02]
 [-7.31439552e-02  9.97315398e-01 -3.45825030e-03 -2.01341143e+01]
 [ 5.60920207e-01  4.40049922e-02  8.26699511e-01  1.01142946e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.70327356
Centerline is valid?  [True, True]
Translation: X:151.67, Y:-20.14, Z:101.18
[[ 8.24718513e-01  5.73018678e-02 -5.62632980e-01  1.51673178e+02]
 [-7.16693728e-02  9.97422405e-01 -3.47098703e-03 -2.01407582e+01]
 [ 5.60983846e-01  4.31861400e-02  8.26699512e-01  1.01176724e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.76327356
Centerline is valid?  [True, True]
Translation: X:151.72, Y:-20.14, Z:101.21
[[ 8.24875441e-01  5.49974823e-02 -5.62632903e-01  1.51721561e+02]
 [-6.88908896e-02  9.97618119e-01 -3.48347591e-03 -2.01441275e+01]
 [ 5.61101195e-01  4.16337149e-02  8.26699512e-01  1.01209633e+02]
 [ 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 262.82327356
Centerline is valid?  [True, True]
Translation: X:151.77, Y:-20.15, Z:101.24
[[ 8.25154131e-01  5.06471748e-02 -5.62632672e-01  1.51770904e+02]
 [-6.36545231e-02  9.97965786e-01 -3.52031641e-03 -2.01512135e+01]
 [ 5.61309863e-01  3.87189180e-02  8.26699512e-01  1.01243171e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.88327356
Centerline is valid?  [True, True]
Translation: X:151.82, Y:-20.15, Z:101.28
[[ 8.25263628e-01  4.88319828e-02 -5.62632546e-01  1.51819012e+02]
 [-6.14728086e-02  9.98102479e-01 -3.54041020e-03 -2.01535812e+01]
 [ 5.61392054e-01  3.75083746e-02  8.26699512e-01  1.01275894e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.94327356
Centerline is valid?  [True, True]
Translation: X:151.87, Y:-20.16, Z:101.31
[[ 8.25487479e-01  4.48941203e-02 -5.62632154e-01  1.51868603e+02]
 [-5.67519013e-02  9.98381815e-01 -3.60183917e-03 -2.01584073e+01]
 [ 5.61560010e-01  3.49037176e-02  8.26699514e-01  1.01309599e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.00327356
Centerline is valid?  [True, True]
Translation: X:151.92, Y:-20.17, Z:101.34
[[ 8.25660628e-01  4.15896405e-02 -5.62632054e-01  1.51917074e+02]
 [-5.27658104e-02  9.98600363e-01 -3.61732341e-03 -2.01670369e+01]
 [ 5.61694130e-01  3.26744178e-02  8.26699514e-01  1.01342544e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.06327355999997
Centerline is valid?  [True, True]
Translation: X:151.97, Y:-20.16, Z:101.38
[[ 8.26055205e-01  3.28364351e-02 -5.62631822e-01  1.51966536e+02]
 [-4.22033746e-02  9.99102362e-01 -3.65311255e-03 -2.01642755e+01]
 [ 5.62006828e-01  2.67626342e-02  8.26699514e-01  1.01376204e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.12327356
Centerline is valid?  [True, True]
Translation: X:152.02, Y:-20.18, Z:101.41
[[ 8.26226634e-01  2.81968758e-02 -5.62631749e-01  1.52016363e+02]
 [-3.65995411e-02  9.99323294e-01 -3.66442323e-03 -2.01797592e+01]
 [ 5.62147687e-01  2.36197079e-02  8.26699515e-01  1.01410042e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.18327356
Centerline is valid?  [True, True]
Translation: X:152.07, Y:-20.19, Z:101.44
[[ 8.26505951e-01  1.82655076e-02 -5.62631571e-01  1.52066061e+02]
 [-2.46057999e-02  9.99690416e-01 -3.69155808e-03 -2.01879159e+01]
 [ 5.62389961e-01  1.68950945e-02  8.26699515e-01  1.01443817e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.24327356
Centerline is valid?  [True, True]
Translation: X:152.12, Y:-20.19, Z:101.48
[[ 8.26672425e-01  7.65574081e-03 -5.62631400e-01  1.52115901e+02]
 [-1.17903098e-02  9.99923582e-01 -3.71747512e-03 -2.01893546e+01]
 [ 5.62559944e-01  9.70673268e-03  8.26699515e-01  1.01477719e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.30327356
Centerline is valid?  [True, True]
Translation: X:152.16, Y:-20.19, Z:101.51
[[ 8.26699927e-01 -3.63625846e-03 -5.62631325e-01  1.52164863e+02]
 [ 1.86078369e-03  9.99991317e-01 -3.72875994e-03 -2.01920484e+01]
 [ 5.62639998e-01  2.03563037e-03  8.26699515e-01  1.01511025e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.36327356
Centerline is valid?  [True, True]
Translation: X:152.21, Y:-20.17, Z:101.54
[[ 8.26667995e-01  8.13590638e-03 -5.62631169e-01  1.52214641e+02]
 [-1.23946951e-02  9.99916143e-01 -3.75214484e-03 -2.01742185e+01]
 [ 5.62553462e-01  1.00754199e-02  8.26699515e-01  1.01544973e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.42327356
Centerline is valid?  [True, True]
Translation: X:152.26, Y:-20.17, Z:101.58
[[ 8.26705868e-01  1.91629735e-03 -5.62631084e-01  1.52263079e+02]
 [-4.88026176e-03  9.99981004e-01 -3.76495388e-03 -2.01705421e+01]
 [ 5.62613181e-01  5.85829643e-03  8.26699515e-01  1.01577950e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.48327356
Centerline is valid?  [True, True]
Translation: X:152.31, Y:-20.17, Z:101.61
[[ 8.26705464e-01 -2.13102761e-03 -5.62630904e-01  1.52312116e+02]
 [-2.73183991e-06  9.99992812e-01 -3.79159890e-03 -2.01661108e+01]
 [ 5.62634940e-01  3.13607254e-03  8.26699516e-01  1.01611333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.54327356
Centerline is valid?  [True, True]
Translation: X:152.36, Y:-20.16, Z:101.64
[[ 8.26670433e-01 -7.92094147e-03 -5.62630655e-01  1.52360469e+02]
 [ 6.97593233e-03  9.99968340e-01 -3.82825513e-03 -2.01565742e+01]
 [ 5.62643166e-01 -7.60168057e-04  8.26699516e-01  1.01644269e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.60327356
Centerline is valid?  [True, True]
Translation: X:152.41, Y:-20.15, Z:101.68
[[ 8.26596182e-01 -1.36338304e-02 -5.62630315e-01  1.52409634e+02]
 [ 1.38528309e-02  9.99896526e-01 -3.87771939e-03 -2.01468796e+01]
 [ 5.62624965e-01 -4.58871460e-03  8.26699517e-01  1.01677756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.66327356
Centerline is valid?  [True, True]
Translation: X:152.46, Y:-20.14, Z:101.71
[[ 8.26494606e-01 -1.88144997e-02 -5.62630146e-01  1.52457295e+02]
 [ 2.01031214e-02  9.99790297e-01 -3.90208879e-03 -2.01373984e+01]
 [ 5.62585577e-01 -8.08556682e-03  8.26699518e-01  1.01710228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.72327356
Centerline is valid?  [True, True]
Translation: X:152.51, Y:-20.13, Z:101.74
[[ 8.26429217e-01 -2.15324849e-02 -5.62628742e-01  1.52505631e+02]
 [ 2.32587335e-02  9.99721086e-01 -4.09645320e-03 -2.01263709e+01]
 [ 5.62560024e-01 -9.70060334e-03  8.26699533e-01  1.01743105e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.78327356
Centerline is valid?  [True, True]
Translation: X:152.55, Y:-20.11, Z:101.78
[[ 8.26421806e-01 -2.18477553e-02 -5.62627474e-01  1.52554506e+02]
 [ 2.35255351e-02  9.99714139e-01 -4.26480178e-03 -2.01144191e+01]
 [ 5.62559817e-01 -9.71158718e-03  8.26699545e-01  1.01776369e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.84327356
Centerline is valid?  [True, True]
Translation: X:152.60, Y:-20.10, Z:101.81
[[ 8.26347735e-01 -2.45197755e-02 -5.62626165e-01  1.52602189e+02]
 [ 2.66441475e-02  9.99635157e-01 -4.43189245e-03 -2.00956323e+01]
 [ 5.62529564e-01 -1.13284103e-02  8.26699556e-01  1.01808863e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.90327356
Centerline is valid?  [True, True]
Translation: X:152.65, Y:-20.08, Z:101.84
[[ 8.26335877e-01 -2.49532217e-02 -5.62624525e-01  1.52650802e+02]
 [ 2.70319604e-02  9.99623836e-01 -4.63249717e-03 -2.00819816e+01]
 [ 5.62528481e-01 -1.13808453e-02  8.26699573e-01  1.01841958e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.96327356
Centerline is valid?  [True, True]
Translation: X:152.70, Y:-20.06, Z:101.88
[[ 8.26349315e-01 -2.45141653e-02 -5.62624089e-01  1.52699467e+02]
 [ 2.64651650e-02  9.99638758e-01 -4.68490202e-03 -2.00601378e+01]
 [ 5.62535692e-01 -1.10185738e-02  8.26699574e-01  1.01875185e+02]
 [ 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 264.02327356
Centerline is valid?  [True, True]
Translation: X:152.75, Y:-20.04, Z:101.91
[[ 8.26230583e-01 -2.82420867e-02 -5.62623682e-01  1.52748761e+02]
 [ 3.09419040e-02  9.99509977e-01 -4.73335934e-03 -2.00392636e+01]
 [ 5.62481663e-01 -1.34978017e-02  8.26699575e-01  1.01908839e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.08327356
Centerline is valid?  [True, True]
Translation: X:152.80, Y:-20.02, Z:101.94
[[ 8.26305063e-01 -2.59740319e-02 -5.62623580e-01  1.52798017e+02]
 [ 2.81899433e-02  9.99591320e-01 -4.74548885e-03 -2.00246790e+01]
 [ 5.62516906e-01 -1.19391054e-02  8.26699575e-01  1.01942441e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.14327356
Centerline is valid?  [True, True]
Translation: X:152.85, Y:-20.01, Z:101.98
[[ 8.26698299e-01 -4.98597019e-03 -5.62623375e-01  1.52846563e+02]
 [ 2.78499179e-03  9.99984747e-01 -4.76970257e-03 -2.00064573e+01]
 [ 5.62638575e-01  2.37620353e-03  8.26699575e-01  1.01975579e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.20327356
Centerline is valid?  [True, True]
Translation: X:152.90, Y:-19.98, Z:102.01
[[ 8.26693331e-01  5.77083224e-03 -5.62623172e-01  1.52895602e+02]
 [-1.02425012e-02  9.99936055e-01 -4.79351788e-03 -1.99835666e+01]
 [ 5.62559532e-01  9.72543779e-03  8.26699576e-01  1.02009081e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.26327356
Centerline is valid?  [True, True]
Translation: X:152.94, Y:-19.97, Z:102.04
[[ 8.26713109e-01  9.10726408e-04 -5.62622970e-01  1.52944591e+02]
 [-4.37991195e-03  9.99978806e-01 -4.81712205e-03 -1.99664533e+01]
 [ 5.62606659e-01  6.44661702e-03  8.26699576e-01  1.02042516e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.32327356
Centerline is valid?  [True, True]
Translation: X:152.99, Y:-19.95, Z:102.08
[[ 8.26704367e-01  4.11044829e-03 -5.62621537e-01  1.52992267e+02]
 [-8.36093789e-03  9.99952647e-01 -4.97984886e-03 -1.99538911e+01]
 [ 5.62574426e-01  8.82090652e-03  8.26699587e-01  1.02075010e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.38327356
Centerline is valid?  [True, True]
Translation: X:153.04, Y:-19.94, Z:102.11
[[ 8.26430047e-01  2.17025537e-02 -5.62620988e-01  1.53041617e+02]
 [-2.96807088e-02  9.99546718e-01 -5.04125047e-03 -1.99352301e+01]
 [ 5.62256554e-01  2.08652306e-02  8.26699588e-01  1.02108699e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.44327356
Centerline is valid?  [True, True]
Translation: X:153.09, Y:-19.93, Z:102.14
[[ 8.26370588e-01  2.38628259e-02 -5.62620846e-01  1.53089550e+02]
 [-3.23042401e-02  9.99465288e-01 -5.05706050e-03 -1.99272684e+01]
 [ 5.62199330e-01  2.23540449e-02  8.26699589e-01  1.02141368e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.50327356
Centerline is valid?  [True, True]
Translation: X:153.14, Y:-19.92, Z:102.17
[[ 8.26390968e-01  2.31673053e-02 -5.62619983e-01  1.53138168e+02]
 [-3.15273283e-02  9.99489614e-01 -5.15164484e-03 -1.99219559e+01]
 [ 5.62213479e-01  2.19951776e-02  8.26699592e-01  1.02174476e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.56327355999997
Centerline is valid?  [True, True]
Translation: X:153.19, Y:-19.92, Z:102.21
[[ 8.26365623e-01  2.40931094e-02 -5.62618325e-01  1.53186688e+02]
 [-3.27666904e-02  9.99448828e-01 -5.32765530e-03 -1.99166306e+01]
 [ 5.62179865e-01  2.28377316e-02  8.26699605e-01  1.02207509e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.62327356
Centerline is valid?  [True, True]
Translation: X:153.24, Y:-19.91, Z:102.24
[[ 8.26364094e-01  2.41849102e-02 -5.62616632e-01  1.53235603e+02]
 [-3.29959613e-02  9.99440343e-01 -5.50161969e-03 -1.99127053e+01]
 [ 5.62168703e-01  2.31104176e-02  8.26699618e-01  1.02240804e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.68327356
Centerline is valid?  [True, True]
Translation: X:153.28, Y:-19.91, Z:102.27
[[ 8.26587870e-01  1.47306648e-02 -5.62614878e-01  1.53284883e+02]
 [-2.16801166e-02  9.99748845e-01 -5.67627408e-03 -1.99140575e+01]
 [ 5.62389959e-01  1.68894954e-02  8.26699630e-01  1.02274313e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.74327356
Centerline is valid?  [True, True]
Translation: X:153.33, Y:-19.91, Z:102.31
[[ 8.26668734e-01  9.13701115e-03 -5.62614716e-01  1.53334455e+02]
 [-1.49254673e-02  9.99872406e-01 -5.69230016e-03 -1.99111571e+01]
 [ 5.62490919e-01  1.31029341e-02  8.26699630e-01  1.02308067e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.80327356
Centerline is valid?  [True, True]
Translation: X:153.38, Y:-19.91, Z:102.34
[[ 8.26706684e-01  4.56963597e-03 -5.62614590e-01  1.53383077e+02]
 [-9.40952893e-03  9.99939457e-01 -5.70472435e-03 -1.99115761e+01]
 [ 5.62554459e-01  1.00100720e-02  8.26699630e-01  1.02341153e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.86327356
Centerline is valid?  [True, True]
Translation: X:153.43, Y:-19.91, Z:102.37
[[ 8.26719359e-01  4.44334817e-04 -5.62614348e-01  1.53431270e+02]
 [-4.43595365e-03  9.99973753e-01 -5.72855210e-03 -1.99099327e+01]
 [ 5.62597035e-01  7.23163609e-03  8.26699631e-01  1.02373960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.92327356
Centerline is valid?  [True, True]
Translation: X:153.48, Y:-19.91, Z:102.41
[[ 8.26720573e-01 -3.92286460e-04 -5.62612602e-01  1.53480234e+02]
 [-3.53784542e-03  9.99976361e-01 -5.89586291e-03 -1.99085839e+01]
 [ 5.62601616e-01  6.86466758e-03  8.26699642e-01  1.02407273e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.98327356
Centerline is valid?  [True, True]
Translation: X:153.53, Y:-19.89, Z:102.44
[[ 8.26679446e-01 -8.37215580e-03 -5.62610878e-01  1.53528447e+02]
 [ 6.00508599e-03  9.99963627e-01 -6.05670856e-03 -1.98877045e+01]
 [ 5.62641122e-01  1.62842978e-03  8.26699653e-01  1.02440219e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.04327356
Centerline is valid?  [True, True]
Translation: X:153.58, Y:-19.88, Z:102.47
[[ 8.26665217e-01 -9.78374289e-03 -5.62609009e-01  1.53576639e+02]
 [ 7.59709998e-03  9.99951757e-01 -6.22637131e-03 -1.98837307e+01]
 [ 5.62642784e-01  8.72927705e-04  8.26699665e-01  1.02473032e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.10327356
Centerline is valid?  [True, True]
Translation: X:153.63, Y:-19.88, Z:102.51
[[ 8.26667264e-01 -9.73971894e-03 -5.62606765e-01  1.53625098e+02]
 [ 7.40945722e-03  9.99951916e-01 -6.42383830e-03 -1.98824078e+01]
 [ 5.62642279e-01  1.14176607e-03  8.26699681e-01  1.02506004e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.16327356
Centerline is valid?  [True, True]
Translation: X:153.67, Y:-19.88, Z:102.54
[[ 8.26643113e-01 -1.17060485e-02 -5.62604775e-01  1.53674426e+02]
 [ 9.67192957e-03  9.99931482e-01 -6.59434941e-03 -1.98775223e+01]
 [ 5.62643420e-01  9.69976501e-06  8.26699693e-01  1.02539599e+02]
 [ 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 265.22327356
Centerline is valid?  [True, True]
Translation: X:153.72, Y:-19.87, Z:102.57
[[ 8.26595951e-01 -1.46738637e-02 -5.62604489e-01  1.53722693e+02]
 [ 1.32454047e-02  9.99890371e-01 -6.61860545e-03 -1.98708850e+01]
 [ 5.62639932e-01 -1.98101166e-03  8.26699693e-01  1.02572498e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.28327356
Centerline is valid?  [True, True]
Translation: X:153.77, Y:-19.87, Z:102.61
[[ 8.26592994e-01 -1.49181789e-02 -5.62602408e-01  1.53771614e+02]
 [ 1.34231423e-02  9.99886840e-01 -6.79167971e-03 -1.98665229e+01]
 [ 5.62640064e-01 -1.93793734e-03  8.26699706e-01  1.02605814e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.34327356
Centerline is valid?  [True, True]
Translation: X:153.82, Y:-19.86, Z:102.64
[[ 8.26609644e-01 -1.40505233e-02 -5.62600284e-01  1.53820047e+02]
 [ 1.22563062e-02  9.99900638e-01 -6.96399625e-03 -1.98617430e+01]
 [ 5.62642230e-01 -1.13889489e-03  8.26699718e-01  1.02638804e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.40327356
Centerline is valid?  [True, True]
Translation: X:153.87, Y:-19.86, Z:102.67
[[ 8.26653035e-01 -1.12415400e-02 -5.62599668e-01  1.53868180e+02]
 [ 8.82482878e-03  9.99936465e-01 -7.01343156e-03 -1.98566921e+01]
 [ 5.62642765e-01  8.32828744e-04  8.26699719e-01  1.02671600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.46327356
Centerline is valid?  [True, True]
Translation: X:153.92, Y:-19.85, Z:102.70
[[ 8.26689303e-01 -8.20257259e-03 -5.62598892e-01  1.53917017e+02]
 [ 5.10680796e-03  9.99961930e-01 -7.07523044e-03 -1.98522506e+01]
 [ 5.62635509e-01  2.97593283e-03  8.26699720e-01  1.02704870e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.52327356
Centerline is valid?  [True, True]
Translation: X:153.97, Y:-19.85, Z:102.74
[[ 8.26713527e-01 -5.44972675e-03 -5.62596698e-01  1.53966284e+02]
 [ 1.66065291e-03  9.99972367e-01 -7.24620665e-03 -1.98469205e+01]
 [ 5.62620642e-01  5.05625922e-03  8.26699732e-01  1.02738436e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.58327356
Centerline is valid?  [True, True]
Translation: X:154.01, Y:-19.86, Z:102.77
[[ 8.26668027e-01  1.02605381e-02 -5.62596387e-01  1.54014873e+02]
 [-1.73575763e-02  9.99822913e-01 -7.27027824e-03 -1.98604520e+01]
 [ 5.62422162e-01  1.57754163e-02  8.26699733e-01  1.02771382e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.64327356
Centerline is valid?  [True, True]
Translation: X:154.06, Y:-19.86, Z:102.80
[[ 8.26607049e-01  1.43644951e-02 -5.62596168e-01  1.54063681e+02]
 [-2.23326056e-02  9.99724038e-01 -7.28721307e-03 -1.98572852e+01]
 [ 5.62336235e-01  1.85879000e-02  8.26699733e-01  1.02804625e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.70327356
Centerline is valid?  [True, True]
Translation: X:154.11, Y:-19.84, Z:102.84
[[ 8.26664814e-01  1.06432065e-02 -5.62593999e-01  1.54112904e+02]
 [-1.79436823e-02  9.99811231e-01 -7.45157860e-03 -1.98354571e+01]
 [ 5.62408490e-01  1.62549658e-02  8.26699744e-01  1.02838310e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.76327356
Centerline is valid?  [True, True]
Translation: X:154.16, Y:-19.85, Z:102.87
[[ 8.26220617e-01  2.91115962e-02 -5.62593999e-01  1.54162286e+02]
 [-4.02790431e-02  9.99160684e-01 -7.45157861e-03 -1.98536178e+01]
 [ 5.61904877e-01  2.88173958e-02  8.26699744e-01  1.02871752e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.82327356
Centerline is valid?  [True, True]
Translation: X:154.21, Y:-19.86, Z:102.91
[[ 8.25955812e-01  3.58518407e-02 -5.62593675e-01  1.54211466e+02]
 [-4.84465022e-02  9.98797801e-01 -7.47596474e-03 -1.98551025e+01]
 [ 5.61649298e-01  3.34305122e-02  8.26699744e-01  1.02905205e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.88327356
Centerline is valid?  [True, True]
Translation: X:154.26, Y:-19.86, Z:102.94
[[ 8.25437409e-01  4.62786162e-02 -5.62593436e-01  1.54261215e+02]
 [-6.10669646e-02  9.98105539e-01 -7.49389090e-03 -1.98584353e+01]
 [ 5.61180818e-01  4.05416113e-02  8.26699744e-01  1.02939029e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 265.94327356
Centerline is valid?  [True, True]
Translation: X:154.31, Y:-19.86, Z:102.97
[[ 8.25550574e-01  4.42175598e-02 -5.62593154e-01  1.54309617e+02]
 [-5.85890617e-02  9.98253899e-01 -7.51499027e-03 -1.98644475e+01]
 [ 5.61278515e-01  3.91658096e-02  8.26699745e-01  1.02971913e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.00327356
Centerline is valid?  [True, True]
Translation: X:154.36, Y:-19.87, Z:103.01
[[ 8.25519736e-01  4.47958052e-02 -5.62592660e-01  1.54358988e+02]
 [-5.93132542e-02  9.98210853e-01 -7.55182813e-03 -1.98702583e+01]
 [ 5.61247809e-01  3.96033846e-02  8.26699745e-01  1.03005455e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.06327355999997
Centerline is valid?  [True, True]
Translation: X:154.41, Y:-19.88, Z:103.04
[[ 8.25253424e-01  4.94632672e-02 -5.62592368e-01  1.54408989e+02]
 [-6.49717655e-02  9.97858362e-01 -7.57357788e-03 -1.98785109e+01]
 [ 5.61012884e-01  4.28027405e-02  8.26699745e-01  1.03039405e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.12327356
Centerline is valid?  [True, True]
Translation: X:154.46, Y:-19.87, Z:103.07
[[ 8.25632494e-01  4.26723890e-02 -5.62592261e-01  1.54458121e+02]
 [-5.67657423e-02  9.98358739e-01 -7.58149238e-03 -1.98691382e+01]
 [ 5.61345380e-01  3.81954937e-02  8.26699745e-01  1.03072926e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.18327356
Centerline is valid?  [True, True]
Translation: X:154.51, Y:-19.88, Z:103.11
[[ 8.25420499e-01  4.65966280e-02 -5.62591997e-01  1.54508085e+02]
 [-6.15241654e-02  9.98076651e-01 -7.60106945e-03 -1.98758162e+01]
 [ 5.61155751e-01  4.08870816e-02  8.26699746e-01  1.03106865e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.24327356
Centerline is valid?  [True, True]
Translation: X:154.56, Y:-19.89, Z:103.14
[[ 8.24980609e-01  5.38264289e-02 -5.62591957e-01  1.54556706e+02]
 [-7.02680255e-02  9.97499165e-01 -7.60398466e-03 -1.98865742e+01]
 [ 5.60775712e-01  4.58053659e-02  8.26699746e-01  1.03139854e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.30327356
Centerline is valid?  [True, True]
Translation: X:154.61, Y:-19.90, Z:103.17
[[ 8.24621560e-01  5.90738465e-02 -5.62591827e-01  1.54606637e+02]
 [-7.66191693e-02  9.97031362e-01 -7.61358603e-03 -1.99000646e+01]
 [ 5.60471932e-01  4.93836456e-02  8.26699746e-01  1.03173708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.36327356
Centerline is valid?  [True, True]
Translation: X:154.66, Y:-19.92, Z:103.21
[[ 8.24465872e-01  6.12106711e-02 -5.62591575e-01  1.54655826e+02]
 [-7.92153280e-02  9.96828311e-01 -7.63218778e-03 -1.99172926e+01]
 [ 5.60340038e-01  5.08583545e-02  8.26699746e-01  1.03207021e+02]
 [ 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 266.42327356
Centerline is valid?  [True, True]
Translation: X:154.71, Y:-19.93, Z:103.24
[[ 8.24599483e-01  5.93884573e-02 -5.62591063e-01  1.54705577e+02]
 [-7.70375727e-02  9.96998690e-01 -7.66974228e-03 -1.99253590e+01]
 [ 5.60447059e-01  4.96651155e-02  8.26699746e-01  1.03240798e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.48327356
Centerline is valid?  [True, True]
Translation: X:154.76, Y:-19.94, Z:103.27
[[ 8.23320077e-01  7.50712484e-02 -5.62590756e-01  1.54755451e+02]
 [-9.60133905e-02  9.95350320e-01 -7.69220060e-03 -1.99367946e+01]
 [ 5.59397426e-01  6.03493892e-02  8.26699746e-01  1.03274629e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.54327356
Centerline is valid?  [True, True]
Translation: X:154.80, Y:-19.95, Z:103.31
[[ 8.23494890e-01  7.31310019e-02 -5.62590457e-01  1.54804873e+02]
 [-9.36824756e-02  9.95572241e-01 -7.71403864e-03 -1.99470099e+01]
 [ 5.59535307e-01  5.90573382e-02  8.26699747e-01  1.03308162e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.60327356
Centerline is valid?  [True, True]
Translation: X:154.85, Y:-19.96, Z:103.34
[[ 8.23744908e-01  7.02615088e-02 -5.62590123e-01  1.54854418e+02]
 [-9.02297606e-02  9.95890912e-01 -7.73832958e-03 -1.99609631e+01]
 [ 5.59734684e-01  5.71367817e-02  8.26699747e-01  1.03341744e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.66327356
Centerline is valid?  [True, True]
Translation: X:154.90, Y:-19.98, Z:103.38
[[ 8.24460403e-01  6.12997134e-02 -5.62589895e-01  1.54904084e+02]
 [-7.94060458e-02  9.96812190e-01 -7.75491880e-03 -1.99756271e+01]
 [ 5.60321090e-01  5.10666624e-02  8.26699747e-01  1.03375402e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.72327356
Centerline is valid?  [True, True]
Translation: X:154.95, Y:-19.99, Z:103.41
[[ 8.24914030e-01  5.48611181e-02 -5.62589638e-01  1.54953003e+02]
 [-7.16338863e-02  9.97400701e-01 -7.77348153e-03 -1.99852790e+01]
 [ 5.60700838e-01  4.67129362e-02  8.26699747e-01  1.03408598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.78327356
Centerline is valid?  [True, True]
Translation: X:155.00, Y:-20.00, Z:103.44
[[ 8.25563047e-01  4.40343440e-02 -5.62589221e-01  1.55003091e+02]
 [-5.85632417e-02  9.98253200e-01 -7.80360399e-03 -1.99988026e+01]
 [ 5.61262863e-01  3.93894156e-02  8.26699748e-01  1.03442549e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.84327356
Centerline is valid?  [True, True]
Translation: X:155.05, Y:-20.03, Z:103.48
[[ 8.26513173e-01  1.92263451e-02 -5.62588946e-01  1.55053276e+02]
 [-2.85769723e-02  9.99560979e-01 -7.82336674e-03 -2.00285024e+01]
 [ 5.62191543e-01  2.25432044e-02  8.26699748e-01  1.03476416e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.90327356
Centerline is valid?  [True, True]
Translation: X:155.10, Y:-20.03, Z:103.51
[[ 8.26613134e-01  1.43084947e-02 -5.62588654e-01  1.55102469e+02]
 [-2.26435925e-02  9.99712826e-01 -7.84428429e-03 -2.00336973e+01]
 [ 5.62314854e-01  1.92232167e-02  8.26699748e-01  1.03509837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 266.96327356
Centerline is valid?  [True, True]
Translation: X:155.15, Y:-20.04, Z:103.54
[[ 8.26658484e-01  1.14076446e-02 -5.62588319e-01  1.55151345e+02]
 [-1.91515583e-02  9.99785631e-01 -7.86827399e-03 -2.00394829e+01]
 [ 5.62377959e-01  1.72788185e-02  8.26699748e-01  1.03543037e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.02327356
Centerline is valid?  [True, True]
Translation: X:155.20, Y:-20.04, Z:103.58
[[ 8.26682030e-01  9.68726484e-03 -5.62585975e-01  1.55199413e+02]
 [-1.71828761e-02  9.99820094e-01 -8.03299949e-03 -2.00404968e+01]
 [ 5.62406944e-01  1.63075814e-02  8.26699759e-01  1.03575689e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.08327356
Centerline is valid?  [True, True]
Translation: X:155.25, Y:-20.04, Z:103.61
[[ 8.26714206e-01  6.44799450e-03 -5.62585144e-01  1.55249211e+02]
 [-1.33044559e-02  9.99878758e-01 -8.09081078e-03 -2.00387119e+01]
 [ 5.62464766e-01  1.41736774e-02  8.26699761e-01  1.03609578e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.14327356
Centerline is valid?  [True, True]
Translation: X:155.30, Y:-20.04, Z:103.64
[[ 8.26739402e-01  3.34513385e-04 -5.62584970e-01  1.55297232e+02]
 [-5.91849112e-03  9.99949656e-01 -8.10287069e-03 -2.00370830e+01]
 [ 5.62553937e-01  1.00286166e-02  8.26699761e-01  1.03642269e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.20327356
Centerline is valid?  [True, True]
Translation: X:155.35, Y:-20.03, Z:103.68
[[ 8.26701643e-01 -7.96891358e-03 -5.62584119e-01  1.55347151e+02]
 [ 4.08486972e-03  9.99958350e-01 -8.16164732e-03 -2.00334913e+01]
 [ 5.62625726e-01  4.44916442e-03  8.26699762e-01  1.03676258e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.26327356
Centerline is valid?  [True, True]
Translation: X:155.40, Y:-20.03, Z:103.71
[[ 8.26647839e-01  1.23500317e-02 -5.62584063e-01  1.55396874e+02]
 [-2.04933870e-02  9.99756643e-01 -8.16551353e-03 -2.00254675e+01]
 [ 5.62346310e-01  1.82792570e-02  8.26699762e-01  1.03710174e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.32327356
Centerline is valid?  [True, True]
Translation: X:155.45, Y:-20.02, Z:103.74
[[ 8.26707787e-01  7.32146185e-03 -5.62583889e-01  1.55446011e+02]
 [-1.44198203e-02  9.99862589e-01 -8.17748606e-03 -2.00164888e+01]
 [ 5.62446712e-01  1.48727500e-02  8.26699762e-01  1.03743697e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.38327356
Centerline is valid?  [True, True]
Translation: X:155.49, Y:-20.01, Z:103.78
[[ 8.26733039e-01  3.49803155e-03 -5.62583546e-01  1.55494789e+02]
 [-9.81149257e-03  9.99918236e-01 -8.20098556e-03 -2.00117970e+01]
 [ 5.62508860e-01  1.22998100e-02  8.26699763e-01  1.03776932e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.44327356
Centerline is valid?  [True, True]
Translation: X:155.54, Y:-20.00, Z:103.81
[[ 8.26737218e-01  2.83856589e-03 -5.62581119e-01  1.55542393e+02]
 [-9.12525836e-03  9.99923378e-01 -8.36473561e-03 -1.99986354e+01]
 [ 5.62514269e-01  1.20491363e-02  8.26699774e-01  1.03809416e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.50327356
Centerline is valid?  [True, True]
Translation: X:155.59, Y:-19.99, Z:103.84
[[ 8.26642224e-01 -1.29015277e-02 -5.62579936e-01  1.55591813e+02]
 [ 9.85942183e-03  9.99915745e-01 -8.44364677e-03 -1.99872348e+01]
 [ 5.62641472e-01  1.43316204e-03  8.26699776e-01  1.03843143e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.56327355999997
Centerline is valid?  [True, True]
Translation: X:155.64, Y:-19.98, Z:103.88
[[ 8.26696348e-01 -8.80117448e-03 -5.62579494e-01  1.55640627e+02]
 [ 4.87966268e-03  9.99952197e-01 -8.47303267e-03 -1.99831059e+01]
 [ 5.62627174e-01  4.25942701e-03  8.26699777e-01  1.03876396e+02]
 [ 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 267.62327356
Centerline is valid?  [True, True]
Translation: X:155.69, Y:-19.97, Z:103.91
[[ 8.26729126e-01  5.12691117e-03 -5.62576811e-01  1.55689965e+02]
 [-1.20857028e-02  9.99889566e-01 -8.64816581e-03 -1.99700925e+01]
 [ 5.62470345e-01  1.39488267e-02  8.26699789e-01  1.03910066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.68327356
Centerline is valid?  [True, True]
Translation: X:155.74, Y:-19.96, Z:103.94
[[ 8.26581682e-01  1.64464028e-02 -5.62576430e-01  1.55739394e+02]
 [-2.57923346e-02  9.99629700e-01 -8.67288137e-03 -1.99578763e+01]
 [ 5.62225470e-01  2.16790044e-02  8.26699789e-01  1.03943826e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.74327356
Centerline is valid?  [True, True]
Translation: X:155.79, Y:-19.95, Z:103.98
[[ 8.26369966e-01  2.49149505e-02 -5.62576150e-01  1.55788109e+02]
 [-3.60457823e-02  9.99312348e-01 -8.69097324e-03 -1.99505287e+01]
 [ 5.61972758e-01  2.74604567e-02  8.26699790e-01  1.03977050e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.80327356
Centerline is valid?  [True, True]
Translation: X:155.84, Y:-19.94, Z:104.01
[[ 8.26146042e-01  3.14816234e-02 -5.62575884e-01  1.55837358e+02]
 [-4.39982328e-02  9.98993655e-01 -8.70820095e-03 -1.99426749e+01]
 [ 5.61735590e-01  3.19465904e-02  8.26699790e-01  1.04010643e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.86327356
Centerline is valid?  [True, True]
Translation: X:155.89, Y:-19.94, Z:104.04
[[ 8.25982592e-01  3.55184349e-02 -5.62575505e-01  1.55887024e+02]
 [-4.88961335e-02  9.98765693e-01 -8.73262494e-03 -1.99366460e+01]
 [ 5.61570945e-01  3.47207632e-02  8.26699790e-01  1.04044501e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.92327356
Centerline is valid?  [True, True]
Translation: X:155.94, Y:-19.93, Z:104.08
[[ 8.25868353e-01  3.80847488e-02 -5.62575341e-01  1.55936269e+02]
 [-5.20063848e-02  9.98608479e-01 -8.74313882e-03 -1.99321239e+01]
 [ 5.61459525e-01  3.64781913e-02  8.26699790e-01  1.04078058e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 267.98327356
Centerline is valid?  [True, True]
Translation: X:155.98, Y:-19.93, Z:104.11
[[ 8.25809192e-01  3.93517539e-02 -5.62574988e-01  1.55983145e+02]
 [-5.35537659e-02  9.98526492e-01 -8.76580628e-03 -1.99291231e+01]
 [ 5.61401080e-01  3.73668926e-02  8.26699790e-01  1.04109985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.04327356
Centerline is valid?  [True, True]
Translation: X:156.03, Y:-19.91, Z:104.14
[[ 8.25972934e-01  3.57848561e-02 -5.62572802e-01  1.56032816e+02]
 [-4.93347669e-02  9.98742607e-01 -8.90430823e-03 -1.99081876e+01]
 [ 5.61546787e-01  3.51091156e-02  8.26699798e-01  1.04143987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.10327356
Centerline is valid?  [True, True]
Translation: X:156.08, Y:-19.93, Z:104.18
[[ 8.26188901e-01  3.03993518e-02 -5.62572466e-01  1.56082187e+02]
 [-4.28370095e-02  9.99042205e-01 -8.92547484e-03 -1.99292237e+01]
 [ 5.61762308e-01  3.14730503e-02  8.26699798e-01  1.04177354e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.16327356
Centerline is valid?  [True, True]
Translation: X:156.13, Y:-19.91, Z:104.21
[[ 8.26522051e-01  1.93368105e-02 -5.62572117e-01  1.56131542e+02]
 [-2.94743593e-02  9.99525490e-01 -8.94742699e-03 -1.99089268e+01]
 [ 5.62132156e-01  2.39766984e-02  8.26699799e-01  1.04211156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.22327356
Centerline is valid?  [True, True]
Translation: X:156.18, Y:-19.93, Z:104.25
[[ 8.26607932e-01  1.52417176e-02 -5.62571789e-01  1.56181863e+02]
 [-2.45360290e-02  9.99658721e-01 -8.96802930e-03 -1.99311921e+01]
 [ 5.62243106e-01  2.12163219e-02  8.26699799e-01  1.04245155e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.28327356
Centerline is valid?  [True, True]
Translation: X:156.23, Y:-19.93, Z:104.28
[[ 8.26690568e-01  9.79532446e-03 -5.62571557e-01  1.56230497e+02]
 [-1.79591737e-02  9.99798371e-01 -8.98255524e-03 -1.99301411e+01]
 [ 5.62370139e-01  1.75291140e-02  8.26699799e-01  1.04278259e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.34327356
Centerline is valid?  [True, True]
Translation: X:156.28, Y:-19.93, Z:104.31
[[ 8.26704964e-01  8.54604211e-03 -5.62570767e-01  1.56279337e+02]
 [-1.64817706e-02  9.99823373e-01 -9.03180411e-03 -1.99296575e+01]
 [ 5.62394215e-01  1.67387996e-02  8.26699800e-01  1.04311490e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.40327356
Centerline is valid?  [True, True]
Translation: X:156.33, Y:-19.93, Z:104.35
[[ 8.26726979e-01  6.30732971e-03 -5.62567969e-01  1.56329204e+02]
 [-1.38908588e-02  9.99861162e-01 -9.20332126e-03 -1.99291105e+01]
 [ 5.62431815e-01  1.54231862e-02  8.26699812e-01  1.04345399e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.46327356
Centerline is valid?  [True, True]
Translation: X:156.38, Y:-19.93, Z:104.38
[[ 8.26717024e-01  7.51470943e-03 -5.62567767e-01  1.56378062e+02]
 [-1.53594791e-02  9.99839566e-01 -9.21567020e-03 -1.99263954e+01]
 [ 5.62408259e-01  1.62594993e-02  8.26699812e-01  1.04378675e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.52327356
Centerline is valid?  [True, True]
Translation: X:156.43, Y:-19.92, Z:104.41
[[ 8.26680339e-01  1.08539751e-02 -5.62567160e-01  1.56426874e+02]
 [-1.94230770e-02  9.99768540e-01 -9.25260726e-03 -1.99242962e+01]
 [ 5.62336520e-01  1.85757338e-02  8.26699813e-01  1.04411908e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.58327356
Centerline is valid?  [True, True]
Translation: X:156.48, Y:-19.92, Z:104.45
[[ 8.26546040e-01  1.85227711e-02 -5.62564264e-01  1.56476026e+02]
 [-2.88150425e-02  9.99540317e-01 -9.42595023e-03 -1.99209130e+01]
 [ 5.62131068e-01  2.40012950e-02  8.26699825e-01  1.04445362e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.64327356
Centerline is valid?  [True, True]
Translation: X:156.53, Y:-19.92, Z:104.48
[[ 8.26282988e-01  2.78982475e-02 -5.62563873e-01  1.56525478e+02]
 [-4.01681845e-02  9.99148252e-01 -9.44924235e-03 -1.99194383e+01]
 [ 5.61821092e-01  3.04049177e-02  8.26699825e-01  1.04479027e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.70327356
Centerline is valid?  [True, True]
Translation: X:156.57, Y:-19.92, Z:104.51
[[ 8.26161836e-01  3.12860911e-02 -5.62563597e-01  1.56574976e+02]
 [-4.42758584e-02  9.98974499e-01 -9.46562724e-03 -1.99188167e+01]
 [ 5.61690545e-01  3.27281261e-02  8.26699825e-01  1.04512714e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.76327356
Centerline is valid?  [True, True]
Translation: X:156.62, Y:-19.92, Z:104.55
[[ 8.25958297e-01  3.62697567e-02 -5.62563237e-01  1.56624385e+02]
 [-5.03163533e-02  9.98688271e-01 -9.48698498e-03 -1.99174364e+01]
 [ 5.61481216e-01  3.61419846e-02  8.26699826e-01  1.04546349e+02]
 [ 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 268.82327356
Centerline is valid?  [True, True]
Translation: X:156.67, Y:-19.92, Z:104.58
[[ 8.25842654e-01  3.88182218e-02 -5.62562936e-01  1.56673821e+02]
 [-5.34098363e-02  9.98527440e-01 -9.50482344e-03 -1.99176139e+01]
 [ 5.61365567e-01  3.78958829e-02  8.26699826e-01  1.04579984e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.88327356
Centerline is valid?  [True, True]
Translation: X:156.72, Y:-19.92, Z:104.61
[[ 8.25839587e-01  3.88894723e-02 -5.62562518e-01  1.56722803e+02]
 [-5.35127286e-02  9.98521695e-01 -9.52951470e-03 -1.99171686e+01]
 [ 5.61360281e-01  3.79741058e-02  8.26699826e-01  1.04613317e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 268.94327356
Centerline is valid?  [True, True]
Translation: X:156.77, Y:-19.92, Z:104.65
[[ 8.25787195e-01  3.99906437e-02 -5.62562224e-01  1.56771672e+02]
 [-5.48558678e-02  9.98448643e-01 -9.54680056e-03 -1.99189369e+01]
 [ 5.61307707e-01  3.87434647e-02  8.26699826e-01  1.04646548e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.00327356
Centerline is valid?  [True, True]
Translation: X:156.82, Y:-19.92, Z:104.68
[[ 8.25819680e-01  3.93579706e-02 -5.62559158e-01  1.56820499e+02]
 [-5.42115430e-02  9.98482117e-01 -9.72471818e-03 -1.99201565e+01]
 [ 5.61322514e-01  3.85280636e-02  8.26699839e-01  1.04679727e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.06327355999997
Centerline is valid?  [True, True]
Translation: X:156.87, Y:-19.92, Z:104.71
[[ 8.25959572e-01  3.63525275e-02 -5.62556023e-01  1.56869536e+02]
 [-5.06987738e-02  9.98664889e-01 -9.90327090e-03 -1.99231722e+01]
 [ 5.61444939e-01  3.67006020e-02  8.26699852e-01  1.04713027e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.12327356
Centerline is valid?  [True, True]
Translation: X:156.92, Y:-19.93, Z:104.75
[[ 8.26111328e-01  3.27305913e-02 -5.62555582e-01  1.56919431e+02]
 [-4.63364270e-02  9.98876551e-01 -9.92831151e-03 -1.99263589e+01]
 [ 5.61598620e-01  3.42687062e-02  8.26699853e-01  1.04746937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.18327356
Centerline is valid?  [True, True]
Translation: X:156.97, Y:-19.93, Z:104.78
[[ 8.26311010e-01  2.72326717e-02 -5.62555327e-01  1.56969055e+02]
 [-3.96983452e-02  9.99162241e-01 -9.94270644e-03 -1.99323032e+01]
 [ 5.61813275e-01  3.05482834e-02  8.26699853e-01  1.04780630e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.24327356
Centerline is valid?  [True, True]
Translation: X:157.02, Y:-19.94, Z:104.81
[[ 8.26522054e-01  1.98290724e-02 -5.62554977e-01  1.57018127e+02]
 [-3.07591883e-02  9.99477174e-01 -9.96247913e-03 -1.99372504e+01]
 [ 5.62063312e-01  2.55379432e-02  8.26699853e-01  1.04813959e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.30327356
Centerline is valid?  [True, True]
Translation: X:157.07, Y:-19.94, Z:104.85
[[ 8.26649951e-01  1.34955774e-02 -5.62554645e-01  1.57068183e+02]
 [-2.31129052e-02  9.99683034e-01 -9.98122090e-03 -1.99406181e+01]
 [ 5.62241632e-01  2.12532480e-02  8.26699853e-01  1.04847977e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.36327356
Centerline is valid?  [True, True]
Translation: X:157.12, Y:-19.94, Z:104.88
[[ 8.26668590e-01  1.23098187e-02 -5.62554451e-01  1.57118017e+02]
 [-2.16863482e-02  9.99714889e-01 -9.99212402e-03 -1.99419779e+01]
 [ 5.62271060e-01  2.04599268e-02  8.26699853e-01  1.04881870e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.42327356
Centerline is valid?  [True, True]
Translation: X:157.17, Y:-19.94, Z:104.92
[[ 8.26684753e-01  1.11830181e-02 -5.62554228e-01  1.57167006e+02]
 [-2.03322117e-02  9.99743221e-01 -1.00046938e-02 -1.99430204e+01]
 [ 5.62297893e-01  1.97086995e-02  8.26699853e-01  1.04915190e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.48327356
Centerline is valid?  [True, True]
Translation: X:157.21, Y:-19.94, Z:104.95
[[ 8.26698547e-01  1.01923260e-02 -5.62552779e-01  1.57214023e+02]
 [-1.91891284e-02  9.99765001e-01 -1.00856203e-02 -1.99447239e+01]
 [ 5.62317783e-01  1.91326651e-02  8.26699856e-01  1.04947145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.54327356
Centerline is valid?  [True, True]
Translation: X:157.26, Y:-19.94, Z:104.98
[[ 8.26691736e-01  1.08112069e-02 -5.62551235e-01  1.57262921e+02]
 [-1.99956675e-02  9.99748329e-01 -1.01711039e-02 -1.99435017e+01]
 [ 5.62299695e-01  1.96569550e-02  8.26699859e-01  1.04980415e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.60327356
Centerline is valid?  [True, True]
Translation: X:157.31, Y:-19.95, Z:105.01
[[ 8.26670305e-01  1.24834044e-02 -5.62548105e-01  1.57311192e+02]
 [-2.21338956e-02  9.99701524e-01 -1.03417926e-02 -1.99450646e+01]
 [ 5.62251098e-01  2.10006339e-02  8.26699871e-01  1.05013205e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.66327356
Centerline is valid?  [True, True]
Translation: X:157.36, Y:-19.95, Z:105.05
[[ 8.26652214e-01  1.37854139e-02 -5.62544291e-01  1.57359850e+02]
 [-2.38470839e-02  9.99659993e-01 -1.05458681e-02 -1.99464657e+01]
 [ 5.62207643e-01  2.21328061e-02  8.26699888e-01  1.05046251e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.72327356
Centerline is valid?  [True, True]
Translation: X:157.41, Y:-19.95, Z:105.08
[[ 8.26641662e-01  1.44216736e-02 -5.62543845e-01  1.57408909e+02]
 [-2.46326484e-02  9.99640693e-01 -1.05696323e-02 -1.99484145e+01]
 [ 5.62189287e-01  2.25942432e-02  8.26699888e-01  1.05079603e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.78327356
Centerline is valid?  [True, True]
Translation: X:157.46, Y:-19.95, Z:105.11
[[ 8.26660085e-01  1.34636445e-02 -5.62540518e-01  1.57458208e+02]
 [-2.35927724e-02  9.99663914e-01 -1.07442637e-02 -1.99510248e+01]
 [ 5.62206800e-01  2.21537443e-02  8.26699901e-01  1.05113075e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.84327356
Centerline is valid?  [True, True]
Translation: X:157.51, Y:-19.95, Z:105.15
[[ 8.26642210e-01  1.45382759e-02 -5.62540039e-01  1.57507873e+02]
 [-2.49092996e-02  9.99631707e-01 -1.07692901e-02 -1.99545205e+01]
 [ 5.62176293e-01  2.29148282e-02  8.26699901e-01  1.05146818e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.90327356
Centerline is valid?  [True, True]
Translation: X:157.56, Y:-19.95, Z:105.18
[[ 8.26578262e-01  1.78144998e-02 -5.62539795e-01  1.57556393e+02]
 [-2.88797355e-02  9.99524741e-01 -1.07820430e-02 -1.99544513e+01]
 [ 5.62080366e-01  2.51582028e-02  8.26699901e-01  1.05179832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 269.96327356
Centerline is valid?  [True, True]
Translation: X:157.61, Y:-19.96, Z:105.21
[[ 8.26526320e-01  2.01072440e-02 -5.62538835e-01  1.57605769e+02]
 [-3.16860322e-02  9.99439175e-01 -1.08319140e-02 -1.99580399e+01]
 [ 5.62005550e-01  2.67774857e-02  8.26699902e-01  1.05213372e+02]
 [ 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 270.02327356
Centerline is valid?  [True, True]
Translation: X:157.66, Y:-19.96, Z:105.25
[[ 8.26610751e-01  1.62819080e-02 -5.62538501e-01  1.57655184e+02]
 [-2.70721056e-02  9.99574607e-01 -1.08492340e-02 -1.99585711e+01]
 [ 5.62122555e-01  2.41971952e-02  8.26699902e-01  1.05246985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.08327356
Centerline is valid?  [True, True]
Translation: X:157.70, Y:-19.96, Z:105.28
[[ 8.26713602e-01  9.77511820e-03 -5.62538058e-01  1.57704115e+02]
 [-1.92191701e-02  9.99756180e-01 -1.08721791e-02 -1.99589390e+01]
 [ 5.62294623e-01  1.97996929e-02  8.26699903e-01  1.05280271e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.14327356
Centerline is valid?  [True, True]
Translation: X:157.75, Y:-19.96, Z:105.31
[[ 8.26767201e-01  3.24215242e-03 -5.62534874e-01  1.57754047e+02]
 [-1.14291526e-02  9.99873795e-01 -1.10348808e-02 -1.99615165e+01]
 [ 5.62428102e-01  1.55525745e-02  8.26699914e-01  1.05314171e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.20327356
Centerline is valid?  [True, True]
Translation: X:157.80, Y:-19.96, Z:105.35
[[ 8.26773459e-01  6.01474906e-04 -5.62534698e-01  1.57801783e+02]
 [-8.24163316e-03  9.99905050e-01 -1.10438445e-02 -1.99636184e+01]
 [ 5.62474643e-01  1.37669622e-02  8.26699914e-01  1.05346624e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.26327356
Centerline is valid?  [True, True]
Translation: X:157.85, Y:-19.96, Z:105.38
[[ 8.26770977e-01  2.41583720e-03 -5.62533479e-01  1.57850009e+02]
 [-1.04779292e-02  9.99883432e-01 -1.11056362e-02 -1.99616453e+01]
 [ 5.62441076e-01  1.50760037e-02  8.26699915e-01  1.05379449e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.32327356
Centerline is valid?  [True, True]
Translation: X:157.90, Y:-19.96, Z:105.41
[[ 8.26739237e-01  7.72286452e-03 -5.62532303e-01  1.57898797e+02]
 [-1.69363259e-02  9.99794231e-01 -1.11649584e-02 -1.99593822e+01]
 [ 5.62330326e-01  1.87577396e-02  8.26699917e-01  1.05412663e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.38327356
Centerline is valid?  [True, True]
Translation: X:157.95, Y:-19.96, Z:105.45
[[ 8.26671209e-01  1.31514038e-02 -5.62531558e-01  1.57948259e+02]
 [-2.35264395e-02  9.99660449e-01 -1.12023795e-02 -1.99586382e+01]
 [ 5.62193223e-01  2.24950493e-02  8.26699917e-01  1.05446320e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.44327356
Centerline is valid?  [True, True]
Translation: X:158.00, Y:-19.94, Z:105.48
[[ 8.26618435e-01  1.61456006e-02 -5.62531139e-01  1.57996786e+02]
 [-2.71614071e-02  9.99568054e-01 -1.12233666e-02 -1.99409601e+01]
 [ 5.62106948e-01  2.45565790e-02  8.26699917e-01  1.05479575e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.50327356
Centerline is valid?  [True, True]
Translation: X:158.05, Y:-19.94, Z:105.51
[[ 8.26621912e-01  1.59931212e-02 -5.62530385e-01  1.58045239e+02]
 [-2.70026189e-02  9.99571932e-01 -1.12610476e-02 -1.99393238e+01]
 [ 5.62109485e-01  2.44984223e-02  8.26699918e-01  1.05512558e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.56327355999997
Centerline is valid?  [True, True]
Translation: X:158.10, Y:-19.96, Z:105.55
[[ 8.26544858e-01  1.95959331e-02 -5.62529642e-01  1.58095068e+02]
 [-3.13843166e-02  9.99443534e-01 -1.12981014e-02 -1.99565699e+01]
 [ 5.61995216e-01  2.69929960e-02  8.26699919e-01  1.05546220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.62327356
Centerline is valid?  [True, True]
Translation: X:158.14, Y:-19.94, Z:105.58
[[ 8.26664734e-01  1.36417772e-02 -5.62529394e-01  1.58144383e+02]
 [-2.41928284e-02  9.99643327e-01 -1.13104250e-02 -1.99418035e+01]
 [ 5.62174460e-01  2.29591066e-02  8.26699919e-01  1.05579975e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.68327356
Centerline is valid?  [True, True]
Translation: X:158.19, Y:-19.96, Z:105.61
[[ 8.26724902e-01  9.32068748e-03 -5.62529165e-01  1.58193635e+02]
 [-1.89751910e-02  9.99755850e-01 -1.13218149e-02 -1.99590263e+01]
 [ 5.62286296e-01  2.00341247e-02  8.26699919e-01  1.05613250e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.74327356
Centerline is valid?  [True, True]
Translation: X:158.24, Y:-19.96, Z:105.65
[[ 8.26748216e-01  6.99858186e-03 -5.62528584e-01  1.58242010e+02]
 [-1.61866078e-02  9.99804560e-01 -1.13505966e-02 -1.99592696e+01]
 [ 5.62339205e-01  1.84895151e-02  8.26699919e-01  1.05646156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.80327356
Centerline is valid?  [True, True]
Translation: X:158.29, Y:-19.96, Z:105.68
[[ 8.26779558e-01  1.03794918e-03 -5.62525098e-01  1.58291321e+02]
 [-9.09408319e-03  9.99892274e-01 -1.15212010e-02 -1.99600796e+01]
 [ 5.62452541e-01  1.46411435e-02  8.26699931e-01  1.05679652e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.86327356
Centerline is valid?  [True, True]
Translation: X:158.34, Y:-19.96, Z:105.71
[[ 8.26776441e-01 -2.60737489e-03 -5.62524594e-01  1.58339863e+02]
 [-4.70212291e-03  9.99922290e-01 -1.15457649e-02 -1.99598133e+01]
 [ 5.62510984e-01  1.21908262e-02  8.26699931e-01  1.05712679e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.92327356
Centerline is valid?  [True, True]
Translation: X:158.39, Y:-19.96, Z:105.75
[[ 8.26780461e-01 -9.94292207e-04 -5.62523849e-01  1.58388302e+02]
 [-6.67762289e-03  9.99910630e-01 -1.15819649e-02 -1.99572167e+01]
 [ 5.62485092e-01  1.33320644e-02  8.26699932e-01  1.05745666e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 270.98327356
Centerline is valid?  [True, True]
Translation: X:158.44, Y:-19.95, Z:105.78
[[ 8.26781640e-01  1.74548318e-03 -5.62520287e-01  1.58437053e+02]
 [-1.01072450e-02  9.99879850e-01 -1.17528403e-02 -1.99537382e+01]
 [ 5.62432186e-01  1.54025629e-02  8.26699944e-01  1.05778842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.04327356
Centerline is valid?  [True, True]
Translation: X:158.49, Y:-19.95, Z:105.81
[[ 8.26694331e-01  1.21912987e-02 -5.62519204e-01  1.58487065e+02]
 [-2.27744795e-02  9.99670935e-01 -1.18044789e-02 -1.99493109e+01]
 [ 5.62190187e-01  2.25697778e-02  8.26699945e-01  1.05812921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.10327356
Centerline is valid?  [True, True]
Translation: X:158.54, Y:-19.95, Z:105.85
[[ 8.26574755e-01  1.86104537e-02 -5.62519178e-01  1.58536931e+02]
 [-3.05373664e-02  9.99463904e-01 -1.18057121e-02 -1.99452987e+01]
 [ 5.61997904e-01  2.69361579e-02  8.26699945e-01  1.05846909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.16327356
Centerline is valid?  [True, True]
Translation: X:158.59, Y:-19.92, Z:105.88
[[ 8.26416109e-01  2.46801651e-02 -5.62518715e-01  1.58585976e+02]
 [-3.78913977e-02  9.99211862e-01 -1.18277802e-02 -1.99247391e+01]
 [ 5.61783461e-01  3.10892884e-02  8.26699945e-01  1.05880570e+02]
 [ 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 271.22327356
Centerline is valid?  [True, True]
Translation: X:158.64, Y:-19.92, Z:105.91
[[ 8.26362546e-01  2.64185620e-02 -5.62518445e-01  1.58635470e+02]
 [-4.00019351e-02  9.99129444e-01 -1.18405678e-02 -1.99239110e+01]
 [ 5.61715931e-01  3.22864281e-02  8.26699945e-01  1.05914256e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.28327356
Centerline is valid?  [True, True]
Translation: X:158.68, Y:-19.92, Z:105.95
[[ 8.26378764e-01  2.59148826e-02 -5.62518050e-01  1.58684068e+02]
 [-3.94056801e-02  9.99152916e-01 -1.18593291e-02 -1.99229867e+01]
 [ 5.61734217e-01  3.19667041e-02  8.26699945e-01  1.05947333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.34327356
Centerline is valid?  [True, True]
Translation: X:158.73, Y:-19.92, Z:105.98
[[ 8.26389922e-01  2.55800550e-02 -5.62516984e-01  1.58732644e+02]
 [-3.90350206e-02  9.99166866e-01 -1.19096923e-02 -1.99225827e+01]
 [ 5.61743682e-01  3.17999117e-02  8.26699946e-01  1.05980380e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.40327356
Centerline is valid?  [True, True]
Translation: X:158.78, Y:-19.94, Z:106.01
[[ 8.26395302e-01  2.54889013e-02 -5.62513218e-01  1.58782377e+02]
 [-3.90440135e-02  9.99164405e-01 -1.20853809e-02 -1.99402888e+01]
 [ 5.61735142e-01  3.19500757e-02  8.26699959e-01  1.06013919e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.46327356
Centerline is valid?  [True, True]
Translation: X:158.83, Y:-19.94, Z:106.05
[[ 8.26391107e-01  2.56363295e-02 -5.62512682e-01  1.58831129e+02]
 [-3.92391876e-02  9.99156457e-01 -1.21103252e-02 -1.99414581e+01]
 [ 5.61727714e-01  3.20804057e-02  8.26699960e-01  1.06047068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.52327356
Centerline is valid?  [True, True]
Translation: X:158.88, Y:-19.94, Z:106.08
[[ 8.26350890e-01  2.69802599e-02 -5.62508909e-01  1.58880893e+02]
 [-4.09815377e-02  9.99084396e-01 -1.22834916e-02 -1.99435096e+01]
 [ 5.61662461e-01  3.32029542e-02  8.26699972e-01  1.06080854e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.58327356
Centerline is valid?  [True, True]
Translation: X:158.93, Y:-19.94, Z:106.11
[[ 8.26228659e-01  3.05014866e-02 -5.62508544e-01  1.58929610e+02]
 [-4.52500469e-02  9.98899964e-01 -1.23001717e-02 -1.99435932e+01]
 [ 5.61514591e-01  3.56162924e-02  8.26699972e-01  1.06113996e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.64327356
Centerline is valid?  [True, True]
Translation: X:158.98, Y:-19.95, Z:106.15
[[ 8.26147595e-01  3.26373157e-02 -5.62507739e-01  1.58978672e+02]
 [-4.78570993e-02  9.98778003e-01 -1.23368872e-02 -1.99473346e+01]
 [ 5.61417713e-01  3.71120784e-02  8.26699973e-01  1.06147313e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.70327356
Centerline is valid?  [True, True]
Translation: X:159.03, Y:-19.95, Z:106.18
[[ 8.25849201e-01  3.94850293e-02 -5.62506916e-01  1.59028799e+02]
 [-5.61607795e-02  9.98345052e-01 -1.23743390e-02 -1.99517891e+01]
 [ 5.61087395e-01  4.18101648e-02  8.26699973e-01  1.06181344e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.76327356
Centerline is valid?  [True, True]
Translation: X:159.08, Y:-19.96, Z:106.22
[[ 8.25559340e-01  4.51419677e-02 -5.62506870e-01  1.59078389e+02]
 [-6.30004854e-02  9.97936753e-01 -1.23764007e-02 -1.99564737e+01]
 [ 5.60787585e-01  4.56556590e-02  8.26699973e-01  1.06215016e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.82327356
Centerline is valid?  [True, True]
Translation: X:159.13, Y:-19.96, Z:106.25
[[ 8.25602864e-01  4.43421526e-02 -5.62506609e-01  1.59127053e+02]
 [-6.20417049e-02  9.97996672e-01 -1.23882786e-02 -1.99616405e+01]
 [ 5.60830401e-01  4.51266673e-02  8.26699973e-01  1.06248047e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.88327356
Centerline is valid?  [True, True]
Translation: X:159.18, Y:-19.97, Z:106.28
[[ 8.25565865e-01  4.50744797e-02 -5.62502705e-01  1.59175832e+02]
 [-6.30454961e-02  9.97931574e-01 -1.25634294e-02 -1.99668788e+01]
 [ 5.60772920e-01  4.58352006e-02  8.26699986e-01  1.06281106e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 271.94327356
Centerline is valid?  [True, True]
Translation: X:159.22, Y:-19.97, Z:106.31
[[ 8.25838803e-01  3.98190897e-02 -5.62498633e-01  1.59224715e+02]
 [-5.68147073e-02  9.98303406e-01 -1.27435989e-02 -1.99745698e+01]
 [ 5.61036862e-01  4.24823537e-02  8.26699999e-01  1.06314194e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.00327356
Centerline is valid?  [True, True]
Translation: X:159.27, Y:-19.99, Z:106.35
[[ 8.26129523e-01  3.32546839e-02 -5.62498122e-01  1.59274586e+02]
 [-4.88943865e-02  9.98722367e-01 -1.27660863e-02 -1.99854496e+01]
 [ 5.61354924e-01  3.80494414e-02  8.26700000e-01  1.06347952e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.06327355999997
Centerline is valid?  [True, True]
Translation: X:159.32, Y:-19.99, Z:106.38
[[ 8.26388748e-01  2.60396689e-02 -5.62497620e-01  1.59324149e+02]
 [-4.01867050e-02  9.99110349e-01 -1.27882109e-02 -1.99919348e+01]
 [ 5.61664193e-01  3.31729595e-02  8.26700000e-01  1.06381568e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.12327356
Centerline is valid?  [True, True]
Translation: X:159.37, Y:-20.00, Z:106.42
[[ 8.26546487e-01  2.04411885e-02 -5.62497167e-01  1.59373885e+02]
 [-3.34313853e-02  9.99358942e-01 -1.28080814e-02 -2.00015186e+01]
 [ 5.61874762e-01  2.93915342e-02  8.26700000e-01  1.06415254e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.18327356
Centerline is valid?  [True, True]
Translation: X:159.42, Y:-20.01, Z:106.45
[[ 8.26704091e-01  1.25607505e-02 -5.62496732e-01  1.59423920e+02]
 [-2.39159050e-02  9.99631679e-01 -1.28271898e-02 -2.00109402e+01]
 [ 5.62128433e-01  2.40569087e-02  8.26700000e-01  1.06449145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.24327356
Centerline is valid?  [True, True]
Translation: X:159.47, Y:-20.02, Z:106.48
[[ 8.26726341e-01  1.10143310e-02 -5.62496436e-01  1.59473505e+02]
 [-2.20547855e-02  9.99674306e-01 -1.28401319e-02 -2.00163358e+01]
 [ 5.62171809e-01  2.30210135e-02  8.26700000e-01  1.06482795e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.30327356
Centerline is valid?  [True, True]
Translation: X:159.52, Y:-20.02, Z:106.52
[[ 8.26737354e-01  1.01696856e-02 -5.62496156e-01  1.59522138e+02]
 [-2.10417644e-02  9.99695984e-01 -1.28523878e-02 -2.00214558e+01]
 [ 5.62194444e-01  2.24614607e-02  8.26700000e-01  1.06515801e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.36327356
Centerline is valid?  [True, True]
Translation: X:159.57, Y:-20.02, Z:106.55
[[ 8.26743558e-01  9.70034528e-03 -5.62495327e-01  1.59570857e+02]
 [-2.04988263e-02  9.99706798e-01 -1.28885896e-02 -2.00237876e+01]
 [ 5.62205379e-01  2.21860524e-02  8.26700001e-01  1.06548900e+02]
 [ 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 272.42327356
Centerline is valid?  [True, True]
Translation: X:159.62, Y:-20.03, Z:106.58
[[ 8.26767948e-01  7.62902165e-03 -5.62491386e-01  1.59619326e+02]
 [-1.81097204e-02  9.99750723e-01 -1.30587182e-02 -2.00262910e+01]
 [ 5.62251544e-01  2.09830913e-02  8.26700013e-01  1.06581774e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.48327356
Centerline is valid?  [True, True]
Translation: X:159.67, Y:-20.03, Z:106.61
[[ 8.26773542e-01  7.30633898e-03 -5.62487447e-01  1.59668169e+02]
 [-1.78335523e-02  9.99753481e-01 -1.32265554e-02 -2.00299839e+01]
 [ 5.62252145e-01  2.09665154e-02  8.26700024e-01  1.06614883e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.54327356
Centerline is valid?  [True, True]
Translation: X:159.72, Y:-20.03, Z:106.65
[[ 8.26778374e-01  7.05803611e-03 -5.62483515e-01  1.59716754e+02]
 [-1.76457106e-02  9.99754611e-01 -1.33920152e-02 -2.00312500e+01]
 [ 5.62250967e-01  2.09976499e-02  8.26700036e-01  1.06647855e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.60327356
Centerline is valid?  [True, True]
Translation: X:159.77, Y:-20.02, Z:106.68
[[ 8.26811286e-01 -5.87721653e-05 -5.62479417e-01  1.59766491e+02]
 [-9.15537751e-03  9.99866112e-01 -1.35623341e-02 -2.00203719e+01]
 [ 5.62404905e-01  1.63632023e-02  8.26700048e-01  1.06681807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.66327356
Centerline is valid?  [True, True]
Translation: X:159.82, Y:-20.03, Z:106.72
[[ 8.26735169e-01  1.12436210e-02 -5.62478925e-01  1.59816773e+02]
 [-2.28363783e-02  9.99646943e-01 -1.35827057e-02 -2.00326879e+01]
 [ 5.62127619e-01  2.40742820e-02  8.26700048e-01  1.06715808e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.72327356
Centerline is valid?  [True, True]
Translation: X:159.87, Y:-20.03, Z:106.75
[[ 8.26721221e-01  1.22341310e-02 -5.62478753e-01  1.59865468e+02]
 [-2.40388680e-02  9.99618652e-01 -1.35898054e-02 -2.00326857e+01]
 [ 5.62097994e-01  2.47563330e-02  8.26700048e-01  1.06748937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.78327356
Centerline is valid?  [True, True]
Translation: X:159.92, Y:-20.03, Z:106.78
[[ 8.26699954e-01  1.37676903e-02 -5.62474566e-01  1.59915546e+02]
 [-2.60095653e-02  9.99566971e-01 -1.37612941e-02 -2.00334713e+01]
 [ 5.62041537e-01  2.60061801e-02  8.26700060e-01  1.06782927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.84327356
Centerline is valid?  [True, True]
Translation: X:159.96, Y:-20.03, Z:106.82
[[ 8.26690956e-01  1.43095023e-02 -5.62474268e-01  1.59964471e+02]
 [-2.66729405e-02  9.99549321e-01 -1.37734752e-02 -2.00339257e+01]
 [ 5.62023681e-01  2.63892501e-02  8.26700060e-01  1.06816203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.90327356
Centerline is valid?  [True, True]
Translation: X:160.01, Y:-20.03, Z:106.85
[[ 8.26680003e-01  1.50886670e-02 -5.62470004e-01  1.60013736e+02]
 [-2.77319945e-02  9.99518110e-01 -1.39457913e-02 -2.00309609e+01]
 [ 5.61988532e-01  2.71271219e-02  8.26700072e-01  1.06849702e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 272.96327356
Centerline is valid?  [True, True]
Translation: X:160.06, Y:-20.03, Z:106.88
[[ 8.26611308e-01  1.84912114e-02 -5.62469396e-01  1.60062362e+02]
 [-3.18624595e-02  9.99394624e-01 -1.39702749e-02 -2.00304501e+01]
 [ 5.61870563e-01  2.94696456e-02  8.26700073e-01  1.06882784e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.02327356
Centerline is valid?  [True, True]
Translation: X:160.11, Y:-20.03, Z:106.92
[[ 8.26558882e-01  2.07268975e-02 -5.62468497e-01  1.60110954e+02]
 [-3.45899407e-02  9.99303436e-01 -1.40064073e-02 -2.00307611e+01]
 [ 5.61786392e-01  3.10328723e-02  8.26700073e-01  1.06915826e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.08327356
Centerline is valid?  [True, True]
Translation: X:160.16, Y:-20.03, Z:106.95
[[ 8.26495892e-01  2.32060021e-02 -5.62464240e-01  1.60160857e+02]
 [-3.77018697e-02  9.99188481e-01 -1.41756042e-02 -2.00303377e+01]
 [ 5.61678831e-01  3.29220321e-02  8.26700085e-01  1.06949717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.14327356
Centerline is valid?  [True, True]
Translation: X:160.21, Y:-20.03, Z:106.98
[[ 8.26409374e-01  2.61151075e-02 -5.62463820e-01  1.60209594e+02]
 [-4.12300672e-02  9.99048878e-01 -1.41922820e-02 -2.00253891e+01]
 [ 5.61558215e-01  3.49190560e-02  8.26700085e-01  1.06982954e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.20327356
Centerline is valid?  [True, True]
Translation: X:160.26, Y:-20.03, Z:107.02
[[ 8.26289658e-01  2.96679838e-02 -5.62463520e-01  1.60259122e+02]
 [-4.55331035e-02  9.98861842e-01 -1.42041490e-02 -2.00250030e+01]
 [ 5.61401939e-01  3.73474511e-02  8.26700085e-01  1.07016653e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.26327356
Centerline is valid?  [True, True]
Translation: X:160.31, Y:-20.02, Z:107.05
[[ 8.25007521e-01  5.47515563e-02 -5.62463205e-01  1.60308677e+02]
 [-7.58593816e-02  9.97017173e-01 -1.42166074e-02 -2.00155691e+01]
 [ 5.60007093e-01  5.43969189e-02  8.26700085e-01  1.07050527e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.32327356
Centerline is valid?  [True, True]
Translation: X:160.36, Y:-20.02, Z:107.08
[[ 8.26063363e-01  3.54261793e-02 -5.62462715e-01  1.60358475e+02]
 [-5.25152339e-02  9.98518646e-01 -1.42359838e-02 -2.00239656e+01]
 [ 5.61125182e-01  4.12976856e-02  8.26700085e-01  1.07084255e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.38327356
Centerline is valid?  [True, True]
Translation: X:160.41, Y:-20.03, Z:107.12
[[ 8.25905407e-01  3.89418506e-02 -5.62462257e-01  1.60408471e+02]
 [-5.67770038e-02  9.98285127e-01 -1.42540482e-02 -2.00295945e+01]
 [ 5.60942627e-01  4.37074172e-02  8.26700086e-01  1.07118167e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.44327356
Centerline is valid?  [True, True]
Translation: X:160.46, Y:-20.03, Z:107.15
[[ 8.26103949e-01  3.44794253e-02 -5.62461941e-01  1.60457900e+02]
 [-5.13915126e-02  9.98576676e-01 -1.42665326e-02 -2.00251838e+01]
 [ 5.61169473e-01  4.06914088e-02  8.26700086e-01  1.07151868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.50327356
Centerline is valid?  [True, True]
Translation: X:160.51, Y:-20.03, Z:107.19
[[ 8.26182458e-01  3.25481131e-02 -5.62461703e-01  1.60506962e+02]
 [-4.90633009e-02  9.98693642e-01 -1.42758963e-02 -2.00257799e+01]
 [ 5.61262273e-01  3.93907229e-02  8.26700086e-01  1.07185234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.56327355999997
Centerline is valid?  [True, True]
Translation: X:160.56, Y:-20.03, Z:107.22
[[ 8.26321604e-01  2.88122451e-02 -5.62461075e-01  1.60556782e+02]
 [-4.45640054e-02  9.98904171e-01 -1.43005962e-02 -2.00302870e+01]
 [ 5.61432681e-01  3.68824100e-02  8.26700086e-01  1.07219042e+02]
 [ 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 273.62327356
Centerline is valid?  [True, True]
Translation: X:160.61, Y:-20.03, Z:107.25
[[ 8.26202628e-01  3.20532609e-02 -5.62460493e-01  1.60606201e+02]
 [-4.84973367e-02  9.98720605e-01 -1.43234502e-02 -2.00287376e+01]
 [ 5.61281771e-01  3.91119081e-02  8.26700086e-01  1.07252682e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.68327356
Centerline is valid?  [True, True]
Translation: X:160.66, Y:-20.04, Z:107.29
[[ 8.26537911e-01  2.17629763e-02 -5.62460181e-01  1.60655522e+02]
 [-3.60659145e-02  9.99246585e-01 -1.43357098e-02 -2.00378393e+01]
 [ 5.61724427e-01  3.21346484e-02  8.26700086e-01  1.07286075e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.74327356
Centerline is valid?  [True, True]
Translation: X:160.70, Y:-20.04, Z:107.32
[[ 8.26398906e-01  2.65351284e-02 -5.62459541e-01  1.60704859e+02]
 [-4.18520687e-02  9.99020606e-01 -1.43607906e-02 -2.00364048e+01]
 [ 5.61527606e-01  3.54078370e-02  8.26700086e-01  1.07319657e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.80327356
Centerline is valid?  [True, True]
Translation: X:160.75, Y:-20.05, Z:107.35
[[ 8.26633444e-01  1.78051707e-02 -5.62458998e-01  1.60754592e+02]
 [-3.13124137e-02  9.99406169e-01 -1.43820100e-02 -2.00463970e+01]
 [ 5.61868918e-01  2.95005992e-02  8.26700087e-01  1.07353311e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.86327356
Centerline is valid?  [True, True]
Translation: X:160.80, Y:-20.05, Z:107.39
[[ 8.26631806e-01  1.78965648e-02 -5.62458505e-01  1.60803495e+02]
 [-3.14359884e-02  9.99402012e-01 -1.44012847e-02 -2.00491169e+01]
 [ 5.61864428e-01  2.95859991e-02  8.26700087e-01  1.07386526e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.92327356
Centerline is valid?  [True, True]
Translation: X:160.85, Y:-20.05, Z:107.42
[[ 8.26604162e-01  1.91581956e-02 -5.62457574e-01  1.60852361e+02]
 [-3.29859083e-02  9.99351533e-01 -1.44375636e-02 -2.00491796e+01]
 [ 5.61816241e-01  3.04873241e-02  8.26700087e-01  1.07419756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 273.98327356
Centerline is valid?  [True, True]
Translation: X:160.90, Y:-20.05, Z:107.45
[[ 8.26352220e-01  2.80095053e-02 -5.62456644e-01  1.60901827e+02]
 [-4.37109423e-02  9.98939370e-01 -1.44737139e-02 -2.00453368e+01]
 [ 5.61454684e-01  3.65458956e-02  8.26700088e-01  1.07453462e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.04327356
Centerline is valid?  [True, True]
Translation: X:160.95, Y:-20.05, Z:107.49
[[ 8.26351088e-01  2.80501648e-02 -5.62456280e-01  1.60949562e+02]
 [-4.37696664e-02  9.98936594e-01 -1.44878379e-02 -2.00462521e+01]
 [ 5.61451775e-01  3.65905644e-02  8.26700088e-01  1.07485916e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.10327356
Centerline is valid?  [True, True]
Translation: X:161.00, Y:-20.04, Z:107.52
[[ 8.25942199e-01  3.82645542e-02 -5.62454717e-01  1.60999473e+02]
 [-5.61575501e-02  9.98315920e-01 -1.45483298e-02 -2.00393015e+01]
 [ 5.60950812e-01  4.36021584e-02  8.26700089e-01  1.07519969e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.16327356
Centerline is valid?  [True, True]
Translation: X:161.05, Y:-20.04, Z:107.55
[[ 8.26096708e-01  3.47742074e-02 -5.62454428e-01  1.61048760e+02]
 [-5.19462314e-02  9.98543745e-01 -1.45594790e-02 -2.00414074e+01]
 [ 5.61129057e-01  4.12449255e-02  8.26700090e-01  1.07553460e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.22327356
Centerline is valid?  [True, True]
Translation: X:161.10, Y:-20.05, Z:107.59
[[ 8.26358268e-01  2.78878802e-02 -5.62453802e-01  1.61098494e+02]
 [-4.36384062e-02  9.98940943e-01 -1.45836198e-02 -2.00504787e+01]
 [ 5.61451425e-01  3.65958823e-02  8.26700090e-01  1.07587126e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.28327356
Centerline is valid?  [True, True]
Translation: X:161.15, Y:-20.04, Z:107.62
[[ 8.26137849e-01  3.38008323e-02 -5.62453338e-01  1.61147022e+02]
 [-5.07981211e-02  9.98602197e-01 -1.46015049e-02 -2.00424207e+01]
 [ 5.61173596e-01  4.06344287e-02  8.26700090e-01  1.07620277e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.34327356
Centerline is valid?  [True, True]
Translation: X:161.20, Y:-20.05, Z:107.65
[[ 8.26506416e-01  2.31111855e-02 -5.62452681e-01  1.61197080e+02]
 [-3.78932189e-02  9.99174740e-01 -1.46267874e-02 -2.00539988e+01]
 [ 5.61650469e-01  3.34022762e-02  8.26700090e-01  1.07654118e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.40327356
Centerline is valid?  [True, True]
Translation: X:161.25, Y:-20.05, Z:107.69
[[ 8.26432211e-01  2.56400765e-02 -5.62452119e-01  1.61247093e+02]
 [-4.09649981e-02  9.99053199e-01 -1.46483465e-02 -2.00543491e+01]
 [ 5.61544005e-01  3.51467154e-02  8.26700090e-01  1.07688128e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.46327356
Centerline is valid?  [True, True]
Translation: X:161.29, Y:-20.06, Z:107.72
[[ 8.26447338e-01  2.51547154e-02 -5.62451809e-01  1.61294751e+02]
 [-4.03863384e-02  9.99076584e-01 -1.46602689e-02 -2.00550802e+01]
 [ 5.61563657e-01  3.48313093e-02  8.26700090e-01  1.07720534e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.52327356
Centerline is valid?  [True, True]
Translation: X:161.34, Y:-20.06, Z:107.75
[[ 8.26519027e-01  2.27167071e-02 -5.62450220e-01  1.61343929e+02]
 [-3.74802260e-02  9.99188933e-01 -1.47210140e-02 -2.00573597e+01]
 [ 5.61659622e-01  3.32479595e-02  8.26700092e-01  1.07753924e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.58327356
Centerline is valid?  [True, True]
Translation: X:161.39, Y:-20.06, Z:107.79
[[ 8.26518064e-01  2.28101467e-02 -5.62447853e-01  1.61392480e+02]
 [-3.76541950e-02  9.99181063e-01 -1.48109833e-02 -2.00591350e+01]
 [ 5.61649403e-01  3.34200664e-02  8.26700095e-01  1.07786880e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.64327356
Centerline is valid?  [True, True]
Translation: X:161.44, Y:-20.06, Z:107.82
[[ 8.26468447e-01  2.45642332e-02 -5.62446891e-01  1.61442109e+02]
 [-3.97994138e-02  9.99097373e-01 -1.48474443e-02 -2.00643089e+01]
 [ 5.61574495e-01  3.46560007e-02  8.26700096e-01  1.07820535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.70327356
Centerline is valid?  [True, True]
Translation: X:161.49, Y:-20.06, Z:107.85
[[ 8.26428524e-01  2.58795090e-02 -5.62446571e-01  1.61491243e+02]
 [-4.13976188e-02  9.99032247e-01 -1.48595607e-02 -2.00646908e+01]
 [ 5.61517703e-01  3.55643136e-02  8.26700096e-01  1.07853951e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.76327356
Centerline is valid?  [True, True]
Translation: X:161.54, Y:-20.07, Z:107.89
[[ 8.26370920e-01  2.76778409e-02 -5.62445588e-01  1.61539960e+02]
 [-4.35966626e-02  9.98938146e-01 -1.48966643e-02 -2.00690322e+01]
 [ 5.61436046e-01  3.68309207e-02  8.26700096e-01  1.07886999e+02]
 [ 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 274.82327356
Centerline is valid?  [True, True]
Translation: X:161.59, Y:-20.07, Z:107.92
[[ 8.26254165e-01  3.09855566e-02 -5.62444619e-01  1.61590124e+02]
 [-4.76197653e-02  9.98753903e-01 -1.49331749e-02 -2.00707020e+01]
 [ 5.61281046e-01  3.91220787e-02  8.26700097e-01  1.07921080e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.88327356
Centerline is valid?  [True, True]
Translation: X:161.64, Y:-20.07, Z:107.96
[[ 8.26135330e-01  3.40068590e-02 -5.62444619e-01  1.61640175e+02]
 [-5.12717668e-02  9.98573085e-01 -1.49331749e-02 -2.00711376e+01]
 [ 5.61134228e-01  4.11743528e-02  8.26700097e-01  1.07955124e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 274.94327356
Centerline is valid?  [True, True]
Translation: X:161.69, Y:-20.07, Z:107.99
[[ 8.26021602e-01  3.66655640e-02 -5.62444619e-01  1.61689307e+02]
 [-5.44853659e-02  9.98402897e-01 -1.49331749e-02 -2.00735810e+01]
 [ 5.60998804e-01  4.29801260e-02  8.26700097e-01  1.07988506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.00327356
Centerline is valid?  [True, True]
Translation: X:161.74, Y:-20.08, Z:108.02
[[ 8.25788188e-01  4.16052374e-02 -5.62443662e-01  1.61738945e+02]
 [-6.04800662e-02  9.98057155e-01 -1.49691782e-02 -2.00778304e+01]
 [ 5.60728125e-01  4.63780005e-02  8.26700098e-01  1.08022182e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.06327355999997
Centerline is valid?  [True, True]
Translation: X:161.79, Y:-20.08, Z:108.06
[[ 8.25710078e-01  4.31322988e-02 -5.62443305e-01  1.61788450e+02]
 [-6.23347274e-02  9.97942836e-01 -1.49825663e-02 -2.00787142e+01]
 [ 5.60640035e-01  4.74310061e-02  8.26700098e-01  1.08055840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.12327356
Centerline is valid?  [True, True]
Translation: X:161.84, Y:-20.07, Z:108.09
[[ 8.25201899e-01  5.19602831e-02 -5.62442846e-01  1.61837953e+02]
 [-7.30151609e-02  9.97218027e-01 -1.49997791e-02 -2.00698560e+01]
 [ 5.60098752e-01  5.34447011e-02  8.26700098e-01  1.08089671e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.18327356
Centerline is valid?  [True, True]
Translation: X:161.89, Y:-20.09, Z:108.12
[[ 8.25403877e-01  4.86517984e-02 -5.62442391e-01  1.61887704e+02]
 [-6.90284497e-02  9.97501663e-01 -1.50168271e-02 -2.00851595e+01]
 [ 5.60306625e-01  5.12194736e-02  8.26700098e-01  1.08123232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.24327356
Centerline is valid?  [True, True]
Translation: X:161.94, Y:-20.09, Z:108.16
[[ 8.25476586e-01  4.74055181e-02 -5.62442106e-01  1.61936159e+02]
 [-6.75295088e-02  9.97604100e-01 -1.50274829e-02 -2.00857755e+01]
 [ 5.60382166e-01  5.03862744e-02  8.26700098e-01  1.08156182e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.30327356
Centerline is valid?  [True, True]
Translation: X:161.98, Y:-20.08, Z:108.19
[[ 8.25246431e-01  5.13073613e-02 -5.62437447e-01  1.61984439e+02]
 [-7.23614993e-02  9.97262637e-01 -1.52001874e-02 -2.00766442e+01]
 [ 5.60117970e-01  5.32427173e-02  8.26700110e-01  1.08189105e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.36327356
Centerline is valid?  [True, True]
Translation: X:162.03, Y:-20.09, Z:108.22
[[ 8.25831875e-01  4.08265864e-02 -5.62436578e-01  1.62034408e+02]
 [-5.97169785e-02  9.98099123e-01 -1.52323027e-02 -2.00906842e+01]
 [ 5.60745572e-01  4.61663341e-02  8.26700111e-01  1.08222825e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.42327356
Centerline is valid?  [True, True]
Translation: X:162.08, Y:-20.09, Z:108.26
[[ 8.25870926e-01  4.00356310e-02 -5.62436096e-01  1.62082522e+02]
 [-5.87730404e-02  9.98154880e-01 -1.52500609e-02 -2.00941816e+01]
 [ 5.60787789e-01  4.56506613e-02  8.26700111e-01  1.08255485e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.48327356
Centerline is valid?  [True, True]
Translation: X:162.13, Y:-20.10, Z:108.29
[[ 8.25899178e-01  3.94715870e-02 -5.62434477e-01  1.62131439e+02]
 [-5.81315971e-02  9.98191532e-01 -1.53095778e-02 -2.00971726e+01]
 [ 5.60813039e-01  4.53393822e-02  8.26700112e-01  1.08288677e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.54327356
Centerline is valid?  [True, True]
Translation: X:162.18, Y:-20.10, Z:108.32
[[ 8.26016142e-01  3.69585987e-02 -5.62433458e-01  1.62180117e+02]
 [-5.51196055e-02  9.98361808e-01 -1.53469362e-02 -2.00999214e+01]
 [ 5.60944883e-01  4.36779273e-02  8.26700113e-01  1.08321723e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.60327356
Centerline is valid?  [True, True]
Translation: X:162.23, Y:-20.10, Z:108.35
[[ 8.26028820e-01  3.66837465e-02 -5.62432833e-01  1.62228965e+02]
 [-5.48029044e-02  9.98378891e-01 -1.53698359e-02 -2.01003310e+01]
 [ 5.60957245e-01  4.35188801e-02  8.26700113e-01  1.08354935e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.66327356
Centerline is valid?  [True, True]
Translation: X:162.28, Y:-20.10, Z:108.39
[[ 8.26171235e-01  3.34013524e-02 -5.62428164e-01  1.62278530e+02]
 [-5.09501628e-02  9.98580301e-01 -1.55390980e-02 -2.01032199e+01]
 [ 5.61110659e-01  4.14937623e-02  8.26700125e-01  1.08388507e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.72327356
Centerline is valid?  [True, True]
Translation: X:162.33, Y:-20.10, Z:108.42
[[ 8.26348705e-01  2.86838890e-02 -5.62427820e-01  1.62328325e+02]
 [-4.52565116e-02  9.98854342e-01 -1.55515649e-02 -2.01048131e+01]
 [ 5.61337390e-01  3.83045366e-02  8.26700125e-01  1.08422347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.78327356
Centerline is valid?  [True, True]
Translation: X:162.38, Y:-20.11, Z:108.46
[[ 8.26551259e-01  2.21031305e-02 -5.62427300e-01  1.62377130e+02]
 [-3.73143692e-02  9.99182267e-01 -1.55703372e-02 -2.01060863e+01]
 [ 5.61623231e-01  3.38563017e-02  8.26700125e-01  1.08455516e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.84327356
Centerline is valid?  [True, True]
Translation: X:162.43, Y:-20.10, Z:108.49
[[ 8.26688319e-01  1.62146559e-02 -5.62426446e-01  1.62426459e+02]
 [-3.02166585e-02  9.99421612e-01 -1.56011176e-02 -2.01017436e+01]
 [ 5.61848179e-01  2.98919096e-02  8.26700126e-01  1.08489140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.90327356
Centerline is valid?  [True, True]
Translation: X:162.48, Y:-20.11, Z:108.52
[[ 8.26720174e-01  1.45226576e-02 -5.62425858e-01  1.62475616e+02]
 [-2.81854729e-02  9.99480627e-01 -1.56222977e-02 -2.01066770e+01]
 [ 5.61906872e-01  2.87675075e-02  8.26700126e-01  1.08522478e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 275.96327356
Centerline is valid?  [True, True]
Translation: X:162.53, Y:-20.11, Z:108.56
[[ 8.26793410e-01  9.75465149e-03 -5.62421110e-01  1.62525151e+02]
 [-2.25359191e-02  9.99621305e-01 -1.57917115e-02 -2.01084210e+01]
 [ 5.62054081e-01  2.57311596e-02  8.26700138e-01  1.08556047e+02]
 [ 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 276.02327356
Centerline is valid?  [True, True]
Translation: X:162.57, Y:-20.11, Z:108.59
[[ 8.26831814e-01  5.68524597e-03 -5.62420510e-01  1.62573970e+02]
 [-1.76302248e-02  9.99719522e-01 -1.58130423e-02 -2.01075429e+01]
 [ 5.62172862e-01  2.29903265e-02  8.26700138e-01  1.08589264e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.08327356
Centerline is valid?  [True, True]
Translation: X:162.62, Y:-20.11, Z:108.62
[[ 8.26853218e-01  1.52802586e-03 -5.62415702e-01  1.62623667e+02]
 [-1.27187427e-02  9.99791374e-01 -1.59825308e-02 -2.01071998e+01]
 [ 5.62273945e-01  2.03684277e-02  8.26700150e-01  1.08622982e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.14327356
Centerline is valid?  [True, True]
Translation: X:162.67, Y:-20.10, Z:108.66
[[ 8.26840734e-01 -4.83497555e-03 -5.62415349e-01  1.62673152e+02]
 [-5.03302119e-03  9.99859405e-01 -1.59949453e-02 -2.01035862e+01]
 [ 5.62413611e-01  1.60559206e-02  8.26700150e-01  1.08656710e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.20327356
Centerline is valid?  [True, True]
Translation: X:162.72, Y:-20.11, Z:108.69
[[ 8.26834051e-01 -5.92875715e-03 -5.62414706e-01  1.62723093e+02]
 [-3.72568263e-03  9.99864770e-01 -1.60174984e-02 -2.01051779e+01]
 [ 5.62433615e-01  1.53391918e-02  8.26700150e-01  1.08690641e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.26327356
Centerline is valid?  [True, True]
Translation: X:162.77, Y:-20.11, Z:108.72
[[ 8.26832367e-01 -6.19064862e-03 -5.62414360e-01  1.62771491e+02]
 [-3.41724240e-03  9.99865677e-01 -1.60296471e-02 -2.01092035e+01]
 [ 5.62438049e-01  1.51757372e-02  8.26700150e-01  1.08723482e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.32327356
Centerline is valid?  [True, True]
Translation: X:162.82, Y:-20.11, Z:108.76
[[ 8.26846590e-01 -4.59708728e-03 -5.62408734e-01  1.62821049e+02]
 [-5.47707017e-03  9.99853364e-01 -1.62250503e-02 -2.01070598e+01]
 [ 5.62400852e-01  1.64959796e-02  8.26700166e-01  1.08757123e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.38327356
Centerline is valid?  [True, True]
Translation: X:162.87, Y:-20.10, Z:108.79
[[ 8.26852774e-01 -3.41862132e-03 -5.62408040e-01  1.62870143e+02]
 [-6.91842656e-03  9.99844039e-01 -1.62490713e-02 -2.01044773e+01]
 [ 5.62375876e-01  1.73265684e-02  8.26700166e-01  1.08790559e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.44327356
Centerline is valid?  [True, True]
Translation: X:162.92, Y:-20.10, Z:108.82
[[ 8.26843327e-01 -5.69830950e-03 -5.62403451e-01  1.62917519e+02]
 [-4.26881727e-03  9.99856290e-01 -1.64066093e-02 -2.01000214e+01]
 [ 5.62416118e-01  1.59664930e-02  8.26700176e-01  1.08822785e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.50327356
Centerline is valid?  [True, True]
Translation: X:162.97, Y:-20.10, Z:108.86
[[ 8.26847191e-01 -5.36936929e-03 -5.62401006e-01  1.62966059e+02]
 [-4.72329581e-03  9.99852873e-01 -1.64900544e-02 -2.00954891e+01]
 [ 5.62406803e-01  1.62911415e-02  8.26700179e-01  1.08855849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.56327355999997
Centerline is valid?  [True, True]
Translation: X:163.02, Y:-20.09, Z:108.89
[[ 8.26813014e-01 -9.53337569e-03 -5.62396084e-01  1.63015182e+02]
 [ 1.98946300e-04  9.99861251e-01 -1.66565199e-02 -2.00913644e+01]
 [ 5.62476845e-01  1.36599408e-02  8.26700191e-01  1.08889253e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.62327356
Centerline is valid?  [True, True]
Translation: X:163.06, Y:-20.09, Z:108.92
[[ 8.26737105e-01 -1.47376574e-02 -5.62395377e-01  1.63063674e+02]
 [ 6.47647633e-03  9.99839898e-01 -1.66803550e-02 -2.00873944e+01]
 [ 5.62551166e-01  1.01479281e-02  8.26700191e-01  1.08922308e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.68327356
Centerline is valid?  [True, True]
Translation: X:163.11, Y:-20.08, Z:108.96
[[ 8.26673537e-01 -1.81126182e-02 -5.62390252e-01  1.63112584e+02]
 [ 1.04416661e-02  9.99803477e-01 -1.68516605e-02 -2.00827753e+01]
 [ 5.62584958e-01  8.05853050e-03  8.26700203e-01  1.08955577e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.74327356
Centerline is valid?  [True, True]
Translation: X:163.16, Y:-20.08, Z:108.99
[[ 8.26578583e-01 -2.21589571e-02 -5.62384945e-01  1.63161163e+02]
 [ 1.52161246e-02  9.99739238e-01 -1.70272270e-02 -2.00773691e+01]
 [ 5.62615602e-01  5.51702182e-03  8.26700216e-01  1.08988635e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.80327356
Centerline is valid?  [True, True]
Translation: X:163.21, Y:-20.07, Z:109.02
[[ 8.26490793e-01 -2.52382372e-02 -5.62384211e-01  1.63208063e+02]
 [ 1.89240771e-02  9.99675511e-01 -1.70514606e-02 -2.00669065e+01]
 [ 5.62632072e-01  3.45027301e-03  8.26700216e-01  1.09020743e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.86327356
Centerline is valid?  [True, True]
Translation: X:163.26, Y:-20.06, Z:109.05
[[ 8.26589362e-01 -2.18760785e-02 -5.62380177e-01  1.63256772e+02]
 [ 1.47675861e-02  9.99743288e-01 -1.71836303e-02 -2.00620704e+01]
 [ 5.62611718e-01  5.89880832e-03  8.26700223e-01  1.09053905e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.92327356
Centerline is valid?  [True, True]
Translation: X:163.31, Y:-20.05, Z:109.09
[[ 8.26674696e-01 -1.85285324e-02 -5.62375000e-01  1.63305509e+02]
 [ 1.06045823e-02  9.99793209e-01 -1.73516977e-02 -2.00515227e+01]
 [ 5.62580207e-01  8.38045743e-03  8.26700235e-01  1.09087189e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 276.98327356
Centerline is valid?  [True, True]
Translation: X:163.35, Y:-20.05, Z:109.12
[[ 8.26677133e-01 -1.84543273e-02 -5.62373857e-01  1.63354080e+02]
 [ 1.04896995e-02  9.99793779e-01 -1.73886584e-02 -2.00457320e+01]
 [ 5.62578780e-01  8.47567346e-03  8.26700235e-01  1.09120331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.04327356
Centerline is valid?  [True, True]
Translation: X:163.40, Y:-20.04, Z:109.15
[[ 8.26703033e-01 -1.74290838e-02 -5.62368493e-01  1.63402043e+02]
 [ 9.13276157e-03  9.99804088e-01 -1.75607056e-02 -2.00376556e+01]
 [ 5.62564385e-01  9.38151121e-03  8.26700248e-01  1.09153039e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.10327356
Centerline is valid?  [True, True]
Translation: X:163.45, Y:-20.03, Z:109.19
[[ 8.26689145e-01 -1.82674772e-02 -5.62362300e-01  1.63449243e+02]
 [ 1.00130960e-02  9.99792189e-01 -1.77571705e-02 -2.00288638e+01]
 [ 5.62569814e-01  9.04867237e-03  8.26700264e-01  1.09185232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.16327356
Centerline is valid?  [True, True]
Translation: X:163.50, Y:-20.02, Z:109.22
[[ 8.26641354e-01 -2.03893100e-02 -5.62359625e-01  1.63496821e+02]
 [ 1.25218748e-02  9.99762413e-01 -1.78415480e-02 -2.00218596e+01]
 [ 5.62589793e-01  7.70676458e-03  8.26700267e-01  1.09217704e+02]
 [ 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 277.22327356
Centerline is valid?  [True, True]
Translation: X:163.55, Y:-20.01, Z:109.25
[[ 8.26733357e-01 -1.64504296e-02 -5.62353394e-01  1.63546063e+02]
 [ 7.62587851e-03  9.99808253e-01 -1.80361801e-02 -2.00119572e+01]
 [ 5.62542267e-01  1.06226731e-02  8.26700282e-01  1.09251317e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.28327356
Centerline is valid?  [True, True]
Translation: X:163.59, Y:-20.00, Z:109.28
[[ 8.26770486e-01 -1.44810297e-02 -5.62352971e-01  1.63594418e+02]
 [ 5.23525846e-03  9.99823391e-01 -1.80493667e-02 -2.00041944e+01]
 [ 5.62515027e-01  1.19786206e-02  8.26700282e-01  1.09284373e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.34327356
Centerline is valid?  [True, True]
Translation: X:163.64, Y:-19.99, Z:109.32
[[ 8.26895082e-01 -3.12203934e-03 -5.62347559e-01  1.63643881e+02]
 [-8.61378566e-03  9.99796957e-01 -1.82166745e-02 -1.99887065e+01]
 [ 5.62290251e-01  1.99072199e-02  8.26700294e-01  1.09318278e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.40327356
Centerline is valid?  [True, True]
Translation: X:163.69, Y:-19.99, Z:109.35
[[ 8.26901007e-01  4.99349213e-05 -5.62347511e-01  1.63693491e+02]
 [-1.24499313e-02  9.99756519e-01 -1.82181619e-02 -1.99856306e+01]
 [ 5.62209680e-01  2.20658043e-02  8.26700294e-01  1.09352092e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.46327356
Centerline is valid?  [True, True]
Translation: X:163.74, Y:-19.97, Z:109.39
[[ 8.26827621e-01  1.10368506e-02 -5.62347111e-01  1.63742103e+02]
 [-2.57408156e-02  9.99502406e-01 -1.82304816e-02 -1.99701447e+01]
 [ 5.61866084e-01  2.95487390e-02  8.26700294e-01  1.09385495e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.52327356
Centerline is valid?  [True, True]
Translation: X:163.79, Y:-19.96, Z:109.42
[[ 8.26754334e-01  1.56140072e-02 -5.62346401e-01  1.63791453e+02]
 [-3.12885200e-02  9.99343724e-01 -1.82523785e-02 -1.99643804e+01]
 [ 5.61692354e-01  3.26852196e-02  8.26700294e-01  1.09419181e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.58327356
Centerline is valid?  [True, True]
Translation: X:163.84, Y:-19.96, Z:109.45
[[ 8.26639311e-01  2.08427078e-02 -5.62346006e-01  1.63841174e+02]
 [-3.76167192e-02  9.99125312e-01 -1.82645236e-02 -1.99565986e+01]
 [ 5.61473447e-01  3.62517850e-02  8.26700294e-01  1.09453169e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.64327356
Centerline is valid?  [True, True]
Translation: X:163.89, Y:-19.96, Z:109.49
[[ 8.26663866e-01  1.98547162e-02 -5.62345662e-01  1.63890089e+02]
 [-3.64297445e-02  9.99169102e-01 -1.82751200e-02 -1.99570635e+01]
 [ 5.61515562e-01  3.55934902e-02  8.26700294e-01  1.09486428e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.70327356
Centerline is valid?  [True, True]
Translation: X:163.94, Y:-19.95, Z:109.52
[[ 8.26633463e-01  2.12293159e-02 -5.62340140e-01  1.63938708e+02]
 [-3.82053727e-02  9.99099684e-01 -1.84437069e-02 -1.99510542e+01]
 [ 5.61442310e-01  3.67306000e-02  8.26700306e-01  1.09519558e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.76327356
Centerline is valid?  [True, True]
Translation: X:163.99, Y:-19.94, Z:109.55
[[ 8.26504145e-01  2.59006443e-02 -5.62334469e-01  1.63987790e+02]
 [-4.39672488e-02  9.98859526e-01 -1.86152702e-02 -1.99359247e+01]
 [ 5.61210994e-01  4.01098975e-02  8.26700318e-01  1.09553209e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.82327356
Centerline is valid?  [True, True]
Translation: X:164.04, Y:-19.93, Z:109.59
[[ 8.26502201e-01  2.59699737e-02 -5.62334129e-01  1.64037567e+02]
 [-4.40579937e-02  9.98855336e-01 -1.86255492e-02 -1.99299201e+01]
 [ 5.61206740e-01  4.01693709e-02  8.26700318e-01  1.09587199e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.88327356
Centerline is valid?  [True, True]
Translation: X:164.09, Y:-19.93, Z:109.62
[[ 8.26571764e-01  2.36526257e-02 -5.62334129e-01  1.64087261e+02]
 [-4.12573520e-02  9.98974935e-01 -1.86255492e-02 -1.99259106e+01]
 [ 5.61317157e-01  3.85957701e-02  8.26700318e-01  1.09621092e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 277.94327356
Centerline is valid?  [True, True]
Translation: X:164.14, Y:-19.92, Z:109.66
[[ 8.26228668e-01  3.35678190e-02 -5.62333877e-01  1.64137190e+02]
 [-5.32448416e-02  9.98407629e-01 -1.86331438e-02 -1.99191988e+01]
 [ 5.60812959e-01  4.53366158e-02  8.26700318e-01  1.09655203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.00327355999997
Centerline is valid?  [True, True]
Translation: X:164.19, Y:-19.91, Z:109.69
[[ 8.26310514e-01  3.14895005e-02 -5.62333838e-01  1.64186645e+02]
 [-5.07341890e-02  9.98538333e-01 -1.86343410e-02 -1.99139569e+01]
 [ 5.60925107e-01  4.39273031e-02  8.26700318e-01  1.09688960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.06327355999997
Centerline is valid?  [True, True]
Translation: X:164.24, Y:-19.91, Z:109.72
[[ 8.26365350e-01  3.00281621e-02 -5.62333191e-01  1.64235351e+02]
 [-4.89814425e-02  9.98625481e-01 -1.86538502e-02 -1.99104953e+01]
 [ 5.61000112e-01  4.29587862e-02  8.26700318e-01  1.09722161e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.12327356
Centerline is valid?  [True, True]
Translation: X:164.28, Y:-19.90, Z:109.76
[[ 8.26448143e-01  2.77727264e-02 -5.62327434e-01  1.64283917e+02]
 [-4.63723260e-02  9.98746808e-01 -1.88260438e-02 -1.99047255e+01]
 [ 5.61099880e-01  4.16351800e-02  8.26700331e-01  1.09755258e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.18327356
Centerline is valid?  [True, True]
Translation: X:164.33, Y:-19.91, Z:109.79
[[ 8.26858770e-01  9.66002401e-03 -5.62326648e-01  1.64333797e+02]
 [-2.44963047e-02  9.99522200e-01 -1.88494996e-02 -1.99129236e+01]
 [ 5.61875882e-01  2.93607990e-02  8.26700331e-01  1.09788990e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.24327356
Centerline is valid?  [True, True]
Translation: X:164.38, Y:-19.91, Z:109.82
[[ 8.26879603e-01  7.72021574e-03 -5.62325991e-01  1.64381632e+02]
 [-2.21646870e-02  9.99576252e-01 -1.88690963e-02 -1.99077922e+01]
 [ 5.61942033e-01  2.80662504e-02  8.26700331e-01  1.09821637e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.30327356
Centerline is valid?  [True, True]
Translation: X:164.43, Y:-19.90, Z:109.86
[[ 8.26827596e-01  1.21592332e-02 -5.62323999e-01  1.64431172e+02]
 [-2.75707600e-02  9.99440630e-01 -1.89282933e-02 -1.99035313e+01]
 [ 5.61779298e-01  3.11541353e-02  8.26700333e-01  1.09855408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.36327356
Centerline is valid?  [True, True]
Translation: X:164.48, Y:-19.90, Z:109.89
[[ 8.26797964e-01  1.40515684e-02 -5.62323466e-01  1.64479858e+02]
 [-2.98688500e-02  9.99374290e-01 -1.89441289e-02 -1.99007110e+01]
 [ 5.61705419e-01  3.24589225e-02  8.26700333e-01  1.09888582e+02]
 [ 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 278.42327356
Centerline is valid?  [True, True]
Translation: X:164.53, Y:-19.90, Z:109.92
[[ 8.26693432e-01  1.92667501e-02 -5.62322649e-01  1.64528723e+02]
 [-3.61887349e-02  9.99164940e-01 -1.89683418e-02 -1.98984354e+01]
 [ 5.61487618e-01  3.60307489e-02  8.26700333e-01  1.09921863e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.48327356
Centerline is valid?  [True, True]
Translation: X:164.58, Y:-19.90, Z:109.96
[[ 8.26661422e-01  2.06175533e-02 -5.62321803e-01  1.64578498e+02]
 [-3.78382965e-02  9.99103355e-01 -1.89933829e-02 -1.98975017e+01]
 [ 5.61426003e-01  3.69783960e-02  8.26700333e-01  1.09955731e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.54327356
Centerline is valid?  [True, True]
Translation: X:164.63, Y:-19.90, Z:109.99
[[ 8.26617736e-01  2.23103974e-02 -5.62321406e-01  1.64627737e+02]
 [-3.98921940e-02  9.99023232e-01 -1.90051270e-02 -1.98952078e+01]
 [ 5.61348137e-01  3.81422097e-02  8.26700333e-01  1.09989271e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.60327356
Centerline is valid?  [True, True]
Translation: X:164.68, Y:-19.90, Z:110.02
[[ 8.26480475e-01  2.69371818e-02 -5.62320561e-01  1.64676687e+02]
 [-4.55006796e-02  9.98783031e-01 -1.90301119e-02 -1.98961176e+01]
 [ 5.61123617e-01  4.13139836e-02  8.26700334e-01  1.10022536e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.66327356
Centerline is valid?  [True, True]
Translation: X:164.73, Y:-19.90, Z:110.06
[[ 8.26670865e-01  2.02898921e-02 -5.62319839e-01  1.64726609e+02]
 [-3.74815969e-02  9.99115696e-01 -1.90514254e-02 -1.98972558e+01]
 [ 5.61436026e-01  3.68259038e-02  8.26700334e-01  1.10056458e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.72327356
Centerline is valid?  [True, True]
Translation: X:164.78, Y:-19.90, Z:110.09
[[ 8.26675300e-01  2.01172036e-02 -5.62319524e-01  1.64775476e+02]
 [-3.72791864e-02  9.99123091e-01 -1.90607288e-02 -1.98967846e+01]
 [ 5.61442972e-01  3.67198480e-02  8.26700334e-01  1.10089704e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.78327356
Centerline is valid?  [True, True]
Translation: X:164.82, Y:-19.90, Z:110.12
[[ 8.26717091e-01  1.85022533e-02 -5.62313541e-01  1.64824033e+02]
 [-3.54459664e-02  9.99186452e-01 -1.92358615e-02 -1.99008467e+01]
 [ 5.61500165e-01  3.58343624e-02  8.26700346e-01  1.10122566e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.84327356
Centerline is valid?  [True, True]
Translation: X:164.87, Y:-19.90, Z:110.16
[[ 8.26743282e-01  1.75118137e-02 -5.62306751e-01  1.64873296e+02]
 [-3.43822294e-02  9.99219812e-01 -1.94326779e-02 -1.99021549e+01]
 [ 5.61527744e-01  3.53991956e-02  8.26700362e-01  1.10155961e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.90327356
Centerline is valid?  [True, True]
Translation: X:164.92, Y:-19.91, Z:110.19
[[ 8.26788921e-01  1.54065641e-02 -5.62301270e-01  1.64921891e+02]
 [-3.19444657e-02  9.99297641e-01 -1.95901873e-02 -1.99053311e+01]
 [ 5.61604515e-01  3.41593634e-02  8.26700373e-01  1.10188872e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 278.96327356
Centerline is valid?  [True, True]
Translation: X:164.97, Y:-19.91, Z:110.22
[[ 8.26807975e-01  1.45864875e-02 -5.62295124e-01  1.64969861e+02]
 [-3.10719191e-02  9.99321705e-01 -1.97652735e-02 -1.99058583e+01]
 [ 5.61625416e-01  3.38136743e-02  8.26700385e-01  1.10221412e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.02327356
Centerline is valid?  [True, True]
Translation: X:165.02, Y:-19.91, Z:110.26
[[ 8.26842404e-01  1.26201164e-02 -5.62292070e-01  1.65019833e+02]
 [-2.87538965e-02  9.99389373e-01 -1.98518373e-02 -1.99100675e+01]
 [ 5.61698187e-01  3.25824288e-02  8.26700389e-01  1.10255263e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.08327356
Centerline is valid?  [True, True]
Translation: X:165.07, Y:-19.91, Z:110.29
[[ 8.26893696e-01  8.65540566e-03 -5.62291650e-01  1.65069586e+02]
 [-2.39697317e-02  9.99515325e-01 -1.98637299e-02 -1.99105335e+01]
 [ 5.61847193e-01  2.99031730e-02  8.26700389e-01  1.10289087e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.14327356
Centerline is valid?  [True, True]
Translation: X:165.12, Y:-19.91, Z:110.32
[[ 8.26883418e-01  9.60489855e-03 -5.62291347e-01  1.65118660e+02]
 [-2.51232496e-02  9.99486825e-01 -1.98723118e-02 -1.99121096e+01]
 [ 5.61811921e-01  3.05586710e-02  8.26700389e-01  1.10322423e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.20327356
Centerline is valid?  [True, True]
Translation: X:165.17, Y:-19.90, Z:110.36
[[ 8.26414604e-01  2.94762906e-02 -5.62290006e-01  1.65167507e+02]
 [-4.91643005e-02  9.98592237e-01 -1.99101903e-02 -1.99029978e+01]
 [ 5.60911556e-01  4.40986668e-02  8.26700389e-01  1.10355850e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.26327356
Centerline is valid?  [True, True]
Translation: X:165.22, Y:-19.91, Z:110.39
[[ 8.26888222e-01  9.30529695e-03 -5.62289320e-01  1.65217560e+02]
 [-2.47999203e-02  9.99493760e-01 -1.99295547e-02 -1.99140336e+01]
 [ 5.61819216e-01  3.04242444e-02  8.26700389e-01  1.10389620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.32327356
Centerline is valid?  [True, True]
Translation: X:165.27, Y:-19.92, Z:110.42
[[ 8.26906954e-01  7.50826421e-03 -5.62288640e-01  1.65266645e+02]
 [-2.26407368e-02  9.99544619e-01 -1.99487182e-02 -1.99151200e+01]
 [ 5.61882804e-01  2.92263629e-02  8.26700390e-01  1.10422970e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.38327356
Centerline is valid?  [True, True]
Translation: X:165.32, Y:-19.92, Z:110.46
[[ 8.26921273e-01  5.79833839e-03 -5.62287816e-01  1.65315753e+02]
 [-2.05895379e-02  9.99588512e-01 -1.99719328e-02 -1.99163128e+01]
 [ 5.61940637e-01  2.80924624e-02  8.26700390e-01  1.10456333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.44327356
Centerline is valid?  [True, True]
Translation: X:165.36, Y:-19.92, Z:110.49
[[ 8.26930075e-01  5.06432968e-03 -5.62281961e-01  1.65364096e+02]
 [-1.98132967e-02  9.99600915e-01 -2.01356314e-02 -1.99154630e+01]
 [ 5.61955589e-01  2.77914185e-02  8.26700401e-01  1.10489158e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.50327355999997
Centerline is valid?  [True, True]
Translation: X:165.41, Y:-19.92, Z:110.52
[[ 8.26931564e-01  5.45109009e-03 -5.62276155e-01  1.65412434e+02]
 [-2.03900496e-02  9.99586060e-01 -2.02966849e-02 -1.99169540e+01]
 [ 5.61932767e-01  2.82488080e-02  8.26700412e-01  1.10521925e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.56327355999997
Centerline is valid?  [True, True]
Translation: X:165.46, Y:-19.91, Z:110.55
[[ 8.26938104e-01  5.13207740e-03 -5.62269538e-01  1.65460075e+02]
 [-2.01278154e-02  9.99587664e-01 -2.04786059e-02 -1.99140878e+01]
 [ 5.61932596e-01  2.82517970e-02  8.26700425e-01  1.10554314e+02]
 [ 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 279.62327356
Centerline is valid?  [True, True]
Translation: X:165.51, Y:-19.92, Z:110.59
[[ 8.26921912e-01  7.78111406e-03 -5.62262932e-01  1.65508706e+02]
 [-2.34519186e-02  9.99511495e-01 -2.06586488e-02 -1.99155293e+01]
 [ 5.61827516e-01  3.02692339e-02  8.26700439e-01  1.10587270e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.68327356
Centerline is valid?  [True, True]
Translation: X:165.56, Y:-19.92, Z:110.62
[[ 8.26924661e-01  7.54763304e-03 -5.62262073e-01  1.65558221e+02]
 [-2.31855553e-02  9.99517225e-01 -2.06820250e-02 -1.99178894e+01]
 [ 5.61834526e-01  3.01388348e-02  8.26700439e-01  1.10620877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.74327356
Centerline is valid?  [True, True]
Translation: X:165.61, Y:-19.91, Z:110.65
[[ 8.26925673e-01  7.47760580e-03 -5.62261519e-01  1.65606139e+02]
 [-2.31111038e-02  9.99518639e-01 -2.06970569e-02 -1.99114575e+01]
 [ 5.61836104e-01  3.01094120e-02  8.26700439e-01  1.10653621e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.80327356
Centerline is valid?  [True, True]
Translation: X:165.66, Y:-19.92, Z:110.69
[[ 8.26896856e-01  1.02854588e-02 -5.62259547e-01  1.65655913e+02]
 [-2.65411496e-02  9.99432331e-01 -2.07505113e-02 -1.99192203e+01]
 [ 5.61726941e-01  3.20815473e-02  8.26700440e-01  1.10687254e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.86327356
Centerline is valid?  [True, True]
Translation: X:165.71, Y:-19.92, Z:110.72
[[ 8.26885313e-01  1.12018118e-02 -5.62259014e-01  1.65705529e+02]
 [-2.76584871e-02  9.99401733e-01 -2.07649613e-02 -1.99224897e+01]
 [ 5.61690028e-01  3.27214752e-02  8.26700440e-01  1.10720910e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.92327356
Centerline is valid?  [True, True]
Translation: X:165.76, Y:-19.92, Z:110.75
[[ 8.26833372e-01  1.45803311e-02 -5.62257938e-01  1.65755050e+02]
 [-3.17614745e-02  9.99279148e-01 -2.07940616e-02 -1.99207489e+01]
 [ 5.61549449e-01  3.50513653e-02  8.26700441e-01  1.10754620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 279.98327356
Centerline is valid?  [True, True]
Translation: X:165.80, Y:-19.92, Z:110.79
[[ 8.26698377e-01  2.08885827e-02 -5.62257468e-01  1.65804415e+02]
 [-3.93935640e-02  9.99007120e-01 -2.08067536e-02 -1.99204530e+01]
 [ 5.61264590e-01  3.93502350e-02  8.26700441e-01  1.10788195e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.04327356
Centerline is valid?  [True, True]
Translation: X:165.85, Y:-19.91, Z:110.82
[[ 8.26618299e-01  2.38588695e-02 -5.62257007e-01  1.65853649e+02]
 [-4.29912832e-02  9.98858504e-01 -2.08192100e-02 -1.99103100e+01]
 [ 5.61118470e-01  4.13816901e-02  8.26700441e-01  1.10821930e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.10327356
Centerline is valid?  [True, True]
Translation: X:165.90, Y:-19.91, Z:110.86
[[ 8.26521362e-01  2.70168518e-02 -5.62256639e-01  1.65902255e+02]
 [-4.68139068e-02  9.98686440e-01 -2.08291547e-02 -1.99089426e+01]
 [ 5.60955342e-01  4.35371712e-02  8.26700441e-01  1.10855018e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.16327356
Centerline is valid?  [True, True]
Translation: X:165.95, Y:-19.91, Z:110.89
[[ 8.26526635e-01  2.68671288e-02 -5.62256062e-01  1.65951253e+02]
 [-4.66435120e-02  9.98694088e-01 -2.08447061e-02 -1.99072240e+01]
 [ 5.60961768e-01  4.34543021e-02  8.26700441e-01  1.10888378e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.22327356
Centerline is valid?  [True, True]
Translation: X:166.00, Y:-19.91, Z:110.92
[[ 8.26589006e-01  2.49412080e-02 -5.62253103e-01  1.65999917e+02]
 [-4.43701947e-02  9.98796006e-01 -2.09242707e-02 -1.99050474e+01]
 [ 5.61054277e-01  4.22430518e-02  8.26700444e-01  1.10921493e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.28327356
Centerline is valid?  [True, True]
Translation: X:166.05, Y:-19.90, Z:110.96
[[ 8.26751090e-01  1.90052697e-02 -5.62246774e-01  1.66049268e+02]
 [-3.73115602e-02  9.99081041e-01 -2.10931730e-02 -1.99026369e+01]
 [ 5.61329211e-01  3.84171081e-02  8.26700455e-01  1.10955038e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.34327356
Centerline is valid?  [True, True]
Translation: X:166.10, Y:-19.90, Z:110.99
[[ 8.26764100e-01  1.84555420e-02 -5.62245957e-01  1.66098697e+02]
 [-3.66619758e-02  9.99104629e-01 -2.11149370e-02 -1.99002555e+01]
 [ 5.61352851e-01  3.80701196e-02  8.26700456e-01  1.10988706e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.40327356
Centerline is valid?  [True, True]
Translation: X:166.15, Y:-19.90, Z:111.02
[[ 8.26868452e-01  1.29828760e-02 -5.62245505e-01  1.66147475e+02]
 [-3.00563606e-02  9.99324905e-01 -2.11269721e-02 -1.99017925e+01]
 [ 5.61591647e-01  3.43682804e-02  8.26700456e-01  1.11021835e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.46327356
Centerline is valid?  [True, True]
Translation: X:166.20, Y:-19.90, Z:111.06
[[ 8.26920408e-01  9.16476785e-03 -5.62244294e-01  1.66196953e+02]
 [-2.54635835e-02  9.99451798e-01 -2.11591532e-02 -1.99030498e+01]
 [ 5.61742152e-01  3.18136901e-02  8.26700456e-01  1.11055438e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.52327356
Centerline is valid?  [True, True]
Translation: X:166.25, Y:-19.90, Z:111.09
[[ 8.26943777e-01  6.80922427e-03 -5.62243385e-01  1.66246821e+02]
 [-2.26328816e-02  9.99519395e-01 -2.11832974e-02 -1.99031825e+01]
 [ 5.61828926e-01  3.02425839e-02  8.26700456e-01  1.11089338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.58327356
Centerline is valid?  [True, True]
Translation: X:166.30, Y:-19.90, Z:111.12
[[ 8.26942610e-01  6.98638070e-03 -5.62242928e-01  1.66295039e+02]
 [-2.28552161e-02  9.99514079e-01 -2.11954043e-02 -1.99006033e+01]
 [ 5.61821643e-01  3.03775665e-02  8.26700456e-01  1.11122192e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.64327356
Centerline is valid?  [True, True]
Translation: X:166.34, Y:-19.90, Z:111.16
[[ 8.26963658e-01  4.00287417e-03 -5.62241127e-01  1.66343660e+02]
 [-1.92813361e-02  9.99588396e-01 -2.12430879e-02 -1.99006541e+01]
 [ 5.61924673e-01  2.84080218e-02  8.26700457e-01  1.11155234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.70327356
Centerline is valid?  [True, True]
Translation: X:166.39, Y:-19.90, Z:111.19
[[ 8.26972349e-01  1.62554842e-03 -5.62240243e-01  1.66392216e+02]
 [-1.64235483e-02  9.99638937e-01 -2.12664586e-02 -1.99004437e+01]
 [ 5.62002670e-01  2.68207530e-02  8.26700457e-01  1.11188252e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.76327356
Centerline is valid?  [True, True]
Translation: X:166.44, Y:-19.90, Z:111.22
[[ 8.26974890e-01 -6.16520975e-04 -5.62238518e-01  1.66441930e+02]
 [-1.37441882e-02  9.99678397e-01 -2.13119891e-02 -1.98990141e+01]
 [ 5.62070840e-01  2.53519918e-02  8.26700458e-01  1.11222076e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.973292 with order 1
Centerline goodness : 0.987489 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.976047 with order 1
Centerline goodness : 0.990287 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.993710 with order 1
Centerline goodness : 0.995057 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 280.82327356
Centerline is valid?  [True, True]
Translation: X:166.49, Y:-19.92, Z:111.26
[[ 8.26974960e-01  1.34494398e-03 -5.62237144e-01  1.66491317e+02]
 [-1.61397940e-02  9.99641817e-01 -2.13481862e-02 -1.99189485e+01]
 [ 5.62007048e-01  2.67288071e-02  8.26700459e-01  1.11255132e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.88327356
Centerline is valid?  [True, True]
Translation: X:166.54, Y:-19.90, Z:111.29
[[ 8.26976410e-01 -7.91616374e-04 -5.62236063e-01  1.66539869e+02]
 [-1.35763753e-02  9.99679310e-01 -2.13766164e-02 -1.98978347e+01]
 [ 5.62072682e-01  2.53110853e-02  8.26700459e-01  1.11288683e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 280.94327356
Centerline is valid?  [True, True]
Translation: X:166.59, Y:-19.90, Z:111.32
[[ 8.26977231e-01  5.23172875e-04 -5.62235169e-01  1.66589268e+02]
 [-1.51816687e-02  9.99655717e-01 -2.14001227e-02 -1.98959882e+01]
 [ 5.62030405e-01  2.62330823e-02  8.26700459e-01  1.11322316e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.00327355999997
Centerline is valid?  [True, True]
Translation: X:166.64, Y:-19.89, Z:111.36
[[ 8.26974496e-01  2.30963876e-03 -5.62234692e-01  1.66637480e+02]
 [-1.73496170e-02  9.99620173e-01 -2.14126403e-02 -1.98933317e+01]
 [ 5.61971685e-01  2.74622640e-02  8.26700460e-01  1.11355167e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.06327355999997
Centerline is valid?  [True, True]
Translation: X:166.69, Y:-19.89, Z:111.39
[[ 8.26967196e-01  4.41001298e-03 -5.62232878e-01  1.66686281e+02]
 [-1.99206837e-02  9.99571221e-01 -2.14601998e-02 -1.98911450e+01]
 [ 5.61897164e-01  2.89469446e-02  8.26700460e-01  1.11388390e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.12327356
Centerline is valid?  [True, True]
Translation: X:166.74, Y:-19.91, Z:111.42
[[ 8.26954855e-01  6.47421316e-03 -5.62231048e-01  1.66736084e+02]
 [-2.24481047e-02  9.99516627e-01 -2.15080358e-02 -1.99089878e+01]
 [ 5.61820033e-01  3.04071961e-02  8.26700461e-01  1.11421773e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.18327356
Centerline is valid?  [True, True]
Translation: X:166.78, Y:-19.89, Z:111.46
[[ 8.26964188e-01  5.24506676e-03 -5.62230132e-01  1.66784543e+02]
 [-2.09786836e-02  9.99548032e-01 -2.15319728e-02 -1.98871880e+01]
 [ 5.61863085e-01  2.96010184e-02  8.26700462e-01  1.11455285e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.24327356
Centerline is valid?  [True, True]
Translation: X:166.83, Y:-19.91, Z:111.49
[[ 8.26967495e-01  4.80047845e-03 -5.62229240e-01  1.66833328e+02]
 [-2.04570869e-02  9.99558342e-01 -2.15552426e-02 -1.99061412e+01]
 [ 5.61877451e-01  2.93270574e-02  8.26700462e-01  1.11487957e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.30327356
Centerline is valid?  [True, True]
Translation: X:166.88, Y:-19.88, Z:111.52
[[ 8.26981641e-01  1.83548684e-03 -5.62225930e-01  1.66881487e+02]
 [-1.69315514e-02  9.99622418e-01 -2.16412792e-02 -1.98843504e+01]
 [ 5.61973921e-01  2.74162978e-02  8.26700465e-01  1.11521236e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.36327356
Centerline is valid?  [True, True]
Translation: X:166.93, Y:-19.88, Z:111.55
[[ 8.26981420e-01  2.13975822e-03 -5.62225180e-01  1.66930505e+02]
 [-1.73125493e-02  9.99615470e-01 -2.16607537e-02 -1.98832414e+01]
 [ 5.61962638e-01  2.76465920e-02  8.26700465e-01  1.11554591e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.42327356
Centerline is valid?  [True, True]
Translation: X:166.98, Y:-19.88, Z:111.59
[[ 8.26980178e-01  2.85544978e-03 -5.62223827e-01  1.66978653e+02]
 [-1.82014221e-02  9.99598919e-01 -2.16958268e-02 -1.98821655e+01]
 [ 5.61936378e-01  2.81752919e-02  8.26700466e-01  1.11587347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.48327356
Centerline is valid?  [True, True]
Translation: X:167.03, Y:-19.88, Z:111.62
[[ 8.26979042e-01  3.46905253e-03 -5.62222047e-01  1.67027653e+02]
 [-1.89743198e-02  9.99583546e-01 -2.17418670e-02 -1.98825202e+01]
 [ 5.61912484e-01  2.86478492e-02  8.26700466e-01  1.11620638e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.54327356
Centerline is valid?  [True, True]
Translation: X:167.08, Y:-19.88, Z:111.65
[[ 8.26983642e-01  3.38739769e-03 -5.62215778e-01  1.67075786e+02]
 [-1.89848627e-02  9.99579829e-01 -2.19029721e-02 -1.98827394e+01]
 [ 5.61905357e-01  2.87869890e-02  8.26700477e-01  1.11653286e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.60327356
Centerline is valid?  [True, True]
Translation: X:167.12, Y:-19.88, Z:111.69
[[ 8.26982199e-01  4.04301655e-03 -5.62213568e-01  1.67124894e+02]
 [-1.98156812e-02  9.99562462e-01 -2.19595697e-02 -1.98830583e+01]
 [ 5.61878796e-01  2.93008181e-02  8.26700479e-01  1.11686647e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.66327356
Centerline is valid?  [True, True]
Translation: X:167.17, Y:-19.88, Z:111.72
[[ 8.26984389e-01  3.76690717e-03 -5.62212265e-01  1.67173943e+02]
 [-1.95045330e-02  9.99567850e-01 -2.19928766e-02 -1.98831382e+01]
 [ 5.61886460e-01  2.91534533e-02  8.26700479e-01  1.11719985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.72327356
Centerline is valid?  [True, True]
Translation: X:167.22, Y:-19.90, Z:111.75
[[ 8.26987063e-01  3.27668524e-03 -5.62211403e-01  1.67223682e+02]
 [-1.89269418e-02  9.99578469e-01 -2.20149075e-02 -1.99037357e+01]
 [ 5.61902277e-01  2.88469862e-02  8.26700479e-01  1.11753251e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.78327356
Centerline is valid?  [True, True]
Translation: X:167.27, Y:-19.91, Z:111.79
[[ 8.26997567e-01  9.70550913e-04 -5.62204663e-01  1.67272257e+02]
 [-1.62554435e-02  9.99621701e-01 -2.21859214e-02 -1.99055428e+01]
 [ 5.61970449e-01  2.74865891e-02  8.26700491e-01  1.11786145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.84327356
Centerline is valid?  [True, True]
Translation: X:167.32, Y:-19.89, Z:111.82
[[ 8.26987631e-01 -4.41832237e-03 -5.62202755e-01  1.67321303e+02]
 [-9.77414881e-03  9.99705010e-01 -2.22341834e-02 -1.98861219e+01]
 [ 5.62135148e-01  2.38824481e-02  8.26700492e-01  1.11819996e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.90327356
Centerline is valid?  [True, True]
Translation: X:167.37, Y:-19.91, Z:111.85
[[ 8.26991482e-01 -3.76719336e-03 -5.62201829e-01  1.67370474e+02]
 [-1.05771261e-02  9.99696317e-01 -2.22575628e-02 -1.99052018e+01]
 [ 5.62114946e-01  2.43532944e-02  8.26700492e-01  1.11852909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 281.96327356
Centerline is valid?  [True, True]
Translation: X:167.42, Y:-19.88, Z:111.89
[[ 8.26979641e-01 -6.43097626e-03 -5.62195086e-01  1.67417498e+02]
 [-7.47183268e-03  9.99720566e-01 -2.24267928e-02 -1.98844276e+01]
 [ 5.62182216e-01  2.27471287e-02  8.26700504e-01  1.11885360e+02]
 [ 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 : 0.999013 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.995248 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.994542 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.997849 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 282.02327356
Centerline is valid?  [True, True]
Translation: X:167.47, Y:-19.91, Z:111.92
[[ 8.26976324e-01 -7.03689238e-03 -5.62192709e-01  1.67467380e+02]
 [-6.77971190e-03  9.99724164e-01 -2.24862621e-02 -1.99069319e+01]
 [ 5.62195869e-01  2.24071109e-02  8.26700506e-01  1.11918639e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.08327356
Centerline is valid?  [True, True]
Translation: X:167.52, Y:-19.91, Z:111.95
[[ 8.26915694e-01 -1.25378716e-02 -5.62186123e-01  1.67517167e+02]
 [-2.40424796e-04  9.99743429e-01 -2.26499112e-02 -1.99062286e+01]
 [ 5.62325864e-01  1.88647305e-02  8.26700517e-01  1.11952425e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.14327356
Centerline is valid?  [True, True]
Translation: X:167.57, Y:-19.91, Z:111.99
[[ 8.26888154e-01 -1.42535008e-02 -5.62185751e-01  1.67565780e+02]
 [ 1.82753388e-03  9.99741578e-01 -2.26591501e-02 -1.99065221e+01]
 [ 5.62363442e-01  1.77091693e-02  8.26700517e-01  1.11985471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.20327356
Centerline is valid?  [True, True]
Translation: X:167.61, Y:-19.90, Z:112.02
[[ 8.26886256e-01 -1.46239239e-02 -5.62179029e-01  1.67613797e+02]
 [ 2.16282083e-03  9.99737139e-01 -2.28248874e-02 -1.99044970e+01]
 [ 5.62365044e-01  1.76576932e-02  8.26700528e-01  1.12018088e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.26327356
Centerline is valid?  [True, True]
Translation: X:167.66, Y:-19.90, Z:112.05
[[ 8.26878695e-01 -1.51783389e-02 -5.62175454e-01  1.67662860e+02]
 [ 2.77351717e-03  9.99733623e-01 -2.29126572e-02 -1.99024599e+01]
 [ 5.62373480e-01  1.73867848e-02  8.26700531e-01  1.12051460e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.32327356
Centerline is valid?  [True, True]
Translation: X:167.71, Y:-19.90, Z:112.08
[[ 8.26897466e-01 -1.41546413e-02 -5.62174551e-01  1.67711237e+02]
 [ 1.52079677e-03  9.99735806e-01 -2.29347962e-02 -1.99002129e+01]
 [ 5.62350662e-01  1.81097716e-02  8.26700532e-01  1.12084408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.38327356
Centerline is valid?  [True, True]
Translation: X:167.76, Y:-19.90, Z:112.12
[[ 8.26890131e-01 -1.48365783e-02 -5.62167758e-01  1.67760351e+02]
 [ 2.23286340e-03  9.99730659e-01 -2.31003100e-02 -1.98992984e+01]
 [ 5.62359072e-01  1.78461746e-02  8.26700543e-01  1.12117740e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.44327356
Centerline is valid?  [True, True]
Translation: X:167.81, Y:-19.89, Z:112.15
[[ 8.26844928e-01 -1.72012785e-02 -5.62166863e-01  1.67810049e+02]
 [ 5.07712291e-03  9.99719757e-01 -2.31220755e-02 -1.98945232e+01]
 [ 5.62407049e-01  1.62641806e-02  8.26700543e-01  1.12151657e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.50327355999997
Centerline is valid?  [True, True]
Translation: X:167.86, Y:-19.88, Z:112.18
[[ 8.26604296e-01 -2.63496823e-02 -5.62166374e-01  1.67857997e+02]
 [ 1.61311368e-02  9.99602224e-01 -2.31339594e-02 -1.98754839e+01]
 [ 5.62552330e-01  1.00542475e-02  8.26700543e-01  1.12184788e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.56327355999997
Centerline is valid?  [True, True]
Translation: X:167.91, Y:-19.89, Z:112.22
[[ 8.26797152e-01 -1.94041319e-02 -5.62165411e-01  1.67907351e+02]
 [ 7.71663914e-03  9.99702051e-01 -2.31573393e-02 -1.98867186e+01]
 [ 5.62447262e-01  1.48083946e-02  8.26700544e-01  1.12218023e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.62327356
Centerline is valid?  [True, True]
Translation: X:167.96, Y:-19.87, Z:112.25
[[ 8.26717278e-01 -2.27162587e-02 -5.62158798e-01  1.67955964e+02]
 [ 1.16130657e-02  9.99660671e-01 -2.33169496e-02 -1.98694382e+01]
 [ 5.62497715e-01  1.27481381e-02  8.26700554e-01  1.12251479e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.68327356
Centerline is valid?  [True, True]
Translation: X:168.00, Y:-19.87, Z:112.28
[[ 8.26795852e-01 -1.96768441e-02 -5.62157844e-01  1.68003726e+02]
 [ 7.92231704e-03  9.99696196e-01 -2.33399346e-02 -1.98653845e+01]
 [ 5.62446314e-01  1.48437684e-02  8.26700554e-01  1.12284060e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.74327356
Centerline is valid?  [True, True]
Translation: X:168.05, Y:-19.88, Z:112.32
[[ 8.26960178e-01 -1.11506628e-02 -5.62149914e-01  1.68053360e+02]
 [-2.51479275e-03  9.99719977e-01 -2.35296199e-02 -1.98771660e+01]
 [ 5.62254870e-01  2.08717492e-02  8.26700569e-01  1.12317376e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.80327356
Centerline is valid?  [True, True]
Translation: X:168.10, Y:-19.85, Z:112.35
[[ 8.26981726e-01 -9.48197418e-03 -5.62148839e-01  1.68102109e+02]
 [-4.54946884e-03  9.99712184e-01 -2.35552789e-02 -1.98530586e+01]
 [ 5.62210394e-01  2.20372639e-02  8.26700569e-01  1.12351198e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.86327356
Centerline is valid?  [True, True]
Translation: X:168.15, Y:-19.85, Z:112.38
[[ 8.26959895e-01 -1.12548328e-02 -5.62148255e-01  1.68151419e+02]
 [-2.41573339e-03  9.99719289e-01 -2.35692062e-02 -1.98527627e+01]
 [ 5.62255722e-01  2.08487886e-02  8.26700570e-01  1.12384730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.92327356
Centerline is valid?  [True, True]
Translation: X:168.20, Y:-19.87, Z:112.42
[[ 8.27032055e-01 -2.81265458e-03 -5.62147729e-01  1.68201736e+02]
 [-1.26292266e-02  9.99642138e-01 -2.35817429e-02 -1.98651069e+01]
 [ 5.62012885e-01  2.66023483e-02  8.26700570e-01  1.12418586e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 282.98327356
Centerline is valid?  [True, True]
Translation: X:168.25, Y:-19.86, Z:112.45
[[ 8.27034284e-01 -2.21458226e-03 -5.62147124e-01  1.68250108e+02]
 [-1.33618923e-02  9.99632273e-01 -2.35961554e-02 -1.98619039e+01]
 [ 5.61992663e-01  2.70261788e-02  8.26700570e-01  1.12451562e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.04327356
Centerline is valid?  [True, True]
Translation: X:168.30, Y:-19.85, Z:112.48
[[ 8.26976307e-01 -1.04293888e-02 -5.62140032e-01  1.68298503e+02]
 [-3.54590878e-03  9.99711305e-01 -2.37641151e-02 -1.98482431e+01]
 [ 5.62225590e-01  2.16456574e-02  8.26700581e-01  1.12484773e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.10327356
Centerline is valid?  [True, True]
Translation: X:168.35, Y:-19.85, Z:112.52
[[ 8.27036324e-01 -3.22840910e-03 -5.62139214e-01  1.68347937e+02]
 [-1.22634967e-02  9.99641913e-01 -2.37834506e-02 -1.98521302e+01]
 [ 5.62014702e-01  2.65635700e-02  8.26700582e-01  1.12518265e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.16327356
Centerline is valid?  [True, True]
Translation: X:168.40, Y:-19.83, Z:112.55
[[ 8.27040863e-01  2.04415454e-03 -5.62138090e-01  1.68396595e+02]
 [-1.86541291e-02  9.99542449e-01 -2.38099997e-02 -1.98344845e+01]
 [ 5.61832212e-01  3.01780392e-02  8.26700582e-01  1.12551846e+02]
 [ 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 : 0.994252 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 283.22327356
Centerline is valid?  [True, True]
Translation: X:168.45, Y:-19.84, Z:112.59
[[ 8.27030838e-01 -4.61993397e-03 -5.62137572e-01  1.68446467e+02]
 [-1.06078363e-02  9.99659930e-01 -2.38222302e-02 -1.98373590e+01]
 [ 5.62056462e-01  2.56647823e-02  8.26700582e-01  1.12585669e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.28327356
Centerline is valid?  [True, True]
Translation: X:168.50, Y:-19.83, Z:112.62
[[ 8.27040988e-01  2.25302754e-03 -5.62137108e-01  1.68495580e+02]
 [-1.89222678e-02  9.99536857e-01 -2.38331660e-02 -1.98319821e+01]
 [ 5.61823061e-01  3.03479140e-02  8.26700582e-01  1.12619214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.34327356
Centerline is valid?  [True, True]
Translation: X:168.55, Y:-19.84, Z:112.65
[[ 8.27044581e-01 -4.40703058e-04 -5.62136164e-01  1.68546077e+02]
 [-1.56816988e-02  9.99592419e-01 -2.38554079e-02 -1.98446596e+01]
 [ 5.61917561e-01  2.85447359e-02  8.26700582e-01  1.12653173e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.40327356
Centerline is valid?  [True, True]
Translation: X:168.60, Y:-19.85, Z:112.69
[[ 8.27044666e-01 -7.80928601e-04 -5.62135669e-01  1.68595743e+02]
 [-1.52784048e-02  9.99598386e-01 -2.38670822e-02 -1.98460061e+01]
 [ 5.61928545e-01  2.83276794e-02  8.26700582e-01  1.12686900e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.46327356
Centerline is valid?  [True, True]
Translation: X:168.64, Y:-19.84, Z:112.72
[[ 8.27043737e-01 -1.64647956e-03 -5.62135167e-01  1.68643299e+02]
 [-1.42402652e-02  9.99613432e-01 -2.38788926e-02 -1.98407604e+01]
 [ 5.61957179e-01  2.77538425e-02  8.26700582e-01  1.12719382e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.52327356
Centerline is valid?  [True, True]
Translation: X:168.69, Y:-19.84, Z:112.75
[[ 8.27046739e-01 -7.27711243e-04 -5.62132691e-01  1.68692504e+02]
 [-1.53901658e-02  9.99594998e-01 -2.39370582e-02 -1.98388342e+01]
 [ 5.61922445e-01  2.84483812e-02  8.26700584e-01  1.12752865e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.58327356
Centerline is valid?  [True, True]
Translation: X:168.74, Y:-19.84, Z:112.79
[[ 8.27047628e-01  3.91816437e-04 -5.62131718e-01  1.68741465e+02]
 [-1.67587273e-02  9.99572443e-01 -2.39598947e-02 -1.98378116e+01]
 [ 5.61881986e-01  2.92365862e-02  8.26700584e-01  1.12786175e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.64327356
Centerline is valid?  [True, True]
Translation: X:168.79, Y:-19.84, Z:112.82
[[ 8.27050766e-01 -1.78610197e-03 -5.62124399e-01  1.68791283e+02]
 [-1.42421521e-02  9.99607361e-01 -2.41305723e-02 -1.98378617e+01]
 [ 5.61946787e-01  2.79630695e-02  8.26700596e-01  1.12819958e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.70327356
Centerline is valid?  [True, True]
Translation: X:168.84, Y:-19.84, Z:112.85
[[ 8.27050912e-01 -1.87873294e-03 -5.62123882e-01  1.68839985e+02]
 [-1.41383533e-02  9.99608544e-01 -2.41426061e-02 -1.98364617e+01]
 [ 5.61949193e-01  2.79146704e-02  8.26700596e-01  1.12853107e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.76327356
Centerline is valid?  [True, True]
Translation: X:168.89, Y:-19.84, Z:112.89
[[ 8.27052997e-01 -2.88780635e-03 -5.62116537e-01  1.68887950e+02]
 [-1.30340126e-02  9.99619433e-01 -2.43126213e-02 -1.98359265e+01]
 [ 5.61972824e-01  2.74344603e-02  8.26700608e-01  1.12885647e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.82327356
Centerline is valid?  [True, True]
Translation: X:168.94, Y:-19.83, Z:112.92
[[ 8.27054723e-01 -3.12509624e-03 -5.62112728e-01  1.68936604e+02]
 [-1.28067461e-02  9.99620231e-01 -2.44004247e-02 -1.98334572e+01]
 [ 5.61975509e-01  2.73793214e-02  8.26700611e-01  1.12918755e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.88327356
Centerline is valid?  [True, True]
Translation: X:168.99, Y:-19.83, Z:112.95
[[ 8.27057828e-01 -3.59398638e-03 -5.62105357e-01  1.68985651e+02]
 [-1.23544904e-02  9.99621788e-01 -2.45692466e-02 -1.98317839e+01]
 [ 5.61981063e-01  2.72647130e-02  8.26700623e-01  1.12952062e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 283.94327356
Centerline is valid?  [True, True]
Translation: X:169.03, Y:-19.83, Z:112.99
[[ 8.27058654e-01 -4.47136877e-03 -5.62097846e-01  1.69034620e+02]
 [-1.14098700e-02  9.99628803e-01 -2.47400712e-02 -1.98306673e+01]
 [ 5.61999819e-01  2.68749534e-02  8.26700635e-01  1.12985300e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.00327355999997
Centerline is valid?  [True, True]
Translation: X:169.08, Y:-19.83, Z:113.02
[[ 8.27062088e-01 -4.01292731e-03 -5.62096254e-01  1.69083298e+02]
 [-1.19884710e-02  9.99621136e-01 -2.47762135e-02 -1.98296015e+01]
 [ 5.61982721e-01  2.72301415e-02  8.26700636e-01  1.13018411e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.06327355999997
Centerline is valid?  [True, True]
Translation: X:169.13, Y:-19.82, Z:113.05
[[ 8.27071734e-01 -2.96252219e-03 -5.62088578e-01  1.69131337e+02]
 [-1.33753799e-02  9.99599235e-01 -2.49493302e-02 -1.98174234e+01]
 [ 5.61937225e-01  2.81530341e-02  8.26700648e-01  1.13051347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.12327356
Centerline is valid?  [True, True]
Translation: X:169.18, Y:-19.82, Z:113.09
[[ 8.27082047e-01 -6.20174292e-04 -5.62080869e-01  1.69181508e+02]
 [-1.63232925e-02  9.99551117e-01 -2.51220045e-02 -1.98173326e+01]
 [ 5.61844140e-01  2.99529693e-02  8.26700660e-01  1.13085371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.18327356
Centerline is valid?  [True, True]
Translation: X:169.23, Y:-19.82, Z:113.12
[[ 8.27082814e-01  4.04977974e-04 -5.62079936e-01  1.69229125e+02]
 [-1.75763296e-02  9.99529344e-01 -2.51428523e-02 -1.98155679e+01]
 [ 5.61805208e-01  3.06745233e-02  8.26700661e-01  1.13117789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.24327356
Centerline is valid?  [True, True]
Translation: X:169.28, Y:-19.81, Z:113.15
[[ 8.27087145e-01 -1.69876281e-03 -5.62071141e-01  1.69277841e+02]
 [-1.51662881e-02  9.99563885e-01 -2.53381873e-02 -1.98129574e+01]
 [ 5.61869057e-01  2.94814219e-02  8.26700676e-01  1.13150887e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.30327356
Centerline is valid?  [True, True]
Translation: X:169.33, Y:-19.81, Z:113.18
[[ 8.27090084e-01 -6.89931763e-04 -5.62068961e-01  1.69326697e+02]
 [-1.64182057e-02  9.99542880e-01 -2.53864783e-02 -1.98117077e+01]
 [ 5.61829543e-01  3.02250683e-02  8.26700677e-01  1.13184117e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.36327356
Centerline is valid?  [True, True]
Translation: X:169.38, Y:-19.81, Z:113.22
[[ 8.27082293e-01 -4.00628753e-03 -5.62066571e-01  1.69375129e+02]
 [-1.24460444e-02  9.99598888e-01 -2.54393060e-02 -1.98091922e+01]
 [ 5.61943037e-01  2.80359050e-02  8.26700678e-01  1.13217095e+02]
 [ 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 284.42327356
Centerline is valid?  [True, True]
Translation: X:169.42, Y:-19.81, Z:113.25
[[ 8.27054254e-01 -7.91932326e-03 -5.62066318e-01  1.69424574e+02]
 [-7.72040272e-03  9.99646414e-01 -2.54448889e-02 -1.98089843e+01]
 [ 5.62069086e-01  2.53836819e-02  8.26700678e-01  1.13250715e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.48327356
Centerline is valid?  [True, True]
Translation: X:169.47, Y:-19.81, Z:113.28
[[ 8.27007654e-01 -1.18734427e-02 -5.62065265e-01  1.69473528e+02]
 [-2.95670089e-03  9.99671262e-01 -2.54681343e-02 -1.98074068e+01]
 [ 5.62182887e-01  2.27242009e-02  8.26700679e-01  1.13284035e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.54327356
Centerline is valid?  [True, True]
Translation: X:169.52, Y:-19.81, Z:113.32
[[ 8.26943984e-01 -1.59486257e-02 -5.62058082e-01  1.69521963e+02]
 [ 1.86247130e-03  9.99669870e-01 -2.56258234e-02 -1.98060985e+01]
 [ 5.62281227e-01  2.01443034e-02  8.26700689e-01  1.13316922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.60327356
Centerline is valid?  [True, True]
Translation: X:169.57, Y:-19.80, Z:113.35
[[ 8.26896785e-01 -1.82469885e-02 -5.62057607e-01  1.69570726e+02]
 [ 4.63389573e-03  9.99660598e-01 -2.56362369e-02 -1.98032908e+01]
 [ 5.62334628e-01  1.85940056e-02  8.26700689e-01  1.13350156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.66327356
Centerline is valid?  [True, True]
Translation: X:169.62, Y:-19.81, Z:113.38
[[ 8.26831774e-01 -2.10467031e-02 -5.62055383e-01  1.69620098e+02]
 [ 7.98558600e-03  9.99638192e-01 -2.56849280e-02 -1.98107742e+01]
 [ 5.62392610e-01  1.67487730e-02  8.26700690e-01  1.13383465e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.72327356
Centerline is valid?  [True, True]
Translation: X:169.67, Y:-19.80, Z:113.42
[[ 8.26872852e-01 -1.95895827e-02 -5.62047626e-01  1.69668899e+02]
 [ 6.10933095e-03  9.99647068e-01 -2.58537325e-02 -1.97971348e+01]
 [ 5.62355725e-01  1.79440146e-02  8.26700702e-01  1.13416978e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.78327356
Centerline is valid?  [True, True]
Translation: X:169.72, Y:-19.80, Z:113.45
[[ 8.26840205e-01 -2.09526147e-02 -5.62046496e-01  1.69718105e+02]
 [ 7.74052135e-03  9.99635133e-01 -2.58782781e-02 -1.98034874e+01]
 [ 5.62383642e-01  1.70466678e-02  8.26700702e-01  1.13450220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.84327356
Centerline is valid?  [True, True]
Translation: X:169.77, Y:-19.80, Z:113.48
[[ 8.26905811e-01 -1.82323162e-02 -5.62044805e-01  1.69766982e+02]
 [ 4.42691738e-03  9.99654349e-01 -2.59149633e-02 -1.98003576e+01]
 [ 5.62323023e-01  1.89411078e-02  8.26700703e-01  1.13483527e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.90327356
Centerline is valid?  [True, True]
Translation: X:169.82, Y:-19.79, Z:113.52
[[ 8.26960725e-01 -1.55789370e-02 -5.62043820e-01  1.69815357e+02]
 [ 1.20481907e-03  9.99662871e-01 -2.59363173e-02 -1.97852620e+01]
 [ 5.62258399e-01  2.07711547e-02  8.26700703e-01  1.13516877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 284.96327356
Centerline is valid?  [True, True]
Translation: X:169.87, Y:-19.79, Z:113.55
[[ 8.26984155e-01 -1.45882291e-02 -5.62035934e-01  1.69865019e+02]
 [-1.08109442e-04  9.99659167e-01 -2.61062698e-02 -1.97933889e+01]
 [ 5.62225218e-01  2.16502328e-02  8.26700715e-01  1.13550295e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.02327356
Centerline is valid?  [True, True]
Translation: X:169.91, Y:-19.79, Z:113.58
[[ 8.26976301e-01 -1.50688768e-02 -5.62034808e-01  1.69912773e+02]
 [ 4.56471784e-04  9.99658437e-01 -2.61304784e-02 -1.97864251e+01]
 [ 5.62236595e-01  2.13527334e-02  8.26700715e-01  1.13582967e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.08327356
Centerline is valid?  [True, True]
Translation: X:169.96, Y:-19.78, Z:113.62
[[ 8.26983843e-01 -1.49909701e-02 -5.62025795e-01  1.69962159e+02]
 [ 2.31544195e-04  9.99653459e-01 -2.63231545e-02 -1.97830547e+01]
 [ 5.62225639e-01  2.16386897e-02  8.26700730e-01  1.13616547e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.14327356
Centerline is valid?  [True, True]
Translation: X:170.01, Y:-19.78, Z:113.65
[[ 8.27043013e-01 -1.13212001e-02 -5.62024630e-01  1.70011353e+02]
 [-4.22112614e-03  9.99643919e-01 -2.63479943e-02 -1.97808664e+01]
 [ 5.62122795e-01  2.41633015e-02  8.26700731e-01  1.13650048e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.20327356
Centerline is valid?  [True, True]
Translation: X:170.06, Y:-19.78, Z:113.68
[[ 8.27080916e-01 -8.15297357e-03 -5.62023742e-01  1.70060118e+02]
 [-8.06325588e-03  9.99619812e-01 -2.63669270e-02 -1.97751349e+01]
 [ 5.62025037e-01  2.63393234e-02  8.26700731e-01  1.13683373e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.26327356
Centerline is valid?  [True, True]
Translation: X:170.11, Y:-19.77, Z:113.72
[[ 8.27099343e-01 -6.70783941e-03 -5.62015732e-01  1.70109550e+02]
 [-9.92496024e-03  9.99598567e-01 -2.65367567e-02 -1.97691863e+01]
 [ 5.61968124e-01  2.75265179e-02  8.26700743e-01  1.13717079e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.32327356
Centerline is valid?  [True, True]
Translation: X:170.16, Y:-19.76, Z:113.75
[[ 8.27104389e-01 -6.10796573e-03 -5.62015144e-01  1.70157871e+02]
 [-1.06583714e-02  9.99590686e-01 -2.65491982e-02 -1.97635925e+01]
 [ 5.61947265e-01  2.79491245e-02  8.26700743e-01  1.13750103e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.38327356
Centerline is valid?  [True, True]
Translation: X:170.21, Y:-19.76, Z:113.78
[[ 8.27112213e-01 -5.78436694e-03 -5.62007054e-01  1.70205582e+02]
 [-1.11648965e-02  9.99580618e-01 -2.67195282e-02 -1.97623313e+01]
 [ 5.61925914e-01  2.83747987e-02  8.26700755e-01  1.13782490e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.44327356
Centerline is valid?  [True, True]
Translation: X:170.25, Y:-19.76, Z:113.82
[[ 8.27085967e-01 -8.94828210e-03 -5.62004210e-01  1.70254328e+02]
 [-7.38159944e-03  9.99614118e-01 -2.67792414e-02 -1.97554579e+01]
 [ 5.62026970e-01  2.62972248e-02  8.26700756e-01  1.13815820e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.50327355999997
Centerline is valid?  [True, True]
Translation: X:170.30, Y:-19.76, Z:113.85
[[ 8.27119215e-01 -5.78656133e-03 -5.61996726e-01  1.70303982e+02]
 [-1.13086376e-02  9.99573205e-01 -2.69355362e-02 -1.97580038e+01]
 [ 5.61912732e-01  2.86343168e-02  8.26700766e-01  1.13849412e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.56327355999997
Centerline is valid?  [True, True]
Translation: X:170.35, Y:-19.76, Z:113.88
[[ 8.27126850e-01 -4.68908967e-03 -5.61995718e-01  1.70352885e+02]
 [-1.26491598e-02  9.99556573e-01 -2.69565579e-02 -1.97558102e+01]
 [ 5.61872915e-01  2.94052665e-02  8.26700767e-01  1.13882717e+02]
 [ 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 285.62327356
Centerline is valid?  [True, True]
Translation: X:170.40, Y:-19.75, Z:113.92
[[ 8.27110074e-01 -7.16267029e-03 -5.61994325e-01  1.70402597e+02]
 [-9.67948836e-03  9.99588959e-01 -2.69855545e-02 -1.97474255e+01]
 [ 5.61956611e-01  2.77598415e-02  8.26700767e-01  1.13916769e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.68327356
Centerline is valid?  [True, True]
Translation: X:170.45, Y:-19.74, Z:113.95
[[ 8.27096327e-01 -8.64233743e-03 -5.61993750e-01  1.70450727e+02]
 [-7.89935390e-03  9.99604288e-01 -2.69975318e-02 -1.97446230e+01]
 [ 5.62004684e-01  2.67689469e-02  8.26700767e-01  1.13949574e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.74327356
Centerline is valid?  [True, True]
Translation: X:170.50, Y:-19.75, Z:113.98
[[ 8.27123499e-01 -6.33982859e-03 -5.61984452e-01  1.70500758e+02]
 [-1.08124190e-02  9.99571808e-01 -2.71899334e-02 -1.97473758e+01]
 [ 5.61916194e-01  2.85658442e-02  8.26700782e-01  1.13983395e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.80327356
Centerline is valid?  [True, True]
Translation: X:170.55, Y:-19.75, Z:114.02
[[ 8.27127964e-01 -5.79269529e-03 -5.61983787e-01  1.70550291e+02]
 [-1.14829339e-02  9.99563956e-01 -2.72036766e-02 -1.97473848e+01]
 [ 5.61896320e-01  2.89541443e-02  8.26700782e-01  1.14017060e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.86327356
Centerline is valid?  [True, True]
Translation: X:170.60, Y:-19.74, Z:114.05
[[ 8.27121435e-01 -6.75785269e-03 -5.61982619e-01  1.70597537e+02]
 [-1.03328923e-02  9.99575850e-01 -2.72277871e-02 -1.97384338e+01]
 [ 5.61928255e-01  2.83275922e-02  8.26700783e-01  1.14049460e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.92327356
Centerline is valid?  [True, True]
Translation: X:170.65, Y:-19.73, Z:114.08
[[ 8.27125289e-01 -6.52016118e-03 -5.61979754e-01  1.70647373e+02]
 [-1.06601333e-02  9.99570804e-01 -2.72867990e-02 -1.97334503e+01]
 [ 5.61916469e-01  2.85603806e-02  8.26700784e-01  1.14083472e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 285.98327356
Centerline is valid?  [True, True]
Translation: X:170.70, Y:-19.72, Z:114.12
[[ 8.27089618e-01 -1.00886584e-02 -5.61979522e-01  1.70696179e+02]
 [-6.35071337e-03  9.99607342e-01 -2.72915747e-02 -1.97234799e+01]
 [ 5.62034192e-01  2.61415489e-02  8.26700784e-01  1.14116976e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.04327356
Centerline is valid?  [True, True]
Translation: X:170.74, Y:-19.72, Z:114.15
[[ 8.27102546e-01 -9.01706563e-03 -5.61978710e-01  1.70744869e+02]
 [-7.65713667e-03  9.99597732e-01 -2.73082864e-02 -1.97221226e+01]
 [ 5.61998885e-01  2.68899010e-02  8.26700784e-01  1.14150111e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.10327356
Centerline is valid?  [True, True]
Translation: X:170.79, Y:-19.72, Z:114.18
[[ 8.27093076e-01 -1.03096983e-02 -5.61970421e-01  1.70793893e+02]
 [-6.20995360e-03  9.99603120e-01 -2.74779876e-02 -1.97197480e+01]
 [ 5.62030675e-01  2.62166635e-02  8.26700796e-01  1.14183430e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.16327356
Centerline is valid?  [True, True]
Translation: X:170.84, Y:-19.71, Z:114.22
[[ 8.27066741e-01 -1.26215773e-02 -5.61962011e-01  1.70842038e+02]
 [-3.53183356e-03  9.99611452e-01 -2.76490847e-02 -1.97074679e+01]
 [ 5.62092637e-01  2.48523947e-02  8.26700808e-01  1.14216482e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.22327356
Centerline is valid?  [True, True]
Translation: X:170.89, Y:-19.71, Z:114.25
[[ 8.27055400e-01 -1.33936704e-02 -5.61960831e-01  1.70891736e+02]
 [-2.61491471e-03  9.99613607e-01 -2.76730578e-02 -1.97053246e+01]
 [ 5.62114337e-01  2.43566315e-02  8.26700809e-01  1.14250325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.28327356
Centerline is valid?  [True, True]
Translation: X:170.94, Y:-19.71, Z:114.28
[[ 8.26961528e-01 -1.83062228e-02 -5.61960420e-01  1.70941723e+02]
 [ 3.31727427e-03  9.99611292e-01 -2.76813959e-02 -1.97093191e+01]
 [ 5.62248723e-01  2.10272726e-02  8.26700809e-01  1.14284166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.34327356
Centerline is valid?  [True, True]
Translation: X:170.99, Y:-19.70, Z:114.32
[[ 8.26899230e-01 -2.09462422e-02 -5.61959890e-01  1.70990572e+02]
 [ 6.50125937e-03  9.99595357e-01 -2.76921545e-02 -1.97030885e+01]
 [ 5.62312543e-01  1.92451742e-02  8.26700809e-01  1.14317575e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.40327356
Centerline is valid?  [True, True]
Translation: X:171.04, Y:-19.70, Z:114.35
[[ 8.26768827e-01 -2.56201130e-02 -5.61958109e-01  1.71039814e+02]
 [ 1.21270418e-02  9.99541934e-01 -2.77282541e-02 -1.97013008e+01]
 [ 5.62411096e-01  1.61099666e-02  8.26700809e-01  1.14351090e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.46327356
Centerline is valid?  [True, True]
Translation: X:171.09, Y:-19.70, Z:114.38
[[ 8.26803718e-01 -2.44953857e-02 -5.61956927e-01  1.71087807e+02]
 [ 1.07510409e-02  9.99557017e-01 -2.77521876e-02 -1.96956626e+01]
 [ 5.62387790e-01  1.69039900e-02  8.26700809e-01  1.14383891e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.52327356
Centerline is valid?  [True, True]
Translation: X:171.14, Y:-19.69, Z:114.42
[[ 8.26873857e-01 -2.20768592e-02 -5.61953946e-01  1.71136261e+02]
 [ 7.78636408e-03  9.99582833e-01 -2.78124367e-02 -1.96918027e+01]
 [ 5.62333529e-01  1.86217987e-02  8.26700811e-01  1.14416928e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.58327356
Centerline is valid?  [True, True]
Translation: X:171.19, Y:-19.69, Z:114.45
[[ 8.26924164e-01 -2.03399975e-02 -5.61945470e-01  1.71185856e+02]
 [ 5.57112029e-03  9.99592879e-01 -2.79828266e-02 -1.96907407e+01]
 [ 5.62285860e-01  2.00090097e-02  8.26700823e-01  1.14450592e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.64327356
Centerline is valid?  [True, True]
Translation: X:171.23, Y:-19.69, Z:114.48
[[ 8.26992280e-01 -1.73704307e-02 -5.61944870e-01  1.71234477e+02]
 [ 1.97344517e-03  9.99606119e-01 -2.79948546e-02 -1.96850385e+01]
 [ 5.62209814e-01  2.20425612e-02  8.26700823e-01  1.14483830e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.70327356
Centerline is valid?  [True, True]
Translation: X:171.28, Y:-19.68, Z:114.52
[[ 8.27070810e-01 -1.31849789e-02 -5.61943085e-01  1.71283470e+02]
 [-3.10964231e-03  9.99602227e-01 -2.80306478e-02 -1.96809362e+01]
 [ 5.62089143e-01  2.49307726e-02  8.26700824e-01  1.14517253e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.76327356
Centerline is valid?  [True, True]
Translation: X:171.33, Y:-19.68, Z:114.55
[[ 8.27084323e-01 -1.23409623e-02 -5.61942367e-01  1.71332150e+02]
 [-4.13947749e-03  9.99598089e-01 -2.80450455e-02 -1.96779873e+01]
 [ 5.62062619e-01  2.55217653e-02  8.26700824e-01  1.14550436e+02]
 [ 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 286.82327356
Centerline is valid?  [True, True]
Translation: X:171.38, Y:-19.67, Z:114.58
[[ 8.27119845e-01 -9.77821118e-03 -5.61940521e-01  1.71380104e+02]
 [-7.26172188e-03  9.99579246e-01 -2.80819956e-02 -1.96745540e+01]
 [ 5.61978674e-01  2.73078316e-02  8.26700824e-01  1.14583131e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.88327356
Centerline is valid?  [True, True]
Translation: X:171.43, Y:-19.67, Z:114.62
[[ 8.27114244e-01 -1.07677063e-02 -5.61930675e-01  1.71429655e+02]
 [-6.19867014e-03  9.99580882e-01 -2.82778685e-02 -1.96744227e+01]
 [ 5.61999647e-01  2.68722507e-02  8.26700840e-01  1.14616722e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 286.94327356
Centerline is valid?  [True, True]
Translation: X:171.48, Y:-19.67, Z:114.65
[[ 8.27132661e-01 -9.31995132e-03 -5.61929444e-01  1.71478630e+02]
 [-7.96483843e-03  9.99567677e-01 -2.83023078e-02 -1.96739965e+01]
 [ 5.61950285e-01  2.78854404e-02  8.26700840e-01  1.14650014e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.00327355999997
Centerline is valid?  [True, True]
Translation: X:171.53, Y:-19.67, Z:114.68
[[ 8.27137458e-01 -9.41593282e-03 -5.61920783e-01  1.71527538e+02]
 [-7.96478813e-03  9.99562818e-01 -2.84733924e-02 -1.96725626e+01]
 [ 5.61943225e-01  2.80269894e-02  8.26700852e-01  1.14683223e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.06327355999997
Centerline is valid?  [True, True]
Translation: X:171.58, Y:-19.67, Z:114.72
[[ 8.27140042e-01 -9.70319714e-03 -5.61912092e-01  1.71575970e+02]
 [-7.73328477e-03  9.99559761e-01 -2.86440444e-02 -1.96718933e+01]
 [ 5.61942655e-01  2.80380623e-02  8.26700865e-01  1.14716082e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.12327356
Centerline is valid?  [True, True]
Translation: X:171.63, Y:-19.67, Z:114.75
[[ 8.27116552e-01 -1.16838222e-02 -5.61908976e-01  1.71625819e+02]
 [-5.38109314e-03  9.99573441e-01 -2.87050577e-02 -1.96714545e+01]
 [ 5.62004674e-01  2.67661129e-02  8.26700866e-01  1.14749949e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.18327356
Centerline is valid?  [True, True]
Translation: X:171.68, Y:-19.67, Z:114.78
[[ 8.27168226e-01 -7.19174912e-03 -5.61908359e-01  1.71675310e+02]
 [-1.08176702e-02  9.99529041e-01 -2.87171296e-02 -1.96720072e+01]
 [ 5.61850250e-01  2.98324364e-02  8.26700866e-01  1.14783564e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.24327356
Centerline is valid?  [True, True]
Translation: X:171.72, Y:-19.67, Z:114.82
[[ 8.27161762e-01 -7.94513566e-03 -5.61907728e-01  1.71722983e+02]
 [-9.91565981e-03  9.99538041e-01 -2.87294856e-02 -1.96718203e+01]
 [ 5.61876409e-01  2.93356178e-02  8.26700866e-01  1.14815967e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.30327356
Centerline is valid?  [True, True]
Translation: X:171.77, Y:-19.67, Z:114.85
[[ 8.27161362e-01 -8.20306476e-03 -5.61904610e-01  1.71771446e+02]
 [-9.64522242e-03  9.99538936e-01 -2.87903635e-02 -1.96687832e+01]
 [ 5.61881705e-01  2.92339712e-02  8.26700868e-01  1.14848982e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.36327356
Centerline is valid?  [True, True]
Translation: X:171.82, Y:-19.67, Z:114.88
[[ 8.27153473e-01 -9.50213259e-03 -5.61895757e-01  1.71819969e+02]
 [-8.19188597e-03  9.99546937e-01 -2.89622661e-02 -1.96681884e+01]
 [ 5.61916387e-01  2.85592250e-02  8.26700880e-01  1.14881897e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.42327356
Centerline is valid?  [True, True]
Translation: X:171.87, Y:-19.67, Z:114.92
[[ 8.27073146e-01 -1.52719996e-02 -5.61886801e-01  1.71870008e+02]
 [-1.33622912e-03  9.99574588e-01 -2.91351601e-02 -1.96686509e+01]
 [ 5.62092720e-01  2.48477180e-02  8.26700892e-01  1.14915804e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.48327356
Centerline is valid?  [True, True]
Translation: X:171.92, Y:-19.67, Z:114.95
[[ 8.27069002e-01 -1.55548722e-02 -5.61885141e-01  1.71920130e+02]
 [-1.01604599e-03  9.99574032e-01 -2.91671470e-02 -1.96682274e+01]
 [ 5.62099487e-01  2.46941443e-02  8.26700893e-01  1.14949869e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.54327356
Centerline is valid?  [True, True]
Translation: X:171.97, Y:-19.67, Z:114.98
[[ 8.26990899e-01 -1.92650235e-02 -5.61885141e-01  1.71970142e+02]
 [ 3.46814542e-03  9.99568532e-01 -2.91671470e-02 -1.96688021e+01]
 [ 5.62204611e-01  2.21722658e-02  8.26700893e-01  1.14983840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.60327356
Centerline is valid?  [True, True]
Translation: X:172.02, Y:-19.67, Z:115.02
[[ 8.26897170e-01 -2.29800452e-02 -5.61883429e-01  1.72018020e+02]
 [ 7.93626089e-03  9.99542080e-01 -2.92000968e-02 -1.96690005e+01]
 [ 5.62297151e-01  1.96862240e-02  8.26700893e-01  1.15016358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.66327356
Centerline is valid?  [True, True]
Translation: X:172.07, Y:-19.67, Z:115.05
[[ 8.26838465e-01 -2.50714904e-02 -5.61880390e-01  1.72066488e+02]
 [ 1.04248087e-02  9.99517516e-01 -2.92584708e-02 -1.96700740e+01]
 [ 5.62342845e-01  1.83345335e-02  8.26700895e-01  1.15049231e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.72327356
Centerline is valid?  [True, True]
Translation: X:172.12, Y:-19.67, Z:115.08
[[ 8.26862885e-01 -2.44603198e-02 -5.61871393e-01  1.72115467e+02]
 [ 9.56930249e-03  9.99521025e-01 -2.94304053e-02 -1.96702349e+01]
 [ 5.62322147e-01  1.89581926e-02  8.26700907e-01  1.15082425e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.78327356
Centerline is valid?  [True, True]
Translation: X:172.17, Y:-19.67, Z:115.12
[[ 8.26903523e-01 -2.32648391e-02 -5.61862359e-01  1.72165260e+02]
 [ 8.00774869e-03  9.99529688e-01 -2.96020217e-02 -1.96665371e+01]
 [ 5.62286795e-01  1.99787635e-02  8.26700919e-01  1.15116309e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.84327356
Centerline is valid?  [True, True]
Translation: X:172.21, Y:-19.66, Z:115.15
[[ 8.26977411e-01 -2.05204342e-02 -5.61860547e-01  1.72214130e+02]
 [ 4.66721488e-03  9.99549850e-01 -2.96363853e-02 -1.96646038e+01]
 [ 5.62215777e-01  2.18862973e-02  8.26700920e-01  1.15149574e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.90327356
Centerline is valid?  [True, True]
Translation: X:172.26, Y:-19.66, Z:115.18
[[ 8.27054670e-01 -1.71709561e-02 -5.61859173e-01  1.72264040e+02]
 [ 6.01291097e-04  9.99559793e-01 -2.96624092e-02 -1.96613503e+01]
 [ 5.62121171e-01  2.41945931e-02  8.26700920e-01  1.15183598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 287.96327356
Centerline is valid?  [True, True]
Translation: X:172.31, Y:-19.66, Z:115.22
[[ 8.27098328e-01 -1.49206055e-02 -5.61859173e-01  1.72312833e+02]
 [-2.11835772e-03  9.99557729e-01 -2.96624092e-02 -1.96581408e+01]
 [ 5.62053260e-01  2.57239478e-02  8.26700920e-01  1.15216875e+02]
 [ 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 288.02327356
Centerline is valid?  [True, True]
Translation: X:172.36, Y:-19.65, Z:115.25
[[ 8.27171196e-01 -1.05916919e-02 -5.61850183e-01  1.72361453e+02]
 [-7.46443466e-03  9.99527059e-01 -2.98318814e-02 -1.96540031e+01]
 [ 5.61900431e-01  2.88699670e-02  8.26700932e-01  1.15249979e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.08327356
Centerline is valid?  [True, True]
Translation: X:172.41, Y:-19.65, Z:115.28
[[ 8.27202959e-01 -7.84448210e-03 -5.61848492e-01  1.72410996e+02]
 [-1.08055063e-02  9.99495573e-01 -2.98636949e-02 -1.96505740e+01]
 [ 5.61799346e-01  3.07743942e-02  8.26700932e-01  1.15283757e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.14327356
Centerline is valid?  [True, True]
Translation: X:172.46, Y:-19.65, Z:115.32
[[ 8.27224076e-01 -5.22849272e-03 -5.61847837e-01  1.72460162e+02]
 [-1.39746084e-02  9.99455919e-01 -2.98760259e-02 -1.96466023e+01]
 [ 5.61698352e-01  3.25657714e-02  8.26700932e-01  1.15317308e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.20327356
Centerline is valid?  [True, True]
Translation: X:172.51, Y:-19.64, Z:115.35
[[ 8.27227881e-01 -4.67028787e-03 -5.61847151e-01  1.72508307e+02]
 [-1.46577546e-02  9.99445748e-01 -2.98889166e-02 -1.96431949e+01]
 [ 5.61675336e-01  3.29603629e-02  8.26700932e-01  1.15350145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.26327356
Centerline is valid?  [True, True]
Translation: X:172.56, Y:-19.64, Z:115.38
[[ 8.27213077e-01 -7.01509197e-03 -5.61844564e-01  1.72557503e+02]
 [-1.18575940e-02  9.99481438e-01 -2.99374811e-02 -1.96415852e+01]
 [ 5.61763227e-01  3.14268006e-02  8.26700933e-01  1.15383613e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.32327356
Centerline is valid?  [True, True]
Translation: X:172.61, Y:-19.64, Z:115.42
[[ 8.27169464e-01 -1.10805532e-02 -5.61843304e-01  1.72606537e+02]
 [-6.96125349e-03  9.99526825e-01 -2.99611054e-02 -1.96388627e+01]
 [ 5.61909440e-01  2.86940452e-02  8.26700934e-01  1.15417025e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.38327356
Centerline is valid?  [True, True]
Translation: X:172.66, Y:-19.64, Z:115.45
[[ 8.27064417e-01 -1.74934228e-02 -5.61834878e-01  1.72656255e+02]
 [ 6.81815087e-04  9.99546105e-01 -3.01184179e-02 -1.96378036e+01]
 [ 5.62106738e-01  2.45268043e-02  8.26700944e-01  1.15450770e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.44327356
Centerline is valid?  [True, True]
Translation: X:172.71, Y:-19.64, Z:115.48
[[ 8.26936885e-01 -2.27503817e-02 -5.61834325e-01  1.72705729e+02]
 [ 7.02850279e-03  9.99521315e-01 -3.01287452e-02 -1.96364602e+01]
 [ 5.62250823e-01  2.09657166e-02  8.26700944e-01  1.15484437e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.50327355999997
Centerline is valid?  [True, True]
Translation: X:172.76, Y:-19.63, Z:115.52
[[ 8.26866947e-01 -2.51808509e-02 -5.61833585e-01  1.72755040e+02]
 [ 9.95695161e-03  9.99496016e-01 -3.01425306e-02 -1.96347746e+01]
 [ 5.62309445e-01  1.93297124e-02  8.26700944e-01  1.15518003e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.56327355999997
Centerline is valid?  [True, True]
Translation: X:172.80, Y:-19.63, Z:115.55
[[ 8.26691518e-01 -3.04240591e-02 -5.61832280e-01  1.72803462e+02]
 [ 1.62787209e-02  9.99412310e-01 -3.01668297e-02 -1.96315692e+01]
 [ 5.62419895e-01  1.57927513e-02  8.26700944e-01  1.15551015e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.62327356
Centerline is valid?  [True, True]
Translation: X:172.85, Y:-19.63, Z:115.58
[[ 8.26483506e-01 -3.56708660e-02 -5.61829692e-01  1.72851805e+02]
 [ 2.25894479e-02  9.99288133e-01 -3.02149695e-02 -1.96294797e+01]
 [ 5.62507538e-01  1.22807513e-02  8.26700945e-01  1.15583920e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.68327356
Centerline is valid?  [True, True]
Translation: X:172.90, Y:-19.63, Z:115.62
[[ 8.26066040e-01 -4.43311067e-02 -5.61827065e-01  1.72901157e+02]
 [ 3.30283644e-02  9.98996112e-01 -3.02637486e-02 -1.96259602e+01]
 [ 5.62604680e-01  6.44362592e-03  8.26700946e-01  1.15617563e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.74327356
Centerline is valid?  [True, True]
Translation: X:172.95, Y:-19.62, Z:115.65
[[ 8.25815739e-01 -4.87795615e-02 -5.61826415e-01  1.72950430e+02]
 [ 3.84001493e-02  9.98803686e-01 -3.02758249e-02 -1.96208793e+01]
 [ 5.62631135e-01  3.42803456e-03  8.26700946e-01  1.15651229e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.80327356
Centerline is valid?  [True, True]
Translation: X:173.00, Y:-19.61, Z:115.68
[[ 8.25737567e-01 -5.00929490e-02 -5.61825744e-01  1.72999379e+02]
 [ 3.99802194e-02  9.98741309e-01 -3.02882674e-02 -1.96142802e+01]
 [ 5.62635808e-01  2.54824376e-03  8.26700946e-01  1.15684730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.86327356
Centerline is valid?  [True, True]
Translation: X:173.05, Y:-19.61, Z:115.72
[[ 8.25886134e-01 -4.75961831e-02 -5.61824437e-01  1.73047616e+02]
 [ 3.69439560e-02  9.98857496e-01 -3.03125000e-02 -1.96057764e+01]
 [ 5.62625309e-01  4.27865611e-03  8.26700946e-01  1.15717811e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.92327356
Centerline is valid?  [True, True]
Translation: X:173.10, Y:-19.60, Z:115.75
[[ 8.26077446e-01 -4.42667089e-02 -5.61815372e-01  1.73096171e+02]
 [ 3.28036191e-02  9.98996951e-01 -3.04797238e-02 -1.95982441e+01]
 [ 5.62601081e-01  6.74903488e-03  8.26700958e-01  1.15751001e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 288.98327356
Centerline is valid?  [True, True]
Translation: X:173.14, Y:-19.59, Z:115.78
[[ 8.26371377e-01 -3.84188391e-02 -5.61813438e-01  1.73144498e+02]
 [ 2.57079573e-02  9.99203641e-01 -3.05153325e-02 -1.95880506e+01]
 [ 5.62538397e-01  1.07739214e-02  8.26700959e-01  1.15784202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.04327356
Centerline is valid?  [True, True]
Translation: X:173.19, Y:-19.58, Z:115.82
[[ 8.26570123e-01 -3.40298326e-02 -5.61804061e-01  1.73192193e+02]
 [ 2.02845770e-02  9.99323188e-01 -3.06871678e-02 -1.95772727e+01]
 [ 5.62468104e-01  1.39691383e-02  8.26700971e-01  1.15816929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.10327356
Centerline is valid?  [True, True]
Translation: X:173.24, Y:-19.57, Z:115.85
[[ 8.26624051e-01 -3.27802470e-02 -5.61799015e-01  1.73241547e+02]
 [ 1.87112720e-02  9.99351051e-01 -3.07793114e-02 -1.95692448e+01]
 [ 5.62443389e-01  1.49309449e-02  8.26700974e-01  1.15850723e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.16327356
Centerline is valid?  [True, True]
Translation: X:173.29, Y:-19.56, Z:115.88
[[ 8.26774611e-01 -2.87467132e-02 -5.61798335e-01  1.73290129e+02]
 [ 1.38267354e-02  9.99430183e-01 -3.07917237e-02 -1.95601032e+01]
 [ 5.62363373e-01  1.76899785e-02  8.26700974e-01  1.15884073e+02]
 [ 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 289.22327356
Centerline is valid?  [True, True]
Translation: X:173.34, Y:-19.55, Z:115.92
[[ 8.26784239e-01 -2.86379600e-02 -5.61789719e-01  1.73338395e+02]
 [ 1.35890286e-02  9.99428609e-01 -3.09482378e-02 -1.95517905e+01]
 [ 5.62355012e-01  1.79533387e-02  8.26700985e-01  1.15917110e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.28327356
Centerline is valid?  [True, True]
Translation: X:173.39, Y:-19.54, Z:115.95
[[ 8.26971592e-01 -2.26385341e-02 -5.61787756e-01  1.73387509e+02]
 [ 6.31323864e-03  9.99499947e-01 -3.09838448e-02 -1.95442493e+01]
 [ 5.62208261e-01  2.20760593e-02  8.26700985e-01  1.15950751e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.34327356
Centerline is valid?  [True, True]
Translation: X:173.44, Y:-19.54, Z:115.98
[[ 8.27110898e-01 -1.68420963e-02 -5.61786353e-01  1.73435853e+02]
 [-7.09199232e-04  9.99518846e-01 -3.10092600e-02 -1.95385562e+01]
 [ 5.62038308e-01  2.60465154e-02  8.26700985e-01  1.15983806e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.40327356
Centerline is valid?  [True, True]
Translation: X:173.48, Y:-19.53, Z:116.02
[[ 8.27145413e-01 -1.51064473e-02 -5.61784888e-01  1.73484704e+02]
 [-2.82456203e-03  9.99514283e-01 -3.10357821e-02 -1.95339366e+01]
 [ 5.61980860e-01  2.72579011e-02  8.26700986e-01  1.16017164e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.46327356
Centerline is valid?  [True, True]
Translation: X:173.53, Y:-19.53, Z:116.05
[[ 8.27141795e-01 -1.56170709e-02 -5.61776252e-01  1.73533627e+02]
 [-2.31300481e-03  9.99510752e-01 -3.11914453e-02 -1.95283990e+01]
 [ 5.61988523e-01  2.70991393e-02  8.26700996e-01  1.16050547e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.52327356
Centerline is valid?  [True, True]
Translation: X:173.58, Y:-19.52, Z:116.08
[[ 8.27123163e-01 -1.66170440e-02 -5.61774996e-01  1.73580982e+02]
 [-1.11995049e-03  9.99512095e-01 -3.12140512e-02 -1.95219493e+01]
 [ 5.62019589e-01  2.64470250e-02  8.26700996e-01  1.16082960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.58327356
Centerline is valid?  [True, True]
Translation: X:173.63, Y:-19.52, Z:116.12
[[ 8.27145342e-01 -1.55941653e-02 -5.61771667e-01  1.73629101e+02]
 [-2.39653786e-03  9.99507980e-01 -3.12738766e-02 -1.95186051e+01]
 [ 5.61982954e-01  2.72143484e-02  8.26700997e-01  1.16115759e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.64327356
Centerline is valid?  [True, True]
Translation: X:173.68, Y:-19.52, Z:116.15
[[ 8.27162947e-01 -1.47593844e-02 -5.61768298e-01  1.73677226e+02]
 [-3.44619407e-03  9.99503019e-01 -3.13342946e-02 -1.95158405e+01]
 [ 5.61951585e-01  2.78545300e-02  8.26700999e-01  1.16148540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.70327356
Centerline is valid?  [True, True]
Translation: X:173.72, Y:-19.51, Z:116.18
[[ 8.27128428e-01 -1.67506844e-02 -5.61763275e-01  1.73724918e+02]
 [-1.10081393e-03  9.99505534e-01 -3.14241194e-02 -1.95110261e+01]
 [ 5.62011878e-01  2.66101793e-02  8.26701002e-01  1.16181091e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.76327356
Centerline is valid?  [True, True]
Translation: X:173.77, Y:-19.51, Z:116.21
[[ 8.27042813e-01 -2.06380692e-02 -5.61759962e-01  1.73773453e+02]
 [ 3.55685897e-03  9.99497951e-01 -3.14832570e-02 -1.95094659e+01]
 [ 5.62127684e-01  2.40399005e-02  8.26701004e-01  1.16214104e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.82327356
Centerline is valid?  [True, True]
Translation: X:173.82, Y:-19.51, Z:116.25
[[ 8.26899670e-01 -2.57763084e-02 -5.61758416e-01  1.73823003e+02]
 [ 9.74823611e-03  9.99455872e-01 -3.15108221e-02 -1.95075745e+01]
 [ 5.62264980e-01  2.05801347e-02  8.26701004e-01  1.16247835e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.88327356
Centerline is valid?  [True, True]
Translation: X:173.87, Y:-19.51, Z:116.28
[[ 8.26581155e-01 -3.45336076e-02 -5.61757086e-01  1.73871553e+02]
 [ 2.03181031e-02  9.99296127e-01 -3.15345186e-02 -1.95063571e+01]
 [ 5.62450681e-01  1.46520004e-02  8.26701004e-01  1.16280861e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 289.94327356
Centerline is valid?  [True, True]
Translation: X:173.92, Y:-19.51, Z:116.31
[[ 8.26346230e-01 -3.97824813e-02 -5.61755518e-01  1.73919103e+02]
 [ 2.66451950e-02  9.99146559e-01 -3.15624365e-02 -1.95051509e+01]
 [ 5.62531724e-01  1.11134151e-02  8.26701005e-01  1.16313205e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.00327355999997
Centerline is valid?  [True, True]
Translation: X:173.97, Y:-19.50, Z:116.35
[[ 8.26207335e-01 -4.26106241e-02 -5.61752413e-01  1.73968511e+02]
 [ 3.00273626e-02  9.99048890e-01 -3.16176112e-02 -1.95016705e+01]
 [ 5.62565371e-01  9.25475890e-03  8.26701006e-01  1.16346887e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.06327355999997
Centerline is valid?  [True, True]
Translation: X:174.02, Y:-19.50, Z:116.38
[[ 8.26220404e-01 -4.23653831e-02 -5.61751741e-01  1.74017226e+02]
 [ 2.97227035e-02  9.99057622e-01 -3.16295501e-02 -1.94984142e+01]
 [ 5.62562357e-01  9.43619921e-03  8.26701006e-01  1.16380109e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.12327356
Centerline is valid?  [True, True]
Translation: X:174.07, Y:-19.50, Z:116.41
[[ 8.26323756e-01 -4.04330446e-02 -5.61742129e-01  1.74065169e+02]
 [ 2.72707124e-02  9.99122165e-01 -3.17994905e-02 -1.94956939e+01]
 [ 5.62534762e-01  1.09575664e-02  8.26701018e-01  1.16412715e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.18327356
Centerline is valid?  [True, True]
Translation: X:174.11, Y:-19.49, Z:116.45
[[ 8.26457495e-01 -3.76407971e-02 -5.61739423e-01  1.74113911e+02]
 [ 2.38622444e-02  9.99207860e-01 -3.18472389e-02 -1.94918367e+01]
 [ 5.62493202e-01  1.29160259e-02  8.26701019e-01  1.16445962e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.24327356
Centerline is valid?  [True, True]
Translation: X:174.16, Y:-19.49, Z:116.48
[[ 8.26568773e-01 -3.51455258e-02 -5.61737355e-01  1.74162482e+02]
 [ 2.08207561e-02  9.99274701e-01 -3.18836692e-02 -1.94887352e+01]
 [ 5.62450496e-01  1.46582488e-02  8.26701019e-01  1.16479069e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.30327356
Centerline is valid?  [True, True]
Translation: X:174.21, Y:-19.48, Z:116.51
[[ 8.26631226e-01 -3.36673051e-02 -5.61735996e-01  1.74211932e+02]
 [ 1.90174533e-02  9.99309883e-01 -3.19076045e-02 -1.94845295e+01]
 [ 5.62422575e-01  1.56930342e-02  8.26701020e-01  1.16512822e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.36327356
Centerline is valid?  [True, True]
Translation: X:174.26, Y:-19.48, Z:116.55
[[ 8.26664132e-01 -3.28669203e-02 -5.61734971e-01  1.74259559e+02]
 [ 1.80376448e-02  9.99327473e-01 -3.19256292e-02 -1.94802103e+01]
 [ 5.62406486e-01  1.62593967e-02  8.26701020e-01  1.16545343e+02]
 [ 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 290.42327356
Centerline is valid?  [True, True]
Translation: X:174.31, Y:-19.48, Z:116.58
[[ 8.26706029e-01 -3.18557204e-02 -5.61731568e-01  1.74308647e+02]
 [ 1.67746615e-02  9.99347559e-01 -3.19854245e-02 -1.94767762e+01]
 [ 5.62383990e-01  1.70196864e-02  8.26701021e-01  1.16578805e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.48327356
Centerline is valid?  [True, True]
Translation: X:174.36, Y:-19.47, Z:116.61
[[ 8.26809467e-01 -2.90870126e-02 -5.61729518e-01  1.74357202e+02]
 [ 1.34034829e-02  9.99397307e-01 -3.20213821e-02 -1.94741534e+01]
 [ 5.62322374e-01  1.89464499e-02  8.26701022e-01  1.16611882e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.54327356
Centerline is valid?  [True, True]
Translation: X:174.41, Y:-19.48, Z:116.65
[[ 8.27074344e-01 -2.04690433e-02 -5.61719723e-01  1.74406832e+02]
 [ 2.87183200e-03  9.99477563e-01 -3.21924444e-02 -1.94758404e+01]
 [ 5.62085208e-01  2.50123802e-02  8.26701034e-01  1.16645464e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.60327356
Centerline is valid?  [True, True]
Translation: X:174.46, Y:-19.48, Z:116.68
[[ 8.27174038e-01 -1.59808006e-02 -5.61718545e-01  1.74455940e+02]
 [-2.56557160e-03  9.99477734e-01 -3.22129807e-02 -1.94760173e+01]
 [ 5.61939968e-01  2.80868704e-02  8.26701034e-01  1.16678815e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.66327356
Centerline is valid?  [True, True]
Translation: X:174.51, Y:-19.47, Z:116.71
[[ 8.27253518e-01 -1.12028649e-02 -5.61717111e-01  1.74505120e+02]
 [-8.35532769e-03  9.99445297e-01 -3.22379798e-02 -1.94736588e+01]
 [ 5.61766682e-01  3.13623128e-02  8.26701034e-01  1.16712312e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.72327356
Centerline is valid?  [True, True]
Translation: X:174.55, Y:-19.47, Z:116.75
[[ 8.27271745e-01 -9.84945714e-03 -5.61715630e-01  1.74553582e+02]
 [-1.00078669e-02  9.99429283e-01 -3.22637655e-02 -1.94738889e+01]
 [ 5.61712830e-01  3.23124768e-02  8.26701035e-01  1.16745220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.78327356
Centerline is valid?  [True, True]
Translation: X:174.60, Y:-19.47, Z:116.78
[[ 8.27215903e-01 -1.41627565e-02 -5.61705676e-01  1.74602434e+02]
 [-4.91348424e-03  9.99461728e-01 -3.24362849e-02 -1.94735570e+01]
 [ 5.61862713e-01  2.95917427e-02  8.26701047e-01  1.16778347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.84327356
Centerline is valid?  [True, True]
Translation: X:174.65, Y:-19.47, Z:116.81
[[ 8.27278972e-01 -9.96990604e-03 -5.61702860e-01  1.74650373e+02]
 [-1.00120621e-02  9.99422075e-01 -3.24849915e-02 -1.94711551e+01]
 [ 5.61702110e-01  3.24979542e-02  8.26701048e-01  1.16810992e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.90327356
Centerline is valid?  [True, True]
Translation: X:174.70, Y:-19.47, Z:116.84
[[ 8.27224197e-01 -1.39155700e-02 -5.61699640e-01  1.74699879e+02]
 [-5.28276598e-03  9.99456453e-01 -3.25405907e-02 -1.94704832e+01]
 [ 5.61847151e-01  2.98856918e-02  8.26701049e-01  1.16844630e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 290.96327356
Centerline is valid?  [True, True]
Translation: X:174.75, Y:-19.47, Z:116.88
[[ 8.27283342e-01 -9.82660918e-03 -5.61698949e-01  1.74749212e+02]
 [-1.02308588e-02  9.99417663e-01 -3.25525014e-02 -1.94696120e+01]
 [ 5.61691732e-01  3.26768048e-02  8.26701049e-01  1.16878178e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.02327356
Centerline is valid?  [True, True]
Translation: X:174.80, Y:-19.46, Z:116.91
[[ 8.27233617e-01 -1.34087296e-02 -5.61698095e-01  1.74798009e+02]
 [-5.91317614e-03  9.99452054e-01 -3.25672467e-02 -1.94595730e+01]
 [ 5.61827000e-01  3.02621410e-02  8.26701049e-01  1.16911721e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.08327356
Centerline is valid?  [True, True]
Translation: X:174.85, Y:-19.47, Z:116.95
[[ 8.27089822e-01 -2.04753792e-02 -5.61696702e-01  1.74848591e+02]
 [ 2.60919191e-03  9.99465358e-01 -3.25912473e-02 -1.94701299e+01]
 [ 5.62063714e-01  2.54903144e-02  8.26701050e-01  1.16945662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.14327356
Centerline is valid?  [True, True]
Translation: X:174.90, Y:-19.47, Z:116.98
[[ 8.27030948e-01 -2.27465410e-02 -5.61696008e-01  1.74896865e+02]
 [ 5.34566477e-03  9.99454078e-01 -3.26032101e-02 -1.94705706e+01]
 [ 5.62130976e-01  2.39612252e-02  8.26701050e-01  1.16978438e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.20327356
Centerline is valid?  [True, True]
Translation: X:174.95, Y:-19.47, Z:117.01
[[ 8.27072429e-01 -2.12578085e-02 -5.61693246e-01  1.74947081e+02]
 [ 3.51437544e-03  9.99460644e-01 -3.26507396e-02 -1.94725676e+01]
 [ 5.62084376e-01  2.50305256e-02  8.26701051e-01  1.17012456e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.26327356
Centerline is valid?  [True, True]
Translation: X:175.00, Y:-19.47, Z:117.05
[[ 8.26847144e-01 -2.87291220e-02 -5.61692476e-01  1.74995626e+02]
 [ 1.25348786e-02  9.99387784e-01 -3.26639678e-02 -1.94714716e+01]
 [ 5.62287006e-01  1.99673615e-02  8.26701051e-01  1.17045476e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.32327356
Centerline is valid?  [True, True]
Translation: X:175.04, Y:-19.47, Z:117.08
[[ 8.26745605e-01 -3.15523609e-02 -5.61690443e-01  1.75044944e+02]
 [ 1.59236726e-02  9.99338390e-01 -3.26988993e-02 -1.94740890e+01]
 [ 5.62350551e-01  1.80894965e-02  8.26701051e-01  1.17078864e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.38327356
Centerline is valid?  [True, True]
Translation: X:175.09, Y:-19.47, Z:117.11
[[ 8.26665927e-01 -3.37394738e-02 -5.61680598e-01  1.75094376e+02]
 [ 1.84531362e-02  9.99289359e-01 -3.28672885e-02 -1.94698179e+01]
 [ 5.62390370e-01  1.68054989e-02  8.26701063e-01  1.17112537e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.44327356
Centerline is valid?  [True, True]
Translation: X:175.14, Y:-19.47, Z:117.15
[[ 8.26672613e-01 -3.35870236e-02 -5.61679893e-01  1.75142878e+02]
 [ 1.82606792e-02  9.99292498e-01 -3.28793278e-02 -1.94680095e+01]
 [ 5.62386822e-01  1.69237835e-02  8.26701063e-01  1.17145556e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.50327355999997
Centerline is valid?  [True, True]
Translation: X:175.19, Y:-19.47, Z:117.18
[[ 8.26720003e-01 -3.25710124e-02 -5.61669980e-01  1.75192754e+02]
 [ 1.69180859e-02  9.99310568e-01 -3.30479419e-02 -1.94675676e+01]
 [ 5.62359152e-01  1.78190136e-02  8.26701075e-01  1.17179378e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.56327355999997
Centerline is valid?  [True, True]
Translation: X:175.24, Y:-19.47, Z:117.21
[[ 8.26760267e-01 -3.15478296e-02 -5.61669115e-01  1.75242426e+02]
 [ 1.56713471e-02  9.99330412e-01 -3.30626305e-02 -1.94662816e+01]
 [ 5.62336083e-01  1.85327575e-02  8.26701075e-01  1.17213170e+02]
 [ 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 291.62327356
Centerline is valid?  [True, True]
Translation: X:175.29, Y:-19.47, Z:117.25
[[ 8.26968944e-01 -2.55137879e-02 -5.61668418e-01  1.75292397e+02]
 [ 8.37038066e-03  9.99417838e-01 -3.30744782e-02 -1.94666703e+01]
 [ 5.62185291e-01  2.26501879e-02  8.26701075e-01  1.17247100e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.68327356
Centerline is valid?  [True, True]
Translation: X:175.34, Y:-19.46, Z:117.28
[[ 8.27164818e-01 -1.81037868e-02 -5.61667710e-01  1.75341222e+02]
 [-5.92073944e-04  9.99452317e-01 -3.30864923e-02 -1.94637525e+01]
 [ 5.61959085e-01  2.77005312e-02  8.26701075e-01  1.17280382e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.74327356
Centerline is valid?  [True, True]
Translation: X:175.39, Y:-19.46, Z:117.31
[[ 8.27206244e-01 -1.61481520e-02 -5.61666331e-01  1.75391201e+02]
 [-2.97082776e-03  9.99447302e-01 -3.31098968e-02 -1.94614413e+01]
 [ 5.61890562e-01  2.90573273e-02  8.26701075e-01  1.17314420e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.80327356
Centerline is valid?  [True, True]
Translation: X:175.44, Y:-19.46, Z:117.35
[[ 8.27223703e-01 -1.52288336e-02 -5.61666295e-01  1.75440226e+02]
 [-4.08196057e-03  9.99443361e-01 -3.31104988e-02 -1.94581799e+01]
 [ 5.61857884e-01  2.96824891e-02  8.26701075e-01  1.17347858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.86327356
Centerline is valid?  [True, True]
Translation: X:175.49, Y:-19.45, Z:117.38
[[ 8.27283848e-01 -1.15652190e-02 -5.61665097e-01  1.75489772e+02]
 [-8.52182876e-03  9.99414693e-01 -3.31308126e-02 -1.94549580e+01]
 [ 5.61719515e-01  3.21949999e-02  8.26701075e-01  1.17381639e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.92327356
Centerline is valid?  [True, True]
Translation: X:175.54, Y:-19.45, Z:117.41
[[ 8.27215143e-01 -1.57776583e-02 -5.61663754e-01  1.75538639e+02]
 [-3.44803848e-03  9.99444321e-01 -3.31535738e-02 -1.94506639e+01]
 [ 5.61874735e-01  2.93617765e-02  8.26701076e-01  1.17415000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 291.98327356
Centerline is valid?  [True, True]
Translation: X:175.59, Y:-19.45, Z:117.45
[[ 8.27185576e-01 -1.72980061e-02 -5.61662534e-01  1.75587122e+02]
 [-1.62510102e-03  9.99448263e-01 -3.31742303e-02 -1.94490287e+01]
 [ 5.61926491e-01  2.83540032e-02  8.26701076e-01  1.17447995e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.04327356
Centerline is valid?  [True, True]
Translation: X:175.64, Y:-19.45, Z:117.48
[[ 8.27136299e-01 -1.95954558e-02 -5.61659649e-01  1.75636407e+02]
 [ 1.11783139e-03  9.99447338e-01 -3.32230156e-02 -1.94481132e+01]
 [ 5.62000261e-01  2.68521214e-02  8.26701077e-01  1.17481491e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.10327356
Centerline is valid?  [True, True]
Translation: X:175.69, Y:-19.45, Z:117.51
[[ 8.26972714e-01 -2.56162795e-02 -5.61658203e-01  1.75685434e+02]
 [ 8.37696381e-03  9.99412044e-01 -3.32474406e-02 -1.94477224e+01]
 [ 5.62179649e-01  2.27897357e-02  8.26701077e-01  1.17514804e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.16327356
Centerline is valid?  [True, True]
Translation: X:175.74, Y:-19.45, Z:117.55
[[ 8.26727277e-01 -3.26171406e-02 -5.61656595e-01  1.75735293e+02]
 [ 1.68200242e-02  9.99304703e-01 -3.32745833e-02 -1.94460029e+01]
 [ 5.62351399e-01  1.80619281e-02  8.26701077e-01  1.17548733e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.22327356
Centerline is valid?  [True, True]
Translation: X:175.78, Y:-19.44, Z:117.58
[[ 8.26521597e-01 -3.74795233e-02 -5.61655886e-01  1.75784368e+02]
 [ 2.26896890e-02  9.99188263e-01 -3.32865411e-02 -1.94427739e+01]
 [ 5.62447533e-01  1.47682477e-02  8.26701077e-01  1.17582199e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.28327356
Centerline is valid?  [True, True]
Translation: X:175.83, Y:-19.44, Z:117.62
[[ 8.26483258e-01 -3.84518342e-02 -5.61646580e-01  1.75833688e+02]
 [ 2.37589163e-02  9.99158187e-01 -3.34429498e-02 -1.94421771e+01]
 [ 5.62459722e-01  1.42959240e-02  8.26701088e-01  1.17615651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.34327356
Centerline is valid?  [True, True]
Translation: X:175.88, Y:-19.44, Z:117.65
[[ 8.26402354e-01 -4.01732349e-02 -5.61645137e-01  1.75882187e+02]
 [ 2.58235632e-02  9.99106147e-01 -3.34671685e-02 -1.94366410e+01]
 [ 5.62487593e-01  1.31536682e-02  8.26701088e-01  1.17648813e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.40327356
Centerline is valid?  [True, True]
Translation: X:175.93, Y:-19.43, Z:117.68
[[ 8.26573002e-01 -3.65203998e-02 -5.61643421e-01  1.75931246e+02]
 [ 2.13880314e-02  9.99209975e-01 -3.34959472e-02 -1.94348328e+01]
 [ 5.62422994e-01  1.56743985e-02  8.26701088e-01  1.17682201e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.46327356
Centerline is valid?  [True, True]
Translation: X:175.98, Y:-19.43, Z:117.72
[[ 8.26675641e-01 -3.41542041e-02 -5.61641233e-01  1.75979630e+02]
 [ 1.85028461e-02  9.99266335e-01 -3.35326060e-02 -1.94281374e+01]
 [ 5.62374456e-01  1.73286273e-02  8.26701089e-01  1.17715325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.52327356
Centerline is valid?  [True, True]
Translation: X:176.03, Y:-19.42, Z:117.75
[[ 8.26781748e-01 -3.16632676e-02 -5.61630998e-01  1.76028501e+02]
 [ 1.53761523e-02  9.99313596e-01 -3.37032888e-02 -1.94242742e+01]
 [ 5.62312649e-01  1.92295403e-02  8.26701101e-01  1.17748599e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.58327356
Centerline is valid?  [True, True]
Translation: X:176.08, Y:-19.42, Z:117.78
[[ 8.26932012e-01 -2.75054331e-02 -5.61628791e-01  1.76076065e+02]
 [ 1.03260386e-02  9.99377298e-01 -3.37400323e-02 -1.94209951e+01]
 [ 5.62207098e-01  2.21013122e-02  8.26701101e-01  1.17781027e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.64327356
Centerline is valid?  [True, True]
Translation: X:176.12, Y:-19.42, Z:117.81
[[ 8.27040677e-01 -2.42898936e-02 -5.61617057e-01  1.76124951e+02]
 [ 6.30837008e-03  9.99404153e-01 -3.39344072e-02 -1.94162769e+01]
 [ 5.62106683e-01  2.45222468e-02  8.26701117e-01  1.17814334e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.70327356
Centerline is valid?  [True, True]
Translation: X:176.17, Y:-19.41, Z:117.85
[[ 8.27049617e-01 -2.40202139e-02 -5.61615492e-01  1.76173577e+02]
 [ 5.96494151e-03  9.99405382e-01 -3.39602962e-02 -1.94120161e+01]
 [ 5.62097279e-01  2.47368464e-02  8.26701117e-01  1.17847530e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.76327356
Centerline is valid?  [True, True]
Translation: X:176.22, Y:-19.41, Z:117.88
[[ 8.27074688e-01 -2.33817019e-02 -5.61605517e-01  1.76221688e+02]
 [ 5.08203707e-03  9.99404665e-01 -3.41245895e-02 -1.94069164e+01]
 [ 5.62069065e-01  2.53694842e-02  8.26701128e-01  1.17880343e+02]
 [ 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 292.82327356
Centerline is valid?  [True, True]
Translation: X:176.27, Y:-19.40, Z:117.91
[[ 8.27082538e-01 -2.31516940e-02 -5.61603485e-01  1.76270243e+02]
 [ 4.78146772e-03  9.99405007e-01 -3.41579976e-02 -1.94029774e+01]
 [ 5.62060151e-01  2.55661944e-02  8.26701129e-01  1.17913475e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.88327356
Centerline is valid?  [True, True]
Translation: X:176.32, Y:-19.40, Z:117.95
[[ 8.27078184e-01 -2.33717081e-02 -5.61600785e-01  1.76318746e+02]
 [ 5.01726664e-03  9.99402334e-01 -3.42023522e-02 -1.94000436e+01]
 [ 5.62064502e-01  2.54703184e-02  8.26701130e-01  1.17946524e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 292.94327356
Centerline is valid?  [True, True]
Translation: X:176.37, Y:-19.40, Z:117.98
[[ 8.27025960e-01 -2.52180840e-02 -5.61597818e-01  1.76366463e+02]
 [ 7.21542601e-03  9.99387216e-01 -3.42509986e-02 -1.93981449e+01]
 [ 5.62117424e-01  2.42742975e-02  8.26701131e-01  1.17978994e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.00327355999997
Centerline is valid?  [True, True]
Translation: X:176.42, Y:-19.40, Z:118.01
[[ 8.26976732e-01 -2.68603377e-02 -5.61594165e-01  1.76415178e+02]
 [ 9.15944491e-03  9.99369238e-01 -3.43108041e-02 -1.93954565e+01]
 [ 5.62161533e-01  2.32303458e-02  8.26701132e-01  1.18012169e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.06327355999997
Centerline is valid?  [True, True]
Translation: X:176.46, Y:-19.39, Z:118.05
[[ 8.26924847e-01 -2.86182168e-02 -5.61583738e-01  1.76463862e+02]
 [ 1.11685744e-02  9.99342954e-01 -3.44807734e-02 -1.93921690e+01]
 [ 5.62201529e-01  2.22409186e-02  8.26701144e-01  1.18045293e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.12327356
Centerline is valid?  [True, True]
Translation: X:176.51, Y:-19.39, Z:118.08
[[ 8.26908685e-01 -2.91380374e-02 -5.61580805e-01  1.76512343e+02]
 [ 1.17644371e-02  9.99334470e-01 -3.45284770e-02 -1.93882250e+01]
 [ 5.62213148e-01  2.19452154e-02  8.26701145e-01  1.18078368e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.18327356
Centerline is valid?  [True, True]
Translation: X:176.56, Y:-19.38, Z:118.11
[[ 8.26838260e-01 -3.11257216e-02 -5.61577849e-01  1.76560821e+02]
 [ 1.41340838e-02  9.99302103e-01 -3.45765023e-02 -1.93832326e+01]
 [ 5.62262144e-01  2.06517867e-02  8.26701146e-01  1.18111484e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.24327356
Centerline is valid?  [True, True]
Translation: X:176.61, Y:-19.38, Z:118.15
[[ 8.26753336e-01 -3.34828723e-02 -5.61567288e-01  1.76610169e+02]
 [ 1.68670953e-02  9.99253784e-01 -3.47473224e-02 -1.93795157e+01]
 [ 5.62311677e-01  1.92554558e-02  8.26701158e-01  1.18145078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.30327356
Centerline is valid?  [True, True]
Translation: X:176.66, Y:-19.37, Z:118.18
[[ 8.26571519e-01 -3.77276561e-02 -5.61565800e-01  1.76658813e+02]
 [ 2.19815457e-02  9.99153524e-01 -3.47713498e-02 -1.93744401e+01]
 [ 5.62402290e-01  1.63969232e-02  8.26701158e-01  1.18178324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.36327356
Centerline is valid?  [True, True]
Translation: X:176.71, Y:-19.37, Z:118.21
[[ 8.26568414e-01 -3.78391130e-02 -5.61562871e-01  1.76707009e+02]
 [ 2.20841988e-02  9.99149615e-01 -3.48186018e-02 -1.93684045e+01]
 [ 5.62402831e-01  1.63782904e-02  8.26701159e-01  1.18211293e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.42327356
Centerline is valid?  [True, True]
Translation: X:176.76, Y:-19.36, Z:118.24
[[ 8.26605771e-01 -3.71700620e-02 -5.61552567e-01  1.76755113e+02]
 [ 2.11631209e-02  9.99163767e-01 -3.49841180e-02 -1.93625498e+01]
 [ 5.62383340e-01  1.70338690e-02  8.26701171e-01  1.18244137e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.48327356
Centerline is valid?  [True, True]
Translation: X:176.80, Y:-19.36, Z:118.28
[[ 8.26649778e-01 -3.62260912e-02 -5.61549476e-01  1.76803985e+02]
 [ 1.99884792e-02  9.99186220e-01 -3.50336705e-02 -1.93559513e+01]
 [ 5.62361632e-01  1.77360559e-02  8.26701172e-01  1.18277590e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.54327356
Centerline is valid?  [True, True]
Translation: X:176.85, Y:-19.35, Z:118.31
[[ 8.26638691e-01 -3.65013508e-02 -5.61547973e-01  1.76853102e+02]
 [ 2.03048433e-02  9.99178996e-01 -3.50577599e-02 -1.93495279e+01]
 [ 5.62366595e-01  1.75779572e-02  8.26701172e-01  1.18311214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.60327356
Centerline is valid?  [True, True]
Translation: X:176.90, Y:-19.35, Z:118.34
[[ 8.26707357e-01 -3.49355131e-02 -5.61546487e-01  1.76901342e+02]
 [ 1.83960757e-02  9.99215127e-01 -3.50815515e-02 -1.93450590e+01]
 [ 5.62331336e-01  1.86719251e-02  8.26701172e-01  1.18344160e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.66327356
Centerline is valid?  [True, True]
Translation: X:176.95, Y:-19.34, Z:118.38
[[ 8.26666539e-01 -3.60550205e-02 -5.61535813e-01  1.76950238e+02]
 [ 1.96337505e-02  9.99185585e-01 -3.52517002e-02 -1.93399425e+01]
 [ 5.62349491e-01  1.81163469e-02  8.26701184e-01  1.18377512e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.72327356
Centerline is valid?  [True, True]
Translation: X:177.00, Y:-19.34, Z:118.41
[[ 8.26396445e-01 -4.19331169e-02 -5.61525181e-01  1.76999822e+02]
 [ 2.66246194e-02  9.99017781e-01 -3.54203858e-02 -1.93356999e+01]
 [ 5.62458927e-01  1.43208867e-02  8.26701196e-01  1.18411294e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.78327356
Centerline is valid?  [True, True]
Translation: X:177.05, Y:-19.33, Z:118.44
[[ 8.26427625e-01 -4.13244335e-02 -5.61524418e-01  1.77048895e+02]
 [ 2.58805847e-02  9.99036904e-01 -3.54324822e-02 -1.93316905e+01]
 [ 5.62447843e-01  1.47498019e-02  8.26701196e-01  1.18444792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.84327356
Centerline is valid?  [True, True]
Translation: X:177.10, Y:-19.33, Z:118.48
[[ 8.26236669e-01 -4.49999420e-02 -5.61522904e-01  1.77098193e+02]
 [ 3.03077220e-02  9.98911549e-01 -3.54564530e-02 -1.93256947e+01]
 [ 5.62507252e-01  1.22769416e-02  8.26701196e-01  1.18478523e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.90327356
Centerline is valid?  [True, True]
Translation: X:177.15, Y:-19.32, Z:118.51
[[ 8.25929684e-01 -5.03375760e-02 -5.61521403e-01  1.77147262e+02]
 [ 3.67452151e-02  9.98694620e-01 -3.54802192e-02 -1.93202626e+01]
 [ 5.62574392e-01  8.67094153e-03  8.26701197e-01  1.18512074e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 293.96327356
Centerline is valid?  [True, True]
Translation: X:177.20, Y:-19.32, Z:118.54
[[ 8.25788787e-01 -5.26146992e-02 -5.61519878e-01  1.77195365e+02]
 [ 3.94823511e-02  9.98589298e-01 -3.55043401e-02 -1.93176673e+01]
 [ 5.62595791e-01  7.14896092e-03  8.26701197e-01  1.18544848e+02]
 [ 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 294.02327356
Centerline is valid?  [True, True]
Translation: X:177.24, Y:-19.31, Z:118.58
[[ 8.25476692e-01 -5.73407805e-02 -5.61516043e-01  1.77243171e+02]
 [ 4.51565905e-02  9.98346643e-01 -3.55649016e-02 -1.93133009e+01]
 [ 5.62626976e-01  4.00184726e-03  8.26701198e-01  1.18577479e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.08327356
Centerline is valid?  [True, True]
Translation: X:177.29, Y:-19.31, Z:118.61
[[ 8.25298464e-01 -5.99664501e-02 -5.61503758e-01  1.77292284e+02]
 [ 4.82008898e-02  9.98197396e-01 -3.57579692e-02 -1.93050867e+01]
 [ 5.62635868e-01  2.44601627e-03  8.26701214e-01  1.18611104e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.14327356
Centerline is valid?  [True, True]
Translation: X:177.34, Y:-19.30, Z:118.64
[[ 8.25501457e-01 -5.71116511e-02 -5.61502987e-01  1.77341538e+02]
 [ 4.47399213e-02  9.98358072e-01 -3.57700816e-02 -1.92964830e+01]
 [ 5.62623928e-01  4.40665502e-03  8.26701214e-01  1.18644925e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.20327356
Centerline is valid?  [True, True]
Translation: X:177.39, Y:-19.29, Z:118.68
[[ 8.25715435e-01 -5.39397313e-02 -5.61502027e-01  1.77389971e+02]
 [ 4.08937511e-02  9.98522471e-01 -3.57851466e-02 -1.92934686e+01]
 [ 5.62602632e-01  6.58642381e-03  8.26701214e-01  1.18677945e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.26327356
Centerline is valid?  [True, True]
Translation: X:177.44, Y:-19.28, Z:118.71
[[ 8.26019273e-01 -4.91896970e-02 -5.61491348e-01  1.77438345e+02]
 [ 3.50366051e-02  9.98739148e-01 -3.59520499e-02 -1.92837915e+01]
 [ 5.62551861e-01  1.00243355e-02  8.26701226e-01  1.18711146e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.32327356
Centerline is valid?  [True, True]
Translation: X:177.49, Y:-19.27, Z:118.74
[[ 8.26203095e-01 -4.60270304e-02 -5.61489055e-01  1.77486428e+02]
 [ 3.11885029e-02  9.98865433e-01 -3.59878290e-02 -1.92745943e+01]
 [ 5.62508421e-01  1.22212527e-02  8.26701226e-01  1.18744189e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.38327356
Centerline is valid?  [True, True]
Translation: X:177.53, Y:-19.27, Z:118.78
[[ 8.26511086e-01 -4.02724908e-02 -5.61478006e-01  1.77534248e+02]
 [ 2.41154127e-02  9.99055021e-01 -3.61595254e-02 -1.92663244e+01]
 [ 5.62403655e-01  1.63459748e-02  8.26701238e-01  1.18776955e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.44327356
Centerline is valid?  [True, True]
Translation: X:177.58, Y:-19.26, Z:118.81
[[ 8.26628261e-01 -3.78372802e-02 -5.61474896e-01  1.77583561e+02]
 [ 2.11391946e-02  9.99120679e-01 -3.62077693e-02 -1.92613247e+01]
 [ 5.62351183e-01  1.80612383e-02  8.26701239e-01  1.18810646e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.50327355999997
Centerline is valid?  [True, True]
Translation: X:177.63, Y:-19.25, Z:118.84
[[ 8.26818653e-01 -3.34539231e-02 -5.61472840e-01  1.77632058e+02]
 [ 1.58199097e-02  9.99217904e-01 -3.62396203e-02 -1.92543963e+01]
 [ 5.62246072e-01  2.10811445e-02  8.26701240e-01  1.18843874e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.56327355999997
Centerline is valid?  [True, True]
Translation: X:177.68, Y:-19.25, Z:118.88
[[ 8.27041439e-01 -2.74344014e-02 -5.61471114e-01  1.77680919e+02]
 [ 8.52780260e-03  9.99305773e-01 -3.62663530e-02 -1.92504084e+01]
 [ 5.62076271e-01  2.52056619e-02  8.26701240e-01  1.18877223e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.62327356
Centerline is valid?  [True, True]
Translation: X:177.73, Y:-19.25, Z:118.91
[[ 8.27084171e-01 -2.61514580e-02 -5.61469389e-01  1.77729781e+02]
 [ 6.95958820e-03  9.99316956e-01 -3.62930385e-02 -1.92450999e+01]
 [ 5.62034997e-01  2.61098019e-02  8.26701240e-01  1.18910630e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.68327356
Centerline is valid?  [True, True]
Translation: X:177.78, Y:-19.24, Z:118.94
[[ 8.27243847e-01 -2.05505093e-02 -5.61467091e-01  1.77779103e+02]
 [ 1.68814747e-04  9.99339886e-01 -3.63285632e-02 -1.92417588e+01]
 [ 5.61843029e-01  2.99577965e-02  8.26701241e-01  1.18944261e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.74327356
Centerline is valid?  [True, True]
Translation: X:177.83, Y:-19.24, Z:118.98
[[ 8.27284614e-01 -1.88614501e-02 -5.61466307e-01  1.77828377e+02]
 [-1.87977068e-03  9.99337692e-01 -3.63406728e-02 -1.92400076e+01]
 [ 5.61779881e-01  3.11195074e-02  8.26701241e-01  1.18977798e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.80327356
Centerline is valid?  [True, True]
Translation: X:177.88, Y:-19.24, Z:119.01
[[ 8.27295662e-01 -1.84239936e-02 -5.61464553e-01  1.77877184e+02]
 [-2.42652039e-03  9.99335529e-01 -3.63677477e-02 -1.92401344e+01]
 [ 5.61761515e-01  3.14492851e-02  8.26701241e-01  1.19010929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.86327356
Centerline is valid?  [True, True]
Translation: X:177.93, Y:-19.24, Z:119.04
[[ 8.27304257e-01 -1.83663155e-02 -5.61453779e-01  1.77925785e+02]
 [-2.60829584e-03  9.99329027e-01 -3.65334551e-02 -1.92403186e+01]
 [ 5.61748043e-01  3.16887205e-02  8.26701253e-01  1.19043859e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.92327356
Centerline is valid?  [True, True]
Translation: X:177.97, Y:-19.24, Z:119.08
[[ 8.27313039e-01 -1.82981817e-02 -5.61443063e-01  1.77974386e+02]
 [-2.80157998e-03  9.99322492e-01 -3.66975203e-02 -1.92413212e+01]
 [ 5.61734178e-01  3.19332647e-02  8.26701264e-01  1.19076752e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 294.98327356
Centerline is valid?  [True, True]
Translation: X:178.02, Y:-19.25, Z:119.11
[[ 8.27314978e-01 -1.85343151e-02 -5.61432460e-01  1.78024373e+02]
 [-2.62567110e-03  9.99317022e-01 -3.68591329e-02 -1.92452979e+01]
 [ 5.61732172e-01  3.19682497e-02  8.26701275e-01  1.19110452e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.04327356
Centerline is valid?  [True, True]
Translation: X:178.07, Y:-19.25, Z:119.14
[[ 8.27288239e-01 -1.97498129e-02 -5.61430419e-01  1.78072425e+02]
 [-1.17845787e-03  9.99318630e-01 -3.68901998e-02 -1.92476917e+01]
 [ 5.61776451e-01  3.11804505e-02  8.26701275e-01  1.19142965e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.10327356
Centerline is valid?  [True, True]
Translation: X:178.12, Y:-19.25, Z:119.18
[[ 8.27222331e-01 -2.24370279e-02 -5.61426571e-01  1.78121316e+02]
 [ 2.02810446e-03  9.99315107e-01 -3.69486745e-02 -1.92509960e+01]
 [ 5.61871072e-01  2.94261369e-02  8.26701276e-01  1.19175995e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.16327356
Centerline is valid?  [True, True]
Translation: X:178.17, Y:-19.25, Z:119.21
[[ 8.27185990e-01 -2.40023578e-02 -5.61415376e-01  1.78170533e+02]
 [ 3.80440998e-03  9.99303643e-01 -3.71181301e-02 -1.92544566e+01]
 [ 5.61915353e-01  2.85677430e-02  8.26701288e-01  1.19209186e+02]
 [ 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 295.22327356
Centerline is valid?  [True, True]
Translation: X:178.22, Y:-19.26, Z:119.24
[[ 8.27213218e-01 -2.31237165e-02 -5.61412136e-01  1.78219581e+02]
 [ 2.70982736e-03  9.99305391e-01 -3.71670795e-02 -1.92556241e+01]
 [ 5.61881615e-01  2.92237695e-02  8.26701289e-01  1.19242420e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.28327356
Centerline is valid?  [True, True]
Translation: X:178.27, Y:-19.25, Z:119.28
[[ 8.27208616e-01 -2.33460233e-02 -5.61409716e-01  1.78269347e+02]
 [ 2.95365932e-03  9.99303341e-01 -3.72036074e-02 -1.92545775e+01]
 [ 5.61887161e-01  2.91169315e-02  8.26701290e-01  1.19276246e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.34327356
Centerline is valid?  [True, True]
Translation: X:178.32, Y:-19.25, Z:119.31
[[ 8.27162165e-01 -2.49556922e-02 -5.61408912e-01  1.78318627e+02]
 [ 4.89004226e-03  9.99295290e-01 -3.72157394e-02 -1.92540435e+01]
 [ 5.61942025e-01  2.80381383e-02  8.26701290e-01  1.19309729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.40327356
Centerline is valid?  [True, True]
Translation: X:178.37, Y:-19.25, Z:119.34
[[ 8.27265488e-01 -2.15289486e-02 -5.61398537e-01  1.78368390e+02]
 [ 6.44887108e-04  9.99301226e-01 -3.73716897e-02 -1.92547374e+01]
 [ 5.61810820e-01  3.05542704e-02  8.26701300e-01  1.19343418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.46327356
Centerline is valid?  [True, True]
Translation: X:178.42, Y:-19.25, Z:119.38
[[ 8.27269860e-01 -2.14015582e-02 -5.61396965e-01  1.78416115e+02]
 [ 4.75033951e-04  9.99300438e-01 -3.73952953e-02 -1.92533993e+01]
 [ 5.61804551e-01  3.06693181e-02  8.26701300e-01  1.19375876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.52327356
Centerline is valid?  [True, True]
Translation: X:178.47, Y:-19.25, Z:119.41
[[ 8.27340740e-01 -1.86350117e-02 -5.61391161e-01  1.78466114e+02]
 [-2.92547802e-03  9.99293011e-01 -3.74822505e-02 -1.92523865e+01]
 [ 5.61692746e-01  3.26529303e-02  8.26701303e-01  1.19409834e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.58327356
Centerline is valid?  [True, True]
Translation: X:178.52, Y:-19.25, Z:119.44
[[ 8.27373214e-01 -1.71878065e-02 -5.61389477e-01  1.78515425e+02]
 [-4.69047376e-03  9.99285339e-01 -3.75074636e-02 -1.92499538e+01]
 [ 5.61632945e-01  3.36658533e-02  8.26701304e-01  1.19443418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.64327356
Centerline is valid?  [True, True]
Translation: X:178.56, Y:-19.25, Z:119.48
[[ 8.27457877e-01 -1.25369979e-02 -5.61387820e-01  1.78564156e+02]
 [-1.03239658e-02  9.99242086e-01 -3.75322406e-02 -1.92500480e+01]
 [ 5.61432878e-01  3.68520968e-02  8.26701304e-01  1.19476493e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.70327356
Centerline is valid?  [True, True]
Translation: X:178.61, Y:-19.25, Z:119.51
[[ 8.27466258e-01 -1.20535508e-02 -5.61386055e-01  1.78612765e+02]
 [-1.09255981e-02  9.99234698e-01 -3.75586280e-02 -1.92500416e+01]
 [ 5.61409140e-01  3.72119758e-02  8.26701304e-01  1.19509490e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.76327356
Centerline is valid?  [True, True]
Translation: X:178.66, Y:-19.25, Z:119.54
[[ 8.27472934e-01 -1.21275938e-02 -5.61374621e-01  1.78662872e+02]
 [-1.09511816e-02  9.99228004e-01 -3.77288835e-02 -1.92512911e+01]
 [ 5.61398802e-01  3.73673453e-02  8.26701316e-01  1.19543375e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.82327356
Centerline is valid?  [True, True]
Translation: X:178.71, Y:-19.25, Z:119.58
[[ 8.27428343e-01 -1.48747956e-02 -5.61374276e-01  1.78712185e+02]
 [-7.63708096e-03  9.99258635e-01 -3.77340148e-02 -1.92518078e+01]
 [ 5.61519378e-01  3.55094541e-02  8.26701316e-01  1.19576835e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.88327356
Centerline is valid?  [True, True]
Translation: X:178.76, Y:-19.25, Z:119.61
[[ 8.27406282e-01 -1.61124153e-02 -5.61372634e-01  1.78760849e+02]
 [-6.15891883e-03  9.99267916e-01 -3.77584273e-02 -1.92507027e+01]
 [ 5.61570042e-01  3.46990085e-02  8.26701317e-01  1.19609918e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 295.94327356
Centerline is valid?  [True, True]
Translation: X:178.81, Y:-19.26, Z:119.64
[[ 8.27404115e-01 -1.62802209e-02 -5.61370986e-01  1.78810238e+02]
 [-5.97280718e-03  9.99268121e-01 -3.77829128e-02 -1.92555095e+01]
 [ 5.61575245e-01  3.46146982e-02  8.26701317e-01  1.19643224e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.00327355999997
Centerline is valid?  [True, True]
Translation: X:178.86, Y:-19.25, Z:119.68
[[ 8.27322317e-01 -2.00776820e-02 -5.61368569e-01  1.78859159e+02]
 [-1.41055825e-03  9.99283618e-01 -3.78187989e-02 -1.92549672e+01]
 [ 5.61725728e-01  3.20801794e-02  8.26701317e-01  1.19676450e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.06327355999997
Centerline is valid?  [True, True]
Translation: X:178.91, Y:-19.26, Z:119.71
[[ 8.27234106e-01 -2.34689026e-02 -5.61367031e-01  1.78908085e+02]
 [ 2.67031438e-03  9.99280182e-01 -3.78416134e-02 -1.92558587e+01]
 [ 5.61851050e-01  2.98048468e-02  8.26701318e-01  1.19709620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.12327356
Centerline is valid?  [True, True]
Translation: X:178.96, Y:-19.25, Z:119.74
[[ 8.27217468e-01 -2.43023015e-02 -5.61356090e-01  1.78956853e+02]
 [ 3.56760234e-03  9.99271244e-01 -3.80033431e-02 -1.92527645e+01]
 [ 5.61870567e-01  2.94343340e-02  8.26701328e-01  1.19742793e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.18327356
Centerline is valid?  [True, True]
Translation: X:179.01, Y:-19.25, Z:119.78
[[ 8.27156728e-01 -2.63543022e-02 -5.61353006e-01  1.79006465e+02]
 [ 6.01567902e-03  9.99257773e-01 -3.80488422e-02 -1.92541681e+01]
 [ 5.61939106e-01  2.80954363e-02  8.26701329e-01  1.19776393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.24327356
Centerline is valid?  [True, True]
Translation: X:179.06, Y:-19.25, Z:119.81
[[ 8.27116711e-01 -2.76126214e-02 -5.61351485e-01  1.79056337e+02]
 [ 7.52064352e-03  9.99246725e-01 -3.80712837e-02 -1.92524912e+01]
 [ 5.61979880e-01  2.72676705e-02  8.26701329e-01  1.19810323e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.30327356
Centerline is valid?  [True, True]
Translation: X:179.10, Y:-19.25, Z:119.84
[[ 8.27117413e-01 -2.76081080e-02 -5.61350672e-01  1.79104910e+02]
 [ 7.50708035e-03  9.99246370e-01 -3.80832623e-02 -1.92490536e+01]
 [ 5.61979028e-01  2.72852248e-02  8.26701330e-01  1.19843457e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.36327356
Centerline is valid?  [True, True]
Translation: X:179.15, Y:-19.25, Z:119.88
[[ 8.27190255e-01 -2.55908113e-02 -5.61338928e-01  1.79154236e+02]
 [ 4.95332932e-03  9.99255706e-01 -3.82557086e-02 -1.92461357e+01]
 [ 5.61900121e-01  2.88642528e-02  8.26701342e-01  1.19876994e+02]
 [ 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 296.42327356
Centerline is valid?  [True, True]
Translation: X:179.20, Y:-19.25, Z:119.91
[[ 8.27338579e-01 -2.02587920e-02 -5.61338095e-01  1.79202758e+02]
 [-1.49554003e-03  9.99266395e-01 -3.82679320e-02 -1.92453687e+01]
 [ 5.61701557e-01  3.25000401e-02  8.26701342e-01  1.19909970e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.48327356
Centerline is valid?  [True, True]
Translation: X:179.25, Y:-19.24, Z:119.94
[[ 8.27428656e-01 -1.62398322e-02 -5.61335985e-01  1.79252423e+02]
 [-6.37026973e-03  9.99246024e-01 -3.82988657e-02 -1.92442327e+01]
 [ 5.61534718e-01  3.52654406e-02  8.26701342e-01  1.19943729e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.54327356
Centerline is valid?  [True, True]
Translation: X:179.30, Y:-19.24, Z:119.98
[[ 8.27451093e-01 -1.50877004e-02 -5.61335061e-01  1.79300649e+02]
 [-7.77076507e-03  9.99235595e-01 -3.83124035e-02 -1.92418076e+01]
 [ 5.61484019e-01  3.60636430e-02  8.26701342e-01  1.19976579e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.60327356
Centerline is valid?  [True, True]
Translation: X:179.35, Y:-19.24, Z:120.01
[[ 8.27443457e-01 -1.56515604e-02 -5.61330877e-01  1.79348060e+02]
 [-7.13119330e-03  9.99238016e-01 -3.83736122e-02 -1.92386840e+01]
 [ 5.61503759e-01  3.57549533e-02  8.26701344e-01  1.20008884e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.66327356
Centerline is valid?  [True, True]
Translation: X:179.40, Y:-19.24, Z:120.04
[[ 8.27400729e-01 -1.78974890e-02 -5.61326745e-01  1.79397716e+02]
 [-4.45967124e-03  9.99251190e-01 -3.84339827e-02 -1.92373579e+01]
 [ 5.61594289e-01  3.43036380e-02  8.26701345e-01  1.20042629e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.72327356
Centerline is valid?  [True, True]
Translation: X:179.45, Y:-19.24, Z:120.08
[[ 8.27172707e-01 -2.64598625e-02 -5.61324495e-01  1.79446427e+02]
 [ 5.86027583e-03  9.99242694e-01 -3.84668125e-02 -1.92359090e+01]
 [ 5.61917227e-01  2.85291810e-02  8.26701346e-01  1.20075753e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.78327356
Centerline is valid?  [True, True]
Translation: X:179.50, Y:-19.23, Z:120.11
[[ 8.27322219e-01 -2.13295874e-02 -5.61322541e-01  1.79495655e+02]
 [-3.55985198e-04  9.99258717e-01 -3.84953196e-02 -1.92330142e+01]
 [ 5.61727531e-01  3.20478558e-02  8.26701346e-01  1.20109298e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.84327356
Centerline is valid?  [True, True]
Translation: X:179.55, Y:-19.23, Z:120.14
[[ 8.27389025e-01 -1.86248473e-02 -5.61320333e-01  1.79545337e+02]
 [-3.64443197e-03  9.99250895e-01 -3.85274807e-02 -1.92312100e+01]
 [ 5.61617414e-01  3.39229085e-02  8.26701347e-01  1.20143098e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.90327356
Centerline is valid?  [True, True]
Translation: X:179.59, Y:-19.23, Z:120.18
[[ 8.27383912e-01 -1.88774903e-02 -5.61319430e-01  1.79594483e+02]
 [-3.34819992e-03  9.99251424e-01 -3.85406323e-02 -1.92264263e+01]
 [ 5.61626791e-01  3.37673088e-02  8.26701347e-01  1.20176684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 296.96327356
Centerline is valid?  [True, True]
Translation: X:179.64, Y:-19.22, Z:120.21
[[ 8.27499563e-01 -1.29167163e-02 -5.61317763e-01  1.79643842e+02]
 [-1.05628774e-02  9.99200267e-01 -3.85648989e-02 -1.92230986e+01]
 [ 5.61366991e-01  3.78415677e-02  8.26701347e-01  1.20210339e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.02327356
Centerline is valid?  [True, True]
Translation: X:179.69, Y:-19.22, Z:120.24
[[ 8.27458013e-01 -1.54097922e-02 -5.61316110e-01  1.79692538e+02]
 [-7.56863069e-03  9.99226505e-01 -3.85889457e-02 -1.92181905e+01]
 [ 5.61476583e-01  3.61791267e-02  8.26701347e-01  1.20243619e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.08327356
Centerline is valid?  [True, True]
Translation: X:179.74, Y:-19.22, Z:120.28
[[ 8.27579317e-01 -6.20906430e-03 -5.61314458e-01  1.79742281e+02]
 [-1.86938771e-02  9.99079365e-01 -3.86129624e-02 -1.92169566e+01]
 [ 5.61037443e-01  4.24484326e-02  8.26701347e-01  1.20277439e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.14327356
Centerline is valid?  [True, True]
Translation: X:179.79, Y:-19.21, Z:120.31
[[ 8.27603575e-01  2.60140007e-04 -5.61312974e-01  1.79792083e+02]
 [-2.65174311e-02  9.98901496e-01 -3.86345364e-02 -1.92126519e+01]
 [ 5.60686319e-01  4.68586585e-02  8.26701348e-01  1.20311442e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.20327356
Centerline is valid?  [True, True]
Translation: X:179.84, Y:-19.21, Z:120.34
[[ 8.27567260e-01 -7.83748114e-03 -5.61311860e-01  1.79840387e+02]
 [-1.67534193e-02  9.99112329e-01 -3.86507161e-02 -1.92096488e+01]
 [ 5.61116523e-01  4.13899601e-02  8.26701348e-01  1.20344372e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.26327356
Centerline is valid?  [True, True]
Translation: X:179.89, Y:-19.21, Z:120.38
[[ 8.27533200e-01 -1.09437346e-02 -5.61310108e-01  1.79889746e+02]
 [-1.30202496e-02  9.99166968e-01 -3.86761374e-02 -1.92066560e+01]
 [ 5.61265780e-01  3.93141855e-02  8.26701348e-01  1.20378011e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.32327356
Centerline is valid?  [True, True]
Translation: X:179.94, Y:-19.20, Z:120.41
[[ 8.27573427e-01 -7.35518047e-03 -5.61309294e-01  1.79938495e+02]
 [-1.73608061e-02  9.99100518e-01 -3.86879510e-02 -1.91989390e+01]
 [ 5.61088963e-01  4.17619021e-02  8.26701348e-01  1.20411465e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.38327356
Centerline is valid?  [True, True]
Translation: X:179.99, Y:-19.20, Z:120.45
[[ 8.27581711e-01 -6.44135190e-03 -5.61308311e-01  1.79988389e+02]
 [-1.84736340e-02  9.99080009e-01 -3.87022018e-02 -1.91957922e+01]
 [ 5.61041207e-01  4.23986387e-02  8.26701348e-01  1.20445481e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.44327356
Centerline is valid?  [True, True]
Translation: X:180.04, Y:-19.19, Z:120.48
[[ 8.27556826e-01 -9.11434384e-03 -5.61307962e-01  1.80038149e+02]
 [-1.52500079e-02  9.99134217e-01 -3.87072738e-02 -1.91909069e+01]
 [ 5.61174782e-01  4.05924195e-02  8.26701348e-01  1.20479493e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.50327355999997
Centerline is valid?  [True, True]
Translation: X:180.09, Y:-19.19, Z:120.51
[[ 8.27552824e-01 -9.55926983e-03 -5.61306462e-01  1.80086178e+02]
 [-1.47275008e-02  9.99141213e-01 -3.87290132e-02 -1.91864704e+01]
 [ 5.61194640e-01  4.03169456e-02  8.26701348e-01  1.20512300e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.56327355999997
Centerline is valid?  [True, True]
Translation: X:180.14, Y:-19.18, Z:120.55
[[ 8.27480118e-01 -1.47106733e-02 -5.61302281e-01  1.80135723e+02]
 [-8.54834064e-03  9.99210838e-01 -3.87895201e-02 -1.91811218e+01]
 [ 5.61429943e-01  3.68957597e-02  8.26701350e-01  1.20546158e+02]
 [ 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 297.62327356
Centerline is valid?  [True, True]
Translation: X:180.18, Y:-19.18, Z:120.58
[[ 8.27465132e-01 -1.55685759e-02 -5.61301233e-01  1.80183639e+02]
 [-7.52262483e-03  9.99218498e-01 -3.88046873e-02 -1.91770046e+01]
 [ 5.61466709e-01  3.63319843e-02  8.26701350e-01  1.20578876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.68327356
Centerline is valid?  [True, True]
Translation: X:180.23, Y:-19.17, Z:120.61
[[ 8.27550905e-01 -1.02048627e-02 -5.61297925e-01  1.80232806e+02]
 [-1.40313641e-02  9.99146438e-01 -3.88524869e-02 -1.91719522e+01]
 [ 5.61215307e-01  4.00281862e-02  8.26701351e-01  1.20612471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.74327356
Centerline is valid?  [True, True]
Translation: X:180.28, Y:-19.17, Z:120.65
[[ 8.27586906e-01 -6.80716841e-03 -5.61296335e-01  1.80282453e+02]
 [-1.81488410e-02  9.99079236e-01 -3.88754431e-02 -1.91666311e+01]
 [ 5.61044145e-01  4.23596856e-02  8.26701351e-01  1.20646417e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.80327356
Centerline is valid?  [True, True]
Translation: X:180.33, Y:-19.16, Z:120.68
[[ 8.27579681e-01 -7.67536359e-03 -5.61295787e-01  1.80331296e+02]
 [-1.71060645e-02  9.99097326e-01 -3.88833609e-02 -1.91566340e+01]
 [ 5.61087564e-01  4.17806413e-02  8.26701351e-01  1.20680045e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.86327356
Centerline is valid?  [True, True]
Translation: X:180.38, Y:-19.16, Z:120.71
[[ 8.27592614e-01 -6.27635492e-03 -5.61294105e-01  1.80380759e+02]
 [-1.88113451e-02  9.99065729e-01 -3.89076265e-02 -1.91592924e+01]
 [ 5.61013902e-01  4.27583614e-02  8.26701351e-01  1.20713491e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.92327356
Centerline is valid?  [True, True]
Translation: X:180.43, Y:-19.16, Z:120.75
[[ 8.27583302e-01 -7.53048011e-03 -5.61292410e-01  1.80429738e+02]
 [-1.73138193e-02  9.99091851e-01 -3.89320588e-02 -1.91579306e+01]
 [ 5.61075850e-01  4.19376371e-02  8.26701352e-01  1.20746796e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 297.98327356
Centerline is valid?  [True, True]
Translation: X:180.48, Y:-19.15, Z:120.78
[[ 8.27534936e-01 -1.22471608e-02 -5.61280622e-01  1.80479375e+02]
 [-1.17335295e-02  9.99166355e-01 -3.91013974e-02 -1.91535331e+01]
 [ 5.61291594e-01  3.89435751e-02  8.26701364e-01  1.20780615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.04327356
Centerline is valid?  [True, True]
Translation: X:180.53, Y:-19.15, Z:120.81
[[ 8.27452522e-01 -1.69785271e-02 -5.61278944e-01  1.80529386e+02]
 [-6.03670189e-03  9.99216071e-01 -3.91254679e-02 -1.91528881e+01]
 [ 5.61503234e-01  3.57627408e-02  8.26701364e-01  1.20814588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.10327356
Centerline is valid?  [True, True]
Translation: X:180.58, Y:-19.15, Z:120.85
[[ 8.27363588e-01 -2.08874764e-02 -5.61278190e-01  1.80579346e+02]
 [-1.32333814e-03  9.99233006e-01 -3.91362750e-02 -1.91521659e+01]
 [ 5.61665151e-01  3.31226897e-02  8.26701364e-01  1.20848536e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.16327356
Centerline is valid?  [True, True]
Translation: X:180.63, Y:-19.15, Z:120.88
[[ 8.27166579e-01 -2.76168714e-02 -5.61277792e-01  1.80628806e+02]
 [ 6.80097508e-03  9.99210514e-01 -3.91419887e-02 -1.91506527e+01]
 [ 5.61915650e-01  2.85597086e-02  8.26701364e-01  1.20882185e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.22327356
Centerline is valid?  [True, True]
Translation: X:180.68, Y:-19.15, Z:120.92
[[ 8.27006919e-01 -3.20583326e-02 -5.61276954e-01  1.80678721e+02]
 [ 1.21584734e-02  9.99159215e-01 -3.91539981e-02 -1.91484664e+01]
 [ 5.62060253e-01  2.55563564e-02  8.26701364e-01  1.20916171e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.28327356
Centerline is valid?  [True, True]
Translation: X:180.73, Y:-19.14, Z:120.95
[[ 8.26992119e-01 -3.24468372e-02 -5.61276436e-01  1.80727584e+02]
 [ 1.26228258e-02  9.99153165e-01 -3.91614205e-02 -1.91444526e+01]
 [ 5.62071792e-01  2.53012915e-02  8.26701364e-01  1.20949532e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.34327356
Centerline is valid?  [True, True]
Translation: X:180.78, Y:-19.14, Z:120.98
[[ 8.26995596e-01 -3.25648127e-02 -5.61264480e-01  1.80775896e+02]
 [ 1.26497267e-02  9.99146119e-01 -3.93321485e-02 -1.91410838e+01]
 [ 5.62066071e-01  2.54276713e-02  8.26701376e-01  1.20982399e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.40327356
Centerline is valid?  [True, True]
Translation: X:180.82, Y:-19.14, Z:121.02
[[ 8.26988162e-01 -3.29571656e-02 -5.61252533e-01  1.80824900e+02]
 [ 1.30087036e-02  9.99134808e-01 -3.95020177e-02 -1.91378297e+01]
 [ 5.62068816e-01  2.53665332e-02  8.26701388e-01  1.21015733e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.46327356
Centerline is valid?  [True, True]
Translation: X:180.87, Y:-19.13, Z:121.05
[[ 8.27021429e-01 -3.22219141e-02 -5.61246207e-01  1.80873704e+02]
 [ 1.20596616e-02  9.99143163e-01 -3.95917271e-02 -1.91342856e+01]
 [ 5.62041031e-01  2.59747674e-02  8.26701391e-01  1.21048987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.52327356
Centerline is valid?  [True, True]
Translation: X:180.92, Y:-19.13, Z:121.08
[[ 8.27063019e-01 -3.11831494e-02 -5.61243595e-01  1.80922434e+02]
 [ 1.07796841e-02  9.99156326e-01 -3.96287158e-02 -1.91280739e+01]
 [ 5.62005837e-01  2.67254166e-02  8.26701392e-01  1.21082348e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.58327356
Centerline is valid?  [True, True]
Translation: X:180.97, Y:-19.12, Z:121.12
[[ 8.27130000e-01 -2.95671166e-02 -5.61232348e-01  1.80970925e+02]
 [ 8.71998744e-03  9.99170115e-01 -3.97874715e-02 -1.91226316e+01]
 [ 5.61942990e-01  2.80154723e-02  8.26701402e-01  1.21115444e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.64327356
Centerline is valid?  [True, True]
Translation: X:181.02, Y:-19.11, Z:121.15
[[ 8.27168823e-01 -2.84914012e-02 -5.61230771e-01  1.81019206e+02]
 [ 7.40550545e-03  9.99179837e-01 -3.98097031e-02 -1.91134718e+01]
 [ 5.61904704e-01  2.87731477e-02  8.26701403e-01  1.21148650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.70327356
Centerline is valid?  [True, True]
Translation: X:181.07, Y:-19.11, Z:121.18
[[ 8.27182724e-01 -2.83256331e-02 -5.61218674e-01  1.81066315e+02]
 [ 7.09027872e-03  9.99175338e-01 -3.99796355e-02 -1.91128907e+01]
 [ 5.61888307e-01  2.90912670e-02  8.26701415e-01  1.21180569e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.76327356
Centerline is valid?  [True, True]
Translation: X:181.12, Y:-19.11, Z:121.21
[[ 8.27135182e-01 -2.97941748e-02 -5.61212702e-01  1.81115534e+02]
 [ 8.80758032e-03  9.99158325e-01 -4.00633095e-02 -1.91105342e+01]
 [ 5.61933997e-01  2.81948468e-02  8.26701418e-01  1.21214051e+02]
 [ 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 298.82327356
Centerline is valid?  [True, True]
Translation: X:181.16, Y:-19.10, Z:121.25
[[ 8.26963867e-01 -3.43900465e-02 -5.61202359e-01  1.81164423e+02]
 [ 1.42618622e-02  9.99089553e-01 -4.02077631e-02 -1.91032140e+01]
 [ 5.62074161e-01  2.52465765e-02  8.26701426e-01  1.21247519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.88327356
Centerline is valid?  [True, True]
Translation: X:181.21, Y:-19.11, Z:121.28
[[ 8.26762453e-01 -3.89574384e-02 -5.61200646e-01  1.81214117e+02]
 [ 1.97641355e-02  9.98994891e-01 -4.02316657e-02 -1.91053046e+01]
 [ 5.62203900e-01  2.21703850e-02  8.26701427e-01  1.21281139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 298.94327356
Centerline is valid?  [True, True]
Translation: X:181.26, Y:-19.10, Z:121.31
[[ 8.26531055e-01 -4.36079431e-02 -5.61199397e-01  1.81262745e+02]
 [ 2.53720624e-02  9.98867494e-01 -4.02490798e-02 -1.91044949e+01]
 [ 5.62319014e-01  1.90283282e-02  8.26701427e-01  1.21314180e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.00327355999997
Centerline is valid?  [True, True]
Translation: X:181.31, Y:-19.10, Z:121.35
[[ 8.26194620e-01 -4.95947059e-02 -5.61197661e-01  1.81311973e+02]
 [ 3.25913958e-02  9.98657030e-01 -4.02732717e-02 -1.91013786e+01]
 [ 5.62441330e-01  1.49833453e-02  8.26701427e-01  1.21347737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.06327355999997
Centerline is valid?  [True, True]
Translation: X:181.36, Y:-19.10, Z:121.38
[[ 8.26009814e-01 -5.26015330e-02 -5.61195925e-01  1.81359656e+02]
 [ 3.62096426e-02  9.98531410e-01 -4.02974466e-02 -1.90962812e+01]
 [ 5.62491466e-01  1.29653825e-02  8.26701427e-01  1.21380341e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.12327356
Centerline is valid?  [True, True]
Translation: X:181.41, Y:-19.09, Z:121.41
[[ 8.25899724e-01 -5.44459379e-02 -5.61182043e-01  1.81408845e+02]
 [ 3.83085617e-02  9.98445299e-01 -4.04899986e-02 -1.90944844e+01]
 [ 5.62514088e-01  1.19426018e-02  8.26701443e-01  1.21413716e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.18327356
Centerline is valid?  [True, True]
Translation: X:181.46, Y:-19.09, Z:121.45
[[ 8.25900543e-01 -5.45494561e-02 -5.61170784e-01  1.81457329e+02]
 [ 3.83280751e-02  9.98438230e-01 -4.06455307e-02 -1.90888172e+01]
 [ 5.62511556e-01  1.20605699e-02  8.26701453e-01  1.21446822e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.24327356
Centerline is valid?  [True, True]
Translation: X:181.51, Y:-19.08, Z:121.48
[[ 8.25708348e-01 -5.75035695e-02 -5.61158680e-01  1.81506280e+02]
 [ 4.17863554e-02  9.98292680e-01 -4.08120748e-02 -1.90828176e+01]
 [ 5.62547442e-01  1.02500948e-02  8.26701464e-01  1.21480257e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.30327356
Centerline is valid?  [True, True]
Translation: X:181.56, Y:-19.08, Z:121.51
[[ 8.25708056e-01 -5.75250342e-02 -5.61156909e-01  1.81555506e+02]
 [ 4.17957729e-02  9.98291291e-01 -4.08364112e-02 -1.90760845e+01]
 [ 5.62547171e-01  1.02649670e-02  8.26701464e-01  1.21513991e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.36327356
Centerline is valid?  [True, True]
Translation: X:181.60, Y:-19.07, Z:121.55
[[ 8.25758901e-01 -5.68079718e-02 -5.61155141e-01  1.81604297e+02]
 [ 4.09123506e-02  9.98326892e-01 -4.08606937e-02 -1.90695809e+01]
 [ 5.62537481e-01  1.07829056e-02  8.26701465e-01  1.21547418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.42327356
Centerline is valid?  [True, True]
Translation: X:181.65, Y:-19.06, Z:121.58
[[ 8.25939077e-01 -5.41436938e-02 -5.61153367e-01  1.81653856e+02]
 [ 3.76748986e-02  9.98453312e-01 -4.08850426e-02 -1.90619525e+01]
 [ 5.62499105e-01  1.26271582e-02  8.26701465e-01  1.21581422e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.48327356
Centerline is valid?  [True, True]
Translation: X:181.70, Y:-19.06, Z:121.61
[[ 8.25854308e-01 -5.54240619e-02 -5.61153131e-01  1.81702087e+02]
 [ 3.92205277e-02  9.98393659e-01 -4.08882870e-02 -1.90550662e+01]
 [ 5.62517922e-01  1.17590461e-02  8.26701465e-01  1.21614500e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.54327356
Centerline is valid?  [True, True]
Translation: X:181.75, Y:-19.05, Z:121.65
[[ 8.25781112e-01 -5.66267920e-02 -5.61140769e-01  1.81750001e+02]
 [ 4.05597220e-02  9.98333212e-01 -4.10573533e-02 -1.90466531e+01]
 [ 5.62530412e-01  1.11446733e-02  8.26701477e-01  1.21647353e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.60327356
Centerline is valid?  [True, True]
Translation: X:181.80, Y:-19.04, Z:121.68
[[ 8.25779962e-01 -5.67855210e-02 -5.61126420e-01  1.81797414e+02]
 [ 4.06189446e-02  9.98322752e-01 -4.12526772e-02 -1.90401816e+01]
 [ 5.62527826e-01  1.12732713e-02  8.26701493e-01  1.21679758e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.66327356
Centerline is valid?  [True, True]
Translation: X:181.85, Y:-19.04, Z:121.71
[[ 8.25724791e-01 -5.76467478e-02 -5.61119793e-01  1.81847011e+02]
 [ 4.15990225e-02  9.98278672e-01 -4.13426419e-02 -1.90351551e+01]
 [ 5.62537191e-01  1.07956095e-02  8.26701496e-01  1.21713628e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.72327356
Centerline is valid?  [True, True]
Translation: X:181.90, Y:-19.03, Z:121.75
[[ 8.25638065e-01 -5.88843823e-02 -5.61118895e-01  1.81895008e+02]
 [ 4.30870402e-02  9.98215050e-01 -4.13548291e-02 -1.90281625e+01]
 [ 5.62552479e-01  9.96716866e-03  8.26701496e-01  1.21746549e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.78327356
Centerline is valid?  [True, True]
Translation: X:181.94, Y:-19.01, Z:121.78
[[ 8.25744746e-01 -5.75084844e-02 -5.61104615e-01  1.81942142e+02]
 [ 4.12924899e-02  9.98282880e-01 -4.15478294e-02 -1.90138998e+01]
 [ 5.62530484e-01  1.11384952e-02  8.26701511e-01  1.21779160e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.84327356
Centerline is valid?  [True, True]
Translation: X:181.99, Y:-19.01, Z:121.81
[[ 8.25483881e-01 -6.11791962e-02 -5.61100230e-01  1.81991517e+02]
 [ 4.56902765e-02  9.98088803e-01 -4.16069762e-02 -1.90097197e+01]
 [ 5.62573338e-01  8.70906351e-03  8.26701513e-01  1.21812854e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.90327356
Centerline is valid?  [True, True]
Translation: X:182.04, Y:-19.01, Z:121.85
[[ 8.25420130e-01 -6.20416063e-02 -5.61099321e-01  1.82039741e+02]
 [ 4.67247034e-02  9.98040401e-01 -4.16192249e-02 -1.90050786e+01]
 [ 5.62581915e-01  8.13614668e-03  8.26701513e-01  1.21845811e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 299.96327356
Centerline is valid?  [True, True]
Translation: X:182.09, Y:-19.00, Z:121.88
[[ 8.25158607e-01 -6.55360267e-02 -5.61086716e-01  1.82087951e+02]
 [ 5.08350190e-02  9.97832408e-01 -4.17885814e-02 -1.89976392e+01]
 [ 5.62609167e-01  5.95935375e-03  8.26701525e-01  1.21878826e+02]
 [ 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 300.02327356
Centerline is valid?  [True, True]
Translation: X:182.14, Y:-18.99, Z:121.91
[[ 8.24893807e-01 -6.88912715e-02 -5.61074149e-01  1.82136355e+02]
 [ 5.47782400e-02  9.97616648e-01 -4.19567512e-02 -1.89894729e+01]
 [ 5.62627365e-01  3.87520984e-03  8.26701537e-01  1.21912010e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.08327356
Centerline is valid?  [True, True]
Translation: X:182.18, Y:-18.98, Z:121.95
[[ 8.24376572e-01 -7.49210208e-02 -5.61061591e-01  1.82184493e+02]
 [ 6.19573995e-02  9.97189470e-01 -4.21241178e-02 -1.89795604e+01]
 [ 5.62640692e-01 -3.57813273e-05  8.26701548e-01  1.21945106e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.14327356
Centerline is valid?  [True, True]
Translation: X:182.23, Y:-18.96, Z:121.98
[[ 8.23836681e-01 -8.07292960e-02 -5.61048931e-01  1.82231999e+02]
 [ 6.88695259e-02  9.96728830e-01 -4.22921670e-02 -1.89628407e+01]
 [ 5.62627862e-01 -3.79733536e-03  8.26701560e-01  1.21978122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.20327356
Centerline is valid?  [True, True]
Translation: X:182.28, Y:-18.95, Z:122.01
[[ 8.23591641e-01 -8.32766966e-02 -5.61036363e-01  1.82280059e+02]
 [ 7.18384774e-02  9.96512179e-01 -4.24583404e-02 -1.89515244e+01]
 [ 5.62615359e-01 -5.33566386e-03  8.26701572e-01  1.22011244e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.26327356
Centerline is valid?  [True, True]
Translation: X:182.33, Y:-18.94, Z:122.04
[[ 8.23774109e-01 -8.15393158e-02 -5.61023670e-01  1.82328576e+02]
 [ 6.96225327e-02  9.96662314e-01 -4.26255159e-02 -1.89372442e+01]
 [ 5.62626804e-01 -3.94609241e-03  8.26701583e-01  1.22044831e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.32327356
Centerline is valid?  [True, True]
Translation: X:182.38, Y:-18.93, Z:122.08
[[ 8.24456702e-01 -7.43349761e-02 -5.61021799e-01  1.82377143e+02]
 [ 6.08905550e-02  9.97232825e-01 -4.26501290e-02 -1.89315338e+01]
 [ 5.62639749e-01  1.00225599e-03  8.26701583e-01  1.22078074e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.38327356
Centerline is valid?  [True, True]
Translation: X:182.43, Y:-18.92, Z:122.11
[[ 8.25128070e-01 -6.65796654e-02 -5.61008748e-01  1.82426013e+02]
 [ 5.13949909e-02  9.97759941e-01 -4.28212099e-02 -1.89163072e+01]
 [ 5.62603077e-01  6.49994278e-03  8.26701596e-01  1.22111953e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.44327356
Centerline is valid?  [True, True]
Translation: X:182.47, Y:-18.90, Z:122.15
[[ 8.25923041e-01 -5.58686575e-02 -5.61007864e-01  1.82474391e+02]
 [ 3.84376267e-02  9.98342577e-01 -4.28328005e-02 -1.88999659e+01]
 [ 5.62471047e-01  1.38127860e-02  8.26701596e-01  1.22145624e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.50327355999997
Centerline is valid?  [True, True]
Translation: X:182.52, Y:-18.89, Z:122.18
[[ 8.25796828e-01 -5.77219802e-02 -5.61006036e-01  1.82522010e+02]
 [ 4.06616741e-02  9.98253439e-01 -4.28567293e-02 -1.88899483e+01]
 [ 5.62499980e-01  1.25795065e-02  8.26701596e-01  1.22178449e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.56327355999997
Centerline is valid?  [True, True]
Translation: X:182.57, Y:-18.88, Z:122.21
[[ 8.26122383e-01 -5.30136790e-02 -5.60991407e-01  1.82570046e+02]
 [ 3.48411352e-02  9.98465326e-01 -4.30475019e-02 -1.88760869e+01]
 [ 5.62412575e-01  1.60169273e-02  8.26701611e-01  1.22211692e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.62327356
Centerline is valid?  [True, True]
Translation: X:182.62, Y:-18.87, Z:122.25
[[ 8.26098049e-01 -5.34133118e-02 -5.60989332e-01  1.82618763e+02]
 [ 3.53058044e-02  9.98447838e-01 -4.30745258e-02 -1.88666784e+01]
 [ 5.62419339e-01  1.57776021e-02  8.26701611e-01  1.22245232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.68327356
Centerline is valid?  [True, True]
Translation: X:182.67, Y:-18.85, Z:122.28
[[ 8.26100791e-01 -5.33902841e-02 -5.60987488e-01  1.82666535e+02]
 [ 3.52616789e-02  9.98448361e-01 -4.30985385e-02 -1.88544868e+01]
 [ 5.62418081e-01  1.58223761e-02  8.26701612e-01  1.22278275e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.74327356
Centerline is valid?  [True, True]
Translation: X:182.71, Y:-18.85, Z:122.31
[[ 8.26063231e-01 -5.41022699e-02 -5.60974583e-01  1.82714980e+02]
 [ 3.60085996e-02  9.98414461e-01 -4.32659683e-02 -1.88479774e+01]
 [ 5.62425923e-01  1.55405164e-02  8.26701623e-01  1.22311429e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.80327356
Centerline is valid?  [True, True]
Translation: X:182.76, Y:-18.84, Z:122.35
[[ 8.25922480e-01 -5.63381437e-02 -5.60961738e-01  1.82763872e+02]
 [ 3.85983983e-02  9.98310486e-01 -4.34319726e-02 -1.88385521e+01]
 [ 5.62460862e-01  1.42192179e-02  8.26701635e-01  1.22345040e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.86327356
Centerline is valid?  [True, True]
Translation: X:182.81, Y:-18.83, Z:122.38
[[ 8.25470674e-01 -6.26276728e-02 -5.60959838e-01  1.82812387e+02]
 [ 4.61848880e-02  9.97987219e-01 -4.34564914e-02 -1.88290359e+01]
 [ 5.62552328e-01  9.96419199e-03  8.26701635e-01  1.22378451e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.92327356
Centerline is valid?  [True, True]
Translation: X:182.86, Y:-18.82, Z:122.41
[[ 8.24973325e-01 -6.89718067e-02 -5.60947326e-01  1.82860081e+02]
 [ 5.37462982e-02  9.97601548e-01 -4.36174979e-02 -1.88222634e+01]
 [ 5.62610299e-01  5.83443001e-03  8.26701646e-01  1.22411115e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 300.98327356
Centerline is valid?  [True, True]
Translation: X:182.91, Y:-18.81, Z:122.44
[[ 8.24656079e-01 -7.27182482e-02 -5.60940646e-01  1.82908745e+02]
 [ 5.82186567e-02  9.97346786e-01 -4.37032726e-02 -1.88149509e+01]
 [ 5.62630376e-01  3.38295852e-03  8.26701649e-01  1.22444492e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.04327356
Centerline is valid?  [True, True]
Translation: X:182.96, Y:-18.80, Z:122.48
[[ 8.24415834e-01 -7.54841552e-02 -5.60928405e-01  1.82956456e+02]
 [ 6.14573585e-02  9.97145577e-01 -4.38599149e-02 -1.88044172e+01]
 [ 5.62638006e-01  1.68563029e-03  8.26701659e-01  1.22477370e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.10327356
Centerline is valid?  [True, True]
Translation: X:183.00, Y:-18.80, Z:122.51
[[ 8.24925785e-01 -6.97965538e-02 -5.60915225e-01  1.83004182e+02]
 [ 5.44645839e-02  9.97544561e-01 -4.40279241e-02 -1.87959942e+01]
 [ 5.62610929e-01  5.76975555e-03  8.26701671e-01  1.22510145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.16327356
Centerline is valid?  [True, True]
Translation: X:183.05, Y:-18.79, Z:122.54
[[ 8.25216493e-01 -6.63118791e-02 -5.60910399e-01  1.83052355e+02]
 [ 5.02092581e-02  9.97765083e-01 -4.40893407e-02 -1.87854466e+01]
 [ 5.62580457e-01  8.22035616e-03  8.26701672e-01  1.22543374e+02]
 [ 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 301.22327356
Centerline is valid?  [True, True]
Translation: X:183.10, Y:-18.77, Z:122.58
[[ 8.25480431e-01 -6.29666002e-02 -5.60907537e-01  1.83101249e+02]
 [ 4.61400356e-02  9.97959928e-01 -4.41257172e-02 -1.87718324e+01]
 [ 5.62541692e-01  1.05446223e-02  8.26701673e-01  1.22577263e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.28327356
Centerline is valid?  [True, True]
Translation: X:183.15, Y:-18.76, Z:122.61
[[ 8.26528363e-01 -4.72733628e-02 -5.60906494e-01  1.83148799e+02]
 [ 2.71642109e-02  9.98656025e-01 -4.41389751e-02 -1.87587750e+01]
 [ 5.62239247e-01  2.12455325e-02  8.26701673e-01  1.22610218e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.34327356
Centerline is valid?  [True, True]
Translation: X:183.20, Y:-18.75, Z:122.64
[[ 8.26648439e-01 -4.51480800e-02 -5.60904634e-01  1.83197084e+02]
 [ 2.45804290e-02  9.98721917e-01 -4.41625943e-02 -1.87514459e+01]
 [ 5.62181608e-01  2.27196631e-02  8.26701673e-01  1.22643363e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.40327356
Centerline is valid?  [True, True]
Translation: X:183.24, Y:-18.74, Z:122.68
[[ 8.26484948e-01 -4.82064943e-02 -5.60891045e-01  1.83244786e+02]
 [ 2.81590918e-02  9.98619801e-01 -4.43346252e-02 -1.87420968e+01]
 [ 5.62254120e-01  2.08477180e-02  8.26701685e-01  1.22676179e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.46327356
Centerline is valid?  [True, True]
Translation: X:183.29, Y:-18.74, Z:122.71
[[ 8.26837227e-01 -4.19393359e-02 -5.60875469e-01  1.83294748e+02]
 [ 2.04546146e-02  9.98798580e-01 -4.45309408e-02 -1.87392641e+01]
 [ 5.62069221e-01  2.53473480e-02  8.26701701e-01  1.22710173e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.52327356
Centerline is valid?  [True, True]
Translation: X:183.34, Y:-18.73, Z:122.74
[[ 8.27221155e-01 -3.35317787e-02 -5.60875014e-01  1.83343735e+02]
 [ 1.02961813e-02  9.98954690e-01 -4.45366757e-02 -1.87309849e+01]
 [ 5.61782120e-01  3.10668095e-02  8.26701701e-01  1.22743852e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.58327356
Centerline is valid?  [True, True]
Translation: X:183.39, Y:-18.73, Z:122.78
[[ 8.27435831e-01 -2.77695330e-02 -5.60873246e-01  1.83393286e+02]
 [ 3.32338016e-03  9.99001230e-01 -4.45589338e-02 -1.87280113e+01]
 [ 5.61550443e-01  3.50056634e-02  8.26701702e-01  1.22777624e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.64327356
Centerline is valid?  [True, True]
Translation: X:183.44, Y:-18.72, Z:122.81
[[ 8.27592813e-01 -2.26579973e-02 -5.60871421e-01  1.83443024e+02]
 [-2.86292177e-03  9.99001631e-01 -4.45818932e-02 -1.87232464e+01]
 [ 5.61321601e-01  3.85013854e-02  8.26701702e-01  1.22811619e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.70327356
Centerline is valid?  [True, True]
Translation: X:183.49, Y:-18.72, Z:122.84
[[ 8.27719121e-01 -1.74912862e-02 -5.60869959e-01  1.83491627e+02]
 [-9.11154592e-03  9.98963360e-01 -4.46002756e-02 -1.87183103e+01]
 [ 5.61068655e-01  4.20268934e-02  8.26701702e-01  1.22844854e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.76327356
Centerline is valid?  [True, True]
Translation: X:183.54, Y:-18.72, Z:122.88
[[ 8.27793338e-01 -1.36265129e-02 -5.60867639e-01  1.83541810e+02]
 [-1.37951968e-02  9.98908357e-01 -4.46294418e-02 -1.87203099e+01]
 [ 5.60863515e-01  4.46812341e-02  8.26701702e-01  1.22878785e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.82327356
Centerline is valid?  [True, True]
Translation: X:183.59, Y:-18.72, Z:122.91
[[ 8.27838718e-01 -1.05700549e-02 -5.60866589e-01  1.83591460e+02]
 [-1.74921317e-02  9.98849869e-01 -4.46426340e-02 -1.87202234e+01]
 [ 5.60693394e-01  4.67676532e-02  8.26701702e-01  1.22912470e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.88327356
Centerline is valid?  [True, True]
Translation: X:183.64, Y:-18.72, Z:122.95
[[ 8.27852973e-01 -9.46427788e-03 -5.60865298e-01  1.83640968e+02]
 [-1.88372152e-02  9.98824683e-01 -4.46588496e-02 -1.87207911e+01]
 [ 5.60628767e-01  4.75361017e-02  8.26701703e-01  1.22946023e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 301.94327356
Centerline is valid?  [True, True]
Translation: X:183.69, Y:-18.72, Z:122.98
[[ 8.27833099e-01 -1.11168734e-02 -5.60864311e-01  1.83690510e+02]
 [-1.68515908e-02  9.98859602e-01 -4.46712330e-02 -1.87243973e+01]
 [ 5.60721307e-01  4.64317811e-02  8.26701703e-01  1.22979436e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.00327355999997
Centerline is valid?  [True, True]
Translation: X:183.74, Y:-18.73, Z:123.01
[[ 8.27867519e-01 -8.98689923e-03 -5.60851680e-01  1.83739669e+02]
 [-1.95278406e-02  9.98803781e-01 -4.48293457e-02 -1.87306897e+01]
 [ 5.60583656e-01  4.80649814e-02  8.26701713e-01  1.23012397e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.06327355999997
Centerline is valid?  [True, True]
Translation: X:183.79, Y:-18.74, Z:123.05
[[ 8.27864682e-01 -9.37169881e-03 -5.60849569e-01  1.83788629e+02]
 [-1.90813425e-02  9.98811225e-01 -4.48557490e-02 -1.87383108e+01]
 [ 5.60603220e-01  4.78362531e-02  8.26701713e-01  1.23045190e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.12327356
Centerline is valid?  [True, True]
Translation: X:183.84, Y:-18.74, Z:123.08
[[ 8.27859560e-01 -1.00881296e-02 -5.60844702e-01  1.83838396e+02]
 [-1.82578520e-02  9.98823886e-01 -4.49165377e-02 -1.87398220e+01]
 [ 5.60638208e-01  4.74244046e-02  8.26701715e-01  1.23078850e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.18327356
Centerline is valid?  [True, True]
Translation: X:183.89, Y:-18.75, Z:123.11
[[ 8.27829197e-01 -1.23744928e-02 -5.60843733e-01  1.83887458e+02]
 [-1.55073419e-02  9.98869832e-01 -4.49286252e-02 -1.87483612e+01]
 [ 5.60765855e-01  4.58904232e-02  8.26701715e-01  1.23111667e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.24327356
Centerline is valid?  [True, True]
Translation: X:183.94, Y:-18.76, Z:123.15
[[ 8.27773148e-01 -1.61627125e-02 -5.60830083e-01  1.83937606e+02]
 [-1.10504988e-02  9.98921425e-01 -4.50984832e-02 -1.87577805e+01]
 [ 5.60954099e-01  4.35287656e-02  8.26701727e-01  1.23145113e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.30327356
Centerline is valid?  [True, True]
Translation: X:183.99, Y:-18.77, Z:123.18
[[ 8.27610972e-01 -2.30534244e-02 -5.60828511e-01  1.83987808e+02]
 [-2.74719806e-03  9.98977886e-01 -4.51180209e-02 -1.87661378e+01]
 [ 5.61295405e-01  3.88808761e-02  8.26701727e-01  1.23178707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.36327356
Centerline is valid?  [True, True]
Translation: X:184.04, Y:-18.78, Z:123.21
[[ 8.27378953e-01 -3.02895772e-02 -5.60826720e-01  1.84038212e+02]
 [ 5.97342541e-03  9.98962799e-01 -4.51402785e-02 -1.87755559e+01]
 [ 5.61612309e-01  3.39980598e-02  8.26701727e-01  1.23212377e+02]
 [ 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 302.42327356
Centerline is valid?  [True, True]
Translation: X:184.09, Y:-18.78, Z:123.25
[[ 8.27255605e-01 -3.35204321e-02 -5.60824879e-01  1.84087833e+02]
 [ 9.85908859e-03  9.98930973e-01 -4.51631384e-02 -1.87788858e+01]
 [ 5.61739230e-01  3.18322372e-02  8.26701728e-01  1.23245848e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.48327356
Centerline is valid?  [True, True]
Translation: X:184.14, Y:-18.78, Z:123.28
[[ 8.27032741e-01 -3.86578098e-02 -5.60822984e-01  1.84137399e+02]
 [ 1.60472780e-02  9.98849664e-01 -4.51866574e-02 -1.87839197e+01]
 [ 5.61924666e-01  2.83711628e-02  8.26701728e-01  1.23279188e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.54327356
Centerline is valid?  [True, True]
Translation: X:184.19, Y:-18.79, Z:123.31
[[ 8.26648038e-01 -4.61836642e-02 -5.60820908e-01  1.84187582e+02]
 [ 2.51204651e-02  9.98661504e-01 -4.52124091e-02 -1.87891247e+01]
 [ 5.62158326e-01  2.32866672e-02  8.26701728e-01  1.23312937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.60327356
Centerline is valid?  [True, True]
Translation: X:184.24, Y:-18.79, Z:123.35
[[ 8.26277796e-01 -5.24118022e-02 -5.60819050e-01  1.84237457e+02]
 [ 3.26298427e-02  9.98443312e-01 -4.52354443e-02 -1.87906608e+01]
 [ 5.62316901e-01  1.90776058e-02  8.26701728e-01  1.23346677e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.66327356
Centerline is valid?  [True, True]
Translation: X:184.29, Y:-18.79, Z:123.38
[[ 8.26100866e-01 -5.51402254e-02 -5.60818077e-01  1.84286979e+02]
 [ 3.59187490e-02  9.98329858e-01 -4.52475141e-02 -1.87939017e+01]
 [ 5.62376389e-01  1.72351269e-02  8.26701728e-01  1.23380089e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.72327356
Centerline is valid?  [True, True]
Translation: X:184.34, Y:-18.79, Z:123.41
[[ 8.25954235e-01 -5.74193328e-02 -5.60805333e-01  1.84336775e+02]
 [ 3.85662849e-02  9.98223937e-01 -4.54050000e-02 -1.87915754e+01]
 [ 5.62416432e-01  1.58742738e-02  8.26701739e-01  1.23413926e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.78327356
Centerline is valid?  [True, True]
Translation: X:184.39, Y:-18.79, Z:123.45
[[ 8.25979952e-01 -5.70579058e-02 -5.60804345e-01  1.84385743e+02]
 [ 3.81212034e-02  9.98240478e-01 -4.54171970e-02 -1.87927901e+01]
 [ 5.62409008e-01  1.61351577e-02  8.26701739e-01  1.23447072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.84327356
Centerline is valid?  [True, True]
Translation: X:184.43, Y:-18.79, Z:123.48
[[ 8.25742456e-01 -6.05267272e-02 -5.60790435e-01  1.84434098e+02]
 [ 4.21975238e-02  9.98068668e-01 -4.55884078e-02 -1.87898656e+01]
 [ 5.62466680e-01  1.39803161e-02  8.26701751e-01  1.23479957e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.90327356
Centerline is valid?  [True, True]
Translation: X:184.48, Y:-18.79, Z:123.51
[[ 8.25640823e-01 -6.20235485e-02 -5.60776524e-01  1.84482464e+02]
 [ 4.38909744e-02  9.97987824e-01 -4.57589874e-02 -1.87871324e+01]
 [ 5.62486278e-01  1.31674600e-02  8.26701763e-01  1.23512839e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 302.96327356
Centerline is valid?  [True, True]
Translation: X:184.53, Y:-18.78, Z:123.55
[[ 8.25400076e-01 -6.51827700e-02 -5.60772610e-01  1.84531099e+02]
 [ 4.76773429e-02  9.97811905e-01 -4.58069117e-02 -1.87811855e+01]
 [ 5.62531408e-01  1.10728804e-02  8.26701764e-01  1.23546136e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.02327356
Centerline is valid?  [True, True]
Translation: X:184.58, Y:-18.77, Z:123.58
[[ 8.25098212e-01 -6.90097392e-02 -5.60758946e-01  1.84579186e+02]
 [ 5.21907248e-02  9.97578343e-01 -4.59736714e-02 -1.87743374e+01]
 [ 5.62573611e-01  8.66637828e-03  8.26701776e-01  1.23579059e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.08327356
Centerline is valid?  [True, True]
Translation: X:184.63, Y:-18.77, Z:123.61
[[ 8.24779053e-01 -7.28290709e-02 -5.60745433e-01  1.84627511e+02]
 [ 5.66970795e-02  9.97324785e-01 -4.61380020e-02 -1.87687103e+01]
 [ 5.62605506e-01  6.26102918e-03  8.26701787e-01  1.23612077e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.14327356
Centerline is valid?  [True, True]
Translation: X:184.68, Y:-18.76, Z:123.65
[[ 8.24624020e-01 -7.46642693e-02 -5.60732087e-01  1.84675981e+02]
 [ 5.88063199e-02  9.97195142e-01 -4.62997274e-02 -1.87606226e+01]
 [ 5.62616248e-01  5.20527686e-03  8.26701798e-01  1.23645334e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.20327356
Centerline is valid?  [True, True]
Translation: X:184.72, Y:-18.75, Z:123.68
[[ 8.25142641e-01 -6.88094308e-02 -5.60718186e-01  1.84723533e+02]
 [ 5.16129958e-02  9.97585517e-01 -4.64675635e-02 -1.87493587e+01]
 [ 5.62561748e-01  9.40202270e-03  8.26701809e-01  1.23678144e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.26327356
Centerline is valid?  [True, True]
Translation: X:184.77, Y:-18.74, Z:123.71
[[ 8.25277123e-01 -6.72916875e-02 -5.60704467e-01  1.84771717e+02]
 [ 4.96660224e-02  9.97676644e-01 -4.66326103e-02 -1.87409412e+01]
 [ 5.62539738e-01  1.06368658e-02  8.26701821e-01  1.23711228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.32327356
Centerline is valid?  [True, True]
Translation: X:184.82, Y:-18.73, Z:123.74
[[ 8.26023395e-01 -5.75436640e-02 -5.60690715e-01  1.84819634e+02]
 [ 3.77720589e-02  9.98189996e-01 -4.67974674e-02 -1.87304122e+01]
 [ 5.62368761e-01  1.74773601e-02  8.26701832e-01  1.23744251e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.38327356
Centerline is valid?  [True, True]
Translation: X:184.87, Y:-18.72, Z:123.78
[[ 8.26682399e-01 -4.71722515e-02 -5.60687962e-01  1.84868553e+02]
 [ 2.52191338e-02  9.98584451e-01 -4.68304379e-02 -1.87194136e+01]
 [ 5.62103377e-01  2.45738340e-02  8.26701832e-01  1.23778038e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.44327356
Centerline is valid?  [True, True]
Translation: X:184.92, Y:-18.71, Z:123.81
[[ 8.27170858e-01 -3.76681679e-02 -5.60686615e-01  1.84917363e+02]
 [ 1.37299581e-02  9.98807734e-01 -4.68465547e-02 -1.87126353e+01]
 [ 5.61782751e-01  3.10519011e-02  8.26701833e-01  1.23811519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.50327355999997
Centerline is valid?  [True, True]
Translation: X:184.97, Y:-18.71, Z:123.85
[[ 8.27289528e-01 -3.49855708e-02 -5.60685336e-01  1.84966245e+02]
 [ 1.04805557e-02  9.98846397e-01 -4.68618594e-02 -1.87059868e+01]
 [ 5.61678016e-01  3.28920317e-02  8.26701833e-01  1.23845043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.56327355999997
Centerline is valid?  [True, True]
Translation: X:185.01, Y:-18.70, Z:123.88
[[ 8.27243181e-01 -3.60846332e-02 -5.60684063e-01  1.85014216e+02]
 [ 1.17972762e-02  9.98830998e-01 -4.68770840e-02 -1.87036498e+01]
 [ 5.61720165e-01  3.21642033e-02  8.26701833e-01  1.23877704e+02]
 [ 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 303.62327356
Centerline is valid?  [True, True]
Translation: X:185.06, Y:-18.70, Z:123.91
[[ 8.27274403e-01 -3.56117798e-02 -5.60668229e-01  1.85062415e+02]
 [ 1.10988577e-02  9.98830127e-01 -4.70658337e-02 -1.86987416e+01]
 [ 5.61688416e-01  3.27135826e-02  8.26701848e-01  1.23910594e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.68327356
Centerline is valid?  [True, True]
Translation: X:185.11, Y:-18.70, Z:123.94
[[ 8.27147494e-01 -3.86531593e-02 -5.60654044e-01  1.85112196e+02]
 [ 1.46573138e-02  9.98776294e-01 -4.72342954e-02 -1.86973446e+01]
 [ 5.61793723e-01  3.08520468e-02  8.26701859e-01  1.23944366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.74327356
Centerline is valid?  [True, True]
Translation: X:185.16, Y:-18.70, Z:123.98
[[ 8.27103378e-01 -3.96213573e-02 -5.60651540e-01  1.85161690e+02]
 [ 1.58063544e-02  9.98757365e-01 -4.72639980e-02 -1.86983143e+01]
 [ 5.61827519e-01  3.02303554e-02  8.26701860e-01  1.23977864e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.80327356
Centerline is valid?  [True, True]
Translation: X:185.21, Y:-18.70, Z:124.01
[[ 8.26911329e-01 -4.34715501e-02 -5.60649515e-01  1.85211604e+02]
 [ 2.04397094e-02  9.98672150e-01 -4.72880087e-02 -1.86982825e+01]
 [ 5.61960740e-01  2.76434769e-02  8.26701860e-01  1.24011706e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.86327356
Centerline is valid?  [True, True]
Translation: X:185.26, Y:-18.70, Z:124.05
[[ 8.26190421e-01 -5.55339744e-02 -5.60647273e-01  1.85261025e+02]
 [ 3.49930732e-02  9.98266906e-01 -4.73145742e-02 -1.86960493e+01]
 [ 5.62303185e-01  1.94720769e-02  8.26701860e-01  1.24045338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.92327356
Centerline is valid?  [True, True]
Translation: X:185.31, Y:-18.69, Z:124.08
[[ 8.26226679e-01 -5.50065931e-02 -5.60645833e-01  1.85309739e+02]
 [ 3.43442909e-02  9.98288628e-01 -4.73316405e-02 -1.86945822e+01]
 [ 5.62289912e-01  1.98516805e-02  8.26701860e-01  1.24078451e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 303.98327356
Centerline is valid?  [True, True]
Translation: X:185.36, Y:-18.69, Z:124.11
[[ 8.25714729e-01 -6.23496732e-02 -5.60631523e-01  1.85359061e+02]
 [ 4.31031811e-02  9.97940783e-01 -4.75006294e-02 -1.86942584e+01]
 [ 5.62438710e-01  1.50569673e-02  8.26701872e-01  1.24111845e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.04327356
Centerline is valid?  [True, True]
Translation: X:185.41, Y:-18.69, Z:124.14
[[ 8.25754638e-01 -6.18371168e-02 -5.60629511e-01  1.85407038e+02]
 [ 4.24676167e-02  9.97966901e-01 -4.75243701e-02 -1.86863158e+01]
 [ 5.62428465e-01  1.54348699e-02  8.26701873e-01  1.24144828e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.10327356
Centerline is valid?  [True, True]
Translation: X:185.46, Y:-18.68, Z:124.18
[[ 8.25671432e-01 -6.29643926e-02 -5.60626589e-01  1.85455802e+02]
 [ 4.38066458e-02  9.97907379e-01 -4.75588146e-02 -1.86842338e+01]
 [ 5.62447922e-01  1.47087841e-02  8.26701873e-01  1.24178001e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.16327356
Centerline is valid?  [True, True]
Translation: X:185.50, Y:-18.68, Z:124.21
[[ 8.25746411e-01 -6.21045077e-02 -5.60612072e-01  1.85503594e+02]
 [ 4.26516633e-02  9.97949266e-01 -4.77294217e-02 -1.86813084e+01]
 [ 5.62426618e-01  1.55013614e-02  8.26701885e-01  1.24210506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.22327356
Centerline is valid?  [True, True]
Translation: X:185.55, Y:-18.67, Z:124.24
[[ 8.25329356e-01 -6.74631547e-02 -5.60606972e-01  1.85552566e+02]
 [ 4.90878702e-02  9.97650524e-01 -4.77892582e-02 -1.86746933e+01]
 [ 5.62513854e-01  1.19228754e-02  8.26701887e-01  1.24244071e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.28327356
Centerline is valid?  [True, True]
Translation: X:185.60, Y:-18.67, Z:124.28
[[ 8.25249198e-01 -6.84494927e-02 -5.60605412e-01  1.85600968e+02]
 [ 5.02677457e-02  9.97590894e-01 -4.78075544e-02 -1.86698545e+01]
 [ 5.62527257e-01  1.12727757e-02  8.26701887e-01  1.24277166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.34327356
Centerline is valid?  [True, True]
Translation: X:185.65, Y:-18.66, Z:124.31
[[ 8.24884910e-01 -7.28202192e-02 -5.60590850e-01  1.85648925e+02]
 [ 5.54360144e-02  9.97308868e-01 -4.79778052e-02 -1.86627106e+01]
 [ 5.62575980e-01  8.49924510e-03  8.26701899e-01  1.24310027e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.40327356
Centerline is valid?  [True, True]
Translation: X:185.70, Y:-18.65, Z:124.34
[[ 8.24627730e-01 -7.56997404e-02 -5.60587778e-01  1.85696866e+02]
 [ 5.88932559e-02  9.97108957e-01 -4.80136712e-02 -1.86542904e+01]
 [ 5.62601717e-01  6.57856516e-03  8.26701899e-01  1.24343010e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.46327356
Centerline is valid?  [True, True]
Translation: X:185.74, Y:-18.65, Z:124.38
[[ 8.24809659e-01 -7.37994606e-02 -5.60573516e-01  1.85744947e+02]
 [ 5.64827715e-02  9.97240398e-01 -4.81797075e-02 -1.86488610e+01]
 [ 5.62582192e-01  8.07634230e-03  8.26701911e-01  1.24375859e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.52327356
Centerline is valid?  [True, True]
Translation: X:185.79, Y:-18.63, Z:124.41
[[ 8.25220064e-01 -6.91204241e-02 -5.60565976e-01  1.85792602e+02]
 [ 5.07666096e-02  9.97543492e-01 -4.82672970e-02 -1.86343094e+01]
 [ 5.62525197e-01  1.13731079e-02  8.26701914e-01  1.24408985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.58327356
Centerline is valid?  [True, True]
Translation: X:185.84, Y:-18.63, Z:124.44
[[ 8.25253907e-01 -6.87344409e-02 -5.60563615e-01  1.85840990e+02]
 [ 5.02814169e-02  9.97566740e-01 -4.82947086e-02 -1.86267254e+01]
 [ 5.62519127e-01  1.16694642e-02  8.26701914e-01  1.24442228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.64327356
Centerline is valid?  [True, True]
Translation: X:185.89, Y:-18.61, Z:124.47
[[ 8.25193375e-01 -6.94892778e-02 -5.60559662e-01  1.85887835e+02]
 [ 5.11627464e-02  9.97519706e-01 -4.83405541e-02 -1.86112222e+01]
 [ 5.62528459e-01  1.12105331e-02  8.26701915e-01  1.24474880e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.70327356
Centerline is valid?  [True, True]
Translation: X:185.94, Y:-18.60, Z:124.51
[[ 8.25222253e-01 -6.91849913e-02 -5.60554788e-01  1.85935147e+02]
 [ 5.07565863e-02  9.97537718e-01 -4.83970068e-02 -1.86015908e+01]
 [ 5.62522891e-01  1.14864395e-02  8.26701917e-01  1.24507502e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.76327356
Centerline is valid?  [True, True]
Translation: X:185.98, Y:-18.59, Z:124.54
[[ 8.25004993e-01 -7.17664780e-02 -5.60550029e-01  1.85982990e+02]
 [ 5.38398652e-02  9.97373383e-01 -4.84520845e-02 -1.85875333e+01]
 [ 5.62554914e-01  9.79327364e-03  8.26701918e-01  1.24540745e+02]
 [ 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 304.82327356
Centerline is valid?  [True, True]
Translation: X:186.03, Y:-18.57, Z:124.57
[[ 8.24804725e-01 -7.40644776e-02 -5.60545822e-01  1.86030963e+02]
 [ 5.65850736e-02  9.97219038e-01 -4.85007112e-02 -1.85747077e+01]
 [ 5.62579145e-01  8.28508918e-03  8.26701919e-01  1.24574008e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.88327356
Centerline is valid?  [True, True]
Translation: X:186.08, Y:-18.56, Z:124.61
[[ 8.24552157e-01 -7.69325621e-02 -5.60531106e-01  1.86078724e+02]
 [ 5.99376284e-02  9.97014887e-01 -4.86702853e-02 -1.85621736e+01]
 [ 5.62602187e-01  6.53428360e-03  8.26701931e-01  1.24607068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 304.94327356
Centerline is valid?  [True, True]
Translation: X:186.13, Y:-18.55, Z:124.64
[[ 8.24204096e-01 -8.06779130e-02 -5.60516443e-01  1.86126447e+02]
 [ 6.43521877e-02  9.96731449e-01 -4.88386679e-02 -1.85473906e+01]
 [ 5.62624568e-01  4.18257080e-03  8.26701943e-01  1.24640239e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.00327355999997
Centerline is valid?  [True, True]
Translation: X:186.17, Y:-18.53, Z:124.67
[[ 8.24067562e-01 -8.20889270e-02 -5.60512321e-01  1.86174213e+02]
 [ 6.60264610e-02  9.96619622e-01 -4.88859381e-02 -1.85336305e+01]
 [ 5.62630572e-01  3.27667093e-03  8.26701944e-01  1.24673423e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.06327355999997
Centerline is valid?  [True, True]
Translation: X:186.22, Y:-18.51, Z:124.71
[[ 8.23917941e-01 -8.36764818e-02 -5.60497522e-01  1.86220010e+02]
 [ 6.78314071e-02  9.96490088e-01 -4.90551168e-02 -1.85093297e+01]
 [ 5.62634985e-01  2.39805521e-03  8.26701955e-01  1.24705859e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.12327356
Centerline is valid?  [True, True]
Translation: X:186.27, Y:-18.50, Z:124.74
[[ 8.23563282e-01 -8.71314065e-02 -5.60492318e-01  1.86268500e+02]
 [ 7.19698445e-02  9.96196821e-01 -4.91145158e-02 -1.85015507e+01]
 [ 5.62640082e-01  1.10366817e-04  8.26701957e-01  1.24739179e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.18327356
Centerline is valid?  [True, True]
Translation: X:186.32, Y:-18.48, Z:124.77
[[ 8.25347793e-01 -6.82991924e-02 -5.60478583e-01  1.86316285e+02]
 [ 4.90926785e-02  9.97578214e-01 -4.92708435e-02 -1.84821937e+01]
 [ 5.62486382e-01  1.31501870e-02  8.26701967e-01  1.24772683e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.24327356
Centerline is valid?  [True, True]
Translation: X:186.36, Y:-18.46, Z:124.81
[[ 8.25368939e-01 -6.80604104e-02 -5.60476489e-01  1.86362591e+02]
 [ 4.87879120e-02  9.97591989e-01 -4.92946512e-02 -1.84633019e+01]
 [ 5.62481870e-01  1.33417963e-02  8.26701967e-01  1.24805197e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.30327356
Centerline is valid?  [True, True]
Translation: X:186.41, Y:-18.44, Z:124.84
[[ 8.25323561e-01 -6.87493038e-02 -5.60459234e-01  1.86410217e+02]
 [ 4.94878511e-02  9.97547831e-01 -4.94901818e-02 -1.84446090e+01]
 [ 5.62487308e-01  1.31094899e-02  8.26701983e-01  1.24838552e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.36327356
Centerline is valid?  [True, True]
Translation: X:186.46, Y:-18.42, Z:124.87
[[ 8.23298064e-01 -8.98255992e-02 -5.60456652e-01  1.86458182e+02]
 [ 7.49533323e-02  9.95956740e-01 -4.95194007e-02 -1.84212822e+01]
 [ 5.62638690e-01 -1.23886698e-03  8.26701984e-01  1.24872460e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.42327356
Centerline is valid?  [True, True]
Translation: X:186.50, Y:-18.40, Z:124.91
[[ 8.23725902e-01 -8.58327620e-02 -5.60453723e-01  1.86504552e+02]
 [ 7.01009878e-02  9.96308385e-01 -4.95525319e-02 -1.84019315e+01]
 [ 5.62637975e-01  1.52934440e-03  8.26701984e-01  1.24905049e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.48327356
Centerline is valid?  [True, True]
Translation: X:186.55, Y:-18.38, Z:124.94
[[ 8.24178413e-01 -8.14099516e-02 -5.60448359e-01  1.86553021e+02]
 [ 6.47108108e-02  9.96669979e-01 -4.96131373e-02 -1.83843956e+01]
 [ 5.62621058e-01  4.62300900e-03  8.26701986e-01  1.24938948e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.54327356
Centerline is valid?  [True, True]
Translation: X:186.60, Y:-18.37, Z:124.97
[[ 8.24704540e-01 -7.59048496e-02 -5.60447032e-01  1.86599908e+02]
 [ 5.80441211e-02  9.97079701e-01 -4.96281235e-02 -1.83694574e+01]
 [ 5.62577375e-01  8.39788333e-03  8.26701986e-01  1.24971627e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.60327356
Centerline is valid?  [True, True]
Translation: X:186.65, Y:-18.36, Z:125.00
[[ 8.24993299e-01 -7.28304389e-02 -5.60429999e-01  1.86648169e+02]
 [ 5.41971496e-02  9.97286645e-01 -4.98198505e-02 -1.83591381e+01]
 [ 5.62537755e-01  1.07273343e-02  8.26702001e-01  1.25004933e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.66327356
Centerline is valid?  [True, True]
Translation: X:186.70, Y:-18.35, Z:125.04
[[ 8.25336881e-01 -6.89482671e-02 -5.60415175e-01  1.86697043e+02]
 [ 4.93917439e-02  9.97527865e-01 -4.99861371e-02 -1.83484935e+01]
 [ 5.62476211e-01  1.35755197e-02  8.26702013e-01  1.25038680e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.72327356
Centerline is valid?  [True, True]
Translation: X:186.74, Y:-18.34, Z:125.07
[[ 8.25679470e-01 -6.47348707e-02 -5.60413070e-01  1.86744632e+02]
 [ 4.42837443e-02  9.97766494e-01 -5.00097303e-02 -1.83393655e+01]
 [ 5.62398758e-01  1.64748186e-02  8.26702013e-01  1.25071488e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.78327356
Centerline is valid?  [True, True]
Translation: X:186.79, Y:-18.33, Z:125.11
[[ 8.25913104e-01 -6.17202634e-02 -5.60408916e-01  1.86793673e+02]
 [ 4.06095375e-02  9.97920457e-01 -5.00562419e-02 -1.83310935e+01]
 [ 5.62333006e-01  1.85841593e-02  8.26702014e-01  1.25105227e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.84327356
Centerline is valid?  [True, True]
Translation: X:186.84, Y:-18.33, Z:125.14
[[ 8.26258581e-01 -5.69216711e-02 -5.60407602e-01  1.86842357e+02]
 [ 3.48021892e-02  9.98139123e-01 -5.00709471e-02 -1.83263463e+01]
 [ 5.62214874e-01  2.18681383e-02  8.26702014e-01  1.25138514e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.90327356
Centerline is valid?  [True, True]
Translation: X:186.89, Y:-18.32, Z:125.17
[[ 8.26549234e-01 -5.26922757e-02 -5.60392620e-01  1.86890653e+02]
 [ 2.95802811e-02  9.98299121e-01 -5.02381594e-02 -1.83218400e+01]
 [ 5.62086623e-01  2.49477409e-02  8.26702025e-01  1.25171501e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 305.96327356
Centerline is valid?  [True, True]
Translation: X:186.94, Y:-18.32, Z:125.20
[[ 8.26611175e-01 -5.17414527e-02 -5.60389853e-01  1.86939363e+02]
 [ 2.84110381e-02  9.98331528e-01 -5.02690080e-02 -1.83161448e+01]
 [ 5.62055850e-01  2.56316663e-02  8.26702026e-01  1.25204861e+02]
 [ 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 306.02327356
Centerline is valid?  [True, True]
Translation: X:186.99, Y:-18.32, Z:125.24
[[ 8.26864426e-01 -4.76046731e-02 -5.60382920e-01  1.86987979e+02]
 [ 2.33631295e-02  9.98458524e-01 -5.03462007e-02 -1.83162439e+01]
 [ 5.61915817e-01  2.85371836e-02  8.26702028e-01  1.25237798e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.08327356
Centerline is valid?  [True, True]
Translation: X:187.04, Y:-18.31, Z:125.27
[[ 8.27013941e-01 -4.49548871e-02 -5.60381120e-01  1.87036500e+02]
 [ 2.01500981e-02  9.98527525e-01 -5.03662223e-02 -1.83131751e+01]
 [ 5.61820180e-01  3.03618334e-02  8.26702028e-01  1.25270873e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.14327356
Centerline is valid?  [True, True]
Translation: X:187.09, Y:-18.31, Z:125.30
[[ 8.27330396e-01 -3.87334596e-02 -5.60378563e-01  1.87085308e+02]
 [ 1.26201954e-02  9.98649643e-01 -5.03946550e-02 -1.83132096e+01]
 [ 5.61573812e-01  3.46209430e-02  8.26702029e-01  1.25303950e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.20327356
Centerline is valid?  [True, True]
Translation: X:187.13, Y:-18.32, Z:125.34
[[ 8.27522501e-01 -3.44269431e-02 -5.60376032e-01  1.87134436e+02]
 [ 7.40339953e-03  9.98700521e-01 -5.04227960e-02 -1.83152482e+01]
 [ 5.61383738e-01  3.75773106e-02  8.26702029e-01  1.25337123e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.26327356
Centerline is valid?  [True, True]
Translation: X:187.18, Y:-18.32, Z:125.37
[[ 8.27610337e-01 -3.22913336e-02 -5.60373447e-01  1.87184034e+02]
 [ 4.80679261e-03  9.98714944e-01 -5.04515093e-02 -1.83197354e+01]
 [ 5.61282482e-01  3.90605917e-02  8.26702029e-01  1.25370464e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.32327356
Centerline is valid?  [True, True]
Translation: X:187.23, Y:-18.33, Z:125.40
[[ 8.27669973e-01 -3.07738242e-02 -5.60370759e-01  1.87234396e+02]
 [ 2.95550791e-03  9.98720631e-01 -5.04813420e-02 -1.83267491e+01]
 [ 5.61207342e-01  4.01257108e-02  8.26702030e-01  1.25404168e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.38327356
Centerline is valid?  [True, True]
Translation: X:187.28, Y:-18.33, Z:125.44
[[ 8.27704228e-01 -2.98792649e-02 -5.60368575e-01  1.87282361e+02]
 [ 1.85977131e-03  9.98722047e-01 -5.05055803e-02 -1.83315637e+01]
 [ 5.61161520e-01  4.07615249e-02  8.26702030e-01  1.25436381e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.44327356
Centerline is valid?  [True, True]
Translation: X:187.33, Y:-18.35, Z:125.47
[[ 8.27895264e-01 -2.41605442e-02 -5.60362116e-01  1.87333887e+02]
 [-5.08786185e-03  9.98707196e-01 -5.05771631e-02 -1.83546592e+01]
 [ 5.60859649e-01  4.47236388e-02  8.26702032e-01  1.25469879e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.50327355999997
Centerline is valid?  [True, True]
Translation: X:187.38, Y:-18.35, Z:125.50
[[ 8.27823212e-01 -2.65661503e-02 -5.60359679e-01  1.87383509e+02]
 [-2.20394178e-03  9.98716358e-01 -5.06041460e-02 -1.83489691e+01]
 [ 5.60984735e-01  4.31262868e-02  8.26702033e-01  1.25503857e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.56327355999997
Centerline is valid?  [True, True]
Translation: X:187.43, Y:-18.36, Z:125.54
[[ 8.27909858e-01 -2.37749077e-02 -5.60357047e-01  1.87433891e+02]
 [-5.59079083e-03  9.98701665e-01 -5.06332718e-02 -1.83563610e+01]
 [ 5.60833317e-01  4.50526239e-02  8.26702033e-01  1.25537547e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.62327356
Centerline is valid?  [True, True]
Translation: X:187.48, Y:-18.36, Z:125.57
[[ 8.28236413e-01 -5.07683430e-03 -5.60355843e-01  1.87483980e+02]
 [-2.81463283e-02  9.98319942e-01 -5.06466012e-02 -1.83629236e+01]
 [ 5.59671537e-01  5.77193188e-02  8.26702033e-01  1.25571093e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.68327356
Centerline is valid?  [True, True]
Translation: X:187.53, Y:-18.37, Z:125.60
[[ 8.28235577e-01 -5.43457659e-03 -5.60353722e-01  1.87533428e+02]
 [-2.77308169e-02  9.98330380e-01 -5.06700517e-02 -1.83734118e+01]
 [ 5.59693515e-01  5.75058060e-02  8.26702033e-01  1.25603961e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.74327356
Centerline is valid?  [True, True]
Translation: X:187.59, Y:-18.40, Z:125.64
[[ 8.27916507e-01 -2.40469087e-02 -5.60335617e-01  1.87585248e+02]
 [-5.42160177e-03  9.98690587e-01 -5.08696112e-02 -1.83978456e+01]
 [ 5.60825163e-01  4.51537074e-02  8.26702050e-01  1.25637524e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.80327356
Centerline is valid?  [True, True]
Translation: X:187.64, Y:-18.41, Z:125.67
[[ 8.27614566e-01 -3.28668348e-02 -5.60333741e-01  1.87635039e+02]
 [ 5.20564322e-03  9.98690684e-01 -5.08902703e-02 -1.84083094e+01]
 [ 5.61272689e-01  3.92006315e-02  8.26702050e-01  1.25670622e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.86327356
Centerline is valid?  [True, True]
Translation: X:187.69, Y:-18.42, Z:125.70
[[ 8.27381669e-01 -3.83279878e-02 -5.60330741e-01  1.87685967e+02]
 [ 1.17741557e-02  9.98633160e-01 -5.09232797e-02 -1.84176741e+01]
 [ 5.61516646e-01  3.55355668e-02  8.26702050e-01  1.25704552e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.92327356
Centerline is valid?  [True, True]
Translation: X:187.74, Y:-18.42, Z:125.74
[[ 8.27287484e-01 -4.03422618e-02 -5.60328404e-01  1.87736183e+02]
 [ 1.41880991e-02  9.98600470e-01 -5.09489874e-02 -1.84222868e+01]
 [ 5.61599605e-01  3.41994647e-02  8.26702051e-01  1.25738295e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 306.98327356
Centerline is valid?  [True, True]
Translation: X:187.79, Y:-18.43, Z:125.77
[[ 8.27122917e-01 -4.36041121e-02 -5.60327013e-01  1.87786689e+02]
 [ 1.81153523e-02  9.98536167e-01 -5.09642749e-02 -1.84260234e+01]
 [ 5.61729040e-01  3.20031985e-02  8.26702051e-01  1.25772292e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.04327356
Centerline is valid?  [True, True]
Translation: X:187.84, Y:-18.44, Z:125.81
[[ 8.27609495e-01 -3.31323110e-02 -5.60325597e-01  1.87837656e+02]
 [ 5.46564481e-03  9.98684726e-01 -5.09798474e-02 -1.84361108e+01]
 [ 5.61277695e-01  3.91288651e-02  8.26702051e-01  1.25806208e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.10327356
Centerline is valid?  [True, True]
Translation: X:187.89, Y:-18.44, Z:125.84
[[ 8.27658102e-01 -3.19337250e-02 -5.60323392e-01  1.87887568e+02]
 [ 4.00302179e-03  9.98690423e-01 -5.10040671e-02 -1.84383677e+01]
 [ 5.61218355e-01  3.99709426e-02  8.26702051e-01  1.25839889e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.16327356
Centerline is valid?  [True, True]
Translation: X:187.94, Y:-18.44, Z:125.87
[[ 8.27466468e-01 -3.65977200e-02 -5.60321203e-01  1.87937198e+02]
 [ 9.61515363e-03  9.98650931e-01 -5.10281062e-02 -1.84397472e+01]
 [ 5.61432803e-01  3.68364724e-02  8.26702051e-01  1.25873432e+02]
 [ 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 307.22327356
Centerline is valid?  [True, True]
Translation: X:187.99, Y:-18.45, Z:125.91
[[ 8.27674071e-01 -3.15913007e-02 -5.60319214e-01  1.87987573e+02]
 [ 3.55894356e-03  9.98689760e-01 -5.10499418e-02 -1.84475711e+01]
 [ 5.61197795e-01  4.02585687e-02  8.26702052e-01  1.25907083e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.28327356
Centerline is valid?  [True, True]
Translation: X:188.04, Y:-18.45, Z:125.94
[[ 8.27833338e-01 -2.71256830e-02 -5.60317911e-01  1.88036768e+02]
 [-1.83848497e-03  9.98693679e-01 -5.10642382e-02 -1.84486540e+01]
 [ 5.60971108e-01  4.33028148e-02  8.26702052e-01  1.25940354e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.34327356
Centerline is valid?  [True, True]
Translation: X:188.09, Y:-18.45, Z:125.97
[[ 8.27905579e-01 -2.48741498e-02 -5.60315652e-01  1.88086786e+02]
 [-4.57125785e-03  9.98683642e-01 -5.10890179e-02 -1.84506807e+01]
 [ 5.60848871e-01  4.48582302e-02  8.26702052e-01  1.25974119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.40327356
Centerline is valid?  [True, True]
Translation: X:188.14, Y:-18.45, Z:126.01
[[ 8.27964830e-01 -2.28700902e-02 -5.60313483e-01  1.88135448e+02]
 [-7.00459033e-03  9.98668322e-01 -5.11127966e-02 -1.84546671e+01]
 [ 5.60736280e-01  4.62443644e-02  8.26702052e-01  1.26006843e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.46327356
Centerline is valid?  [True, True]
Translation: X:188.19, Y:-18.46, Z:126.04
[[ 8.27830741e-01 -2.73835307e-02 -5.60309205e-01  1.88185247e+02]
 [-1.59161233e-03  9.98689219e-01 -5.11596494e-02 -1.84579768e+01]
 [ 5.60975695e-01  4.32433255e-02  8.26702053e-01  1.26040369e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.52327356
Centerline is valid?  [True, True]
Translation: X:188.23, Y:-18.46, Z:126.07
[[ 8.27763119e-01 -2.93962414e-02 -5.60307130e-01  1.88234499e+02]
 [ 8.21312804e-04  9.98688986e-01 -5.11823758e-02 -1.84600727e+01]
 [ 5.61077128e-01  4.19066957e-02  8.26702053e-01  1.26073611e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.58327356
Centerline is valid?  [True, True]
Translation: X:188.28, Y:-18.46, Z:126.11
[[ 8.27672182e-01 -3.18922477e-02 -5.60304956e-01  1.88283944e+02]
 [ 3.81685776e-03  9.98680810e-01 -5.12061664e-02 -1.84608640e+01]
 [ 5.61198887e-01  4.02433152e-02  8.26702054e-01  1.26107062e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.64327356
Centerline is valid?  [True, True]
Translation: X:188.33, Y:-18.47, Z:126.14
[[ 8.27546613e-01 -3.50346295e-02 -5.60302756e-01  1.88334124e+02]
 [ 7.59253556e-03  9.98658008e-01 -5.12302249e-02 -1.84665403e+01]
 [ 5.61345666e-01  3.81412805e-02  8.26702054e-01  1.26140709e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.70327356
Centerline is valid?  [True, True]
Translation: X:188.38, Y:-18.46, Z:126.17
[[ 8.27292313e-01 -4.06338100e-02 -5.60300208e-01  1.88382841e+02]
 [ 1.43314524e-02  9.98582605e-01 -5.12580845e-02 -1.84589876e+01]
 [ 5.61588852e-01  3.43755035e-02  8.26702054e-01  1.26174182e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.76327356
Centerline is valid?  [True, True]
Translation: X:188.43, Y:-18.47, Z:126.21
[[ 8.27037811e-01 -4.55381371e-02 -5.60298793e-01  1.88433487e+02]
 [ 2.02413899e-02  9.98479499e-01 -5.12735381e-02 -1.84740389e+01]
 [ 5.61781760e-01  3.10639283e-02  8.26702054e-01  1.26207566e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.82327356
Centerline is valid?  [True, True]
Translation: X:188.48, Y:-18.46, Z:126.24
[[ 8.27341519e-01 -3.96721560e-02 -5.60296466e-01  1.88482321e+02]
 [ 1.31431405e-02  9.98596853e-01 -5.12989569e-02 -1.84639601e+01]
 [ 5.61545428e-01  3.50777018e-02  8.26702054e-01  1.26241277e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.88327356
Centerline is valid?  [True, True]
Translation: X:188.53, Y:-18.48, Z:126.27
[[ 8.26038604e-01 -6.10737147e-02 -5.60294767e-01  1.88533195e+02]
 [ 3.89737769e-02  9.97921619e-01 -5.13175166e-02 -1.84764395e+01]
 [ 5.62264412e-01  2.05534466e-02  8.26702055e-01  1.26274972e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 307.94327356
Centerline is valid?  [True, True]
Translation: X:188.58, Y:-18.47, Z:126.31
[[ 8.25532604e-01 -6.75875786e-02 -5.60292637e-01  1.88582454e+02]
 [ 4.68283748e-02  9.97582693e-01 -5.13407577e-02 -1.84743884e+01]
 [ 5.62408235e-01  1.61458758e-02  8.26702055e-01  1.26308473e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.00327355999997
Centerline is valid?  [True, True]
Translation: X:188.63, Y:-18.47, Z:126.34
[[ 8.25580814e-01 -6.70143449e-02 -5.60290457e-01  1.88631108e+02]
 [ 4.61195582e-02  9.97614490e-01 -5.13645355e-02 -1.84710005e+01]
 [ 5.62396040e-01  1.65652266e-02  8.26702055e-01  1.26341646e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.06327355999997
Centerline is valid?  [True, True]
Translation: X:188.68, Y:-18.47, Z:126.37
[[ 8.25843317e-01 -6.38340703e-02 -5.60274957e-01  1.88679294e+02]
 [ 4.21625747e-02  9.97780864e-01 -5.15331497e-02 -1.84660019e+01]
 [ 5.62321201e-01  1.89356726e-02  8.26702067e-01  1.26374526e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.12327356
Centerline is valid?  [True, True]
Translation: X:188.73, Y:-18.46, Z:126.41
[[ 8.26287711e-01 -5.78262849e-02 -5.60272022e-01  1.88727587e+02]
 [ 3.48833294e-02  9.98060219e-01 -5.15650381e-02 -1.84593254e+01]
 [ 5.62167031e-01  2.30634038e-02  8.26702067e-01  1.26407655e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.18327356
Centerline is valid?  [True, True]
Translation: X:188.78, Y:-18.45, Z:126.44
[[ 8.26540644e-01 -5.41169122e-02 -5.60269509e-01  1.88775273e+02]
 [ 3.03847271e-02  9.98205891e-01 -5.15923287e-02 -1.84511181e+01]
 [ 5.62056342e-01  2.56195204e-02  8.26702068e-01  1.26440471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.24327356
Centerline is valid?  [True, True]
Translation: X:188.82, Y:-18.45, Z:126.47
[[ 8.26671766e-01 -5.21346436e-02 -5.60264019e-01  1.88823633e+02]
 [ 2.79505814e-02  9.98273934e-01 -5.16518968e-02 -1.84453133e+01]
 [ 5.61989819e-01  2.70394597e-02  8.26702069e-01  1.26473577e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.30327356
Centerline is valid?  [True, True]
Translation: X:188.87, Y:-18.44, Z:126.51
[[ 8.26804471e-01 -5.00379922e-02 -5.60259374e-01  1.88872699e+02]
 [ 2.53847973e-02  9.98339868e-01 -5.17022293e-02 -1.84398702e+01]
 [ 5.61916346e-01  2.85255636e-02  8.26702070e-01  1.26507144e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.36327356
Centerline is valid?  [True, True]
Translation: X:188.92, Y:-18.43, Z:126.54
[[ 8.26717741e-01 -5.14667699e-02 -5.60257930e-01  1.88919900e+02]
 [ 2.70994748e-02  9.98293985e-01 -5.17178762e-02 -1.84310396e+01]
 [ 5.61963874e-01  2.75733902e-02  8.26702070e-01  1.26539677e+02]
 [ 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 308.42327356
Centerline is valid?  [True, True]
Translation: X:188.97, Y:-18.43, Z:126.57
[[ 8.26681704e-01 -5.20995915e-02 -5.60252615e-01  1.88968742e+02]
 [ 2.78247514e-02  9.98271051e-01 -5.17753961e-02 -1.84254327e+01]
 [ 5.61981444e-01  2.72128829e-02  8.26702072e-01  1.26573099e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.48327356
Centerline is valid?  [True, True]
Translation: X:189.02, Y:-18.42, Z:126.61
[[ 8.26696958e-01 -5.20107189e-02 -5.60238364e-01  1.89016540e+02]
 [ 2.76134358e-02  9.98268929e-01 -5.19292199e-02 -1.84181591e+01]
 [ 5.61969428e-01  2.74596220e-02  8.26702082e-01  1.26605870e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.54327356
Centerline is valid?  [True, True]
Translation: X:189.06, Y:-18.41, Z:126.64
[[ 8.26715526e-01 -5.18028484e-02 -5.60230224e-01  1.89063714e+02]
 [ 2.73031467e-02  9.98272898e-01 -5.20169085e-02 -1.84136408e+01]
 [ 5.61957274e-01  2.77071379e-02  8.26702085e-01  1.26638078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.60327356
Centerline is valid?  [True, True]
Translation: X:189.11, Y:-18.41, Z:126.67
[[ 8.26594000e-01 -5.37727675e-02 -5.60223928e-01  1.89113063e+02]
 [ 2.96361486e-02  9.98202829e-01 -5.20846479e-02 -1.84106868e+01]
 [ 5.62017845e-01  2.64499778e-02  8.26702087e-01  1.26671673e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.66327356
Centerline is valid?  [True, True]
Translation: X:189.16, Y:-18.41, Z:126.70
[[ 8.26490976e-01 -5.53469564e-02 -5.60222617e-01  1.89161749e+02]
 [ 3.15276825e-02  9.98144141e-01 -5.20987447e-02 -1.84064744e+01]
 [ 5.62066430e-01  2.53966216e-02  8.26702087e-01  1.26704924e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.72327356
Centerline is valid?  [True, True]
Translation: X:189.21, Y:-18.40, Z:126.74
[[ 8.26409605e-01 -5.65824038e-02 -5.60219239e-01  1.89210807e+02]
 [ 3.29951973e-02  9.98094812e-01 -5.21350459e-02 -1.84023559e+01]
 [ 5.62101842e-01  2.46003584e-02  8.26702087e-01  1.26738409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.78327356
Centerline is valid?  [True, True]
Translation: X:189.26, Y:-18.40, Z:126.77
[[ 8.26235061e-01 -5.90911083e-02 -5.60217694e-01  1.89259346e+02]
 [ 3.60140083e-02  9.97989578e-01 -5.21516442e-02 -1.83970627e+01]
 [ 5.62173118e-01  2.29138322e-02  8.26702087e-01  1.26771628e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.84327356
Centerline is valid?  [True, True]
Translation: X:189.31, Y:-18.39, Z:126.80
[[ 8.26015597e-01 -6.22258301e-02 -5.60201910e-01  1.89307417e+02]
 [ 3.96860998e-02  9.97841447e-01 -5.23207336e-02 -1.83930291e+01]
 [ 5.62248386e-01  2.09855131e-02  8.26702099e-01  1.26804373e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.90327356
Centerline is valid?  [True, True]
Translation: X:189.36, Y:-18.39, Z:126.84
[[ 8.25561698e-01 -6.80288228e-02 -5.60196360e-01  1.89356458e+02]
 [ 4.66568502e-02  9.97536698e-01 -5.23800954e-02 -1.83890155e+01]
 [ 5.62379784e-01  1.71060028e-02  8.26702101e-01  1.26837829e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 308.96327356
Centerline is valid?  [True, True]
Translation: X:189.41, Y:-18.38, Z:126.87
[[ 8.24841084e-01 -7.62860406e-02 -5.60194275e-01  1.89405495e+02]
 [ 5.66207931e-02  9.97019596e-01 -5.24023939e-02 -1.83823731e+01]
 [ 5.62522241e-01  1.15050033e-02  8.26702101e-01  1.26871467e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.02327356
Centerline is valid?  [True, True]
Translation: X:189.45, Y:-18.38, Z:126.90
[[ 8.24183845e-01 -8.30940102e-02 -5.60193158e-01  1.89454374e+02]
 [ 6.48429717e-02  9.96518002e-01 -5.24143267e-02 -1.83792741e+01]
 [ 5.62597883e-01  6.87445224e-03  8.26702101e-01  1.26904779e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.08327356
Centerline is valid?  [True, True]
Translation: X:189.50, Y:-18.37, Z:126.94
[[ 8.23530071e-01 -8.94429627e-02 -5.60176918e-01  1.89502631e+02]
 [ 7.24027901e-02  9.95988152e-01 -5.25874154e-02 -1.83721471e+01]
 [ 5.62633148e-01  2.74894613e-03  8.26702114e-01  1.26937844e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.14327356
Centerline is valid?  [True, True]
Translation: X:189.55, Y:-18.37, Z:126.97
[[ 8.23066027e-01 -9.36441623e-02 -5.60172372e-01  1.89550330e+02]
 [ 7.74513093e-02  9.95605729e-01 -5.26358038e-02 -1.83660842e+01]
 [ 5.62639858e-01 -6.33417373e-05  8.26702115e-01  1.26970527e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.20327356
Centerline is valid?  [True, True]
Translation: X:189.60, Y:-18.35, Z:127.00
[[ 8.22936269e-01 -9.48109732e-02 -5.60166741e-01  1.89597351e+02]
 [ 7.88220019e-02  9.95494981e-01 -5.26956739e-02 -1.83473697e+01]
 [ 5.62639307e-01 -7.88282652e-04  8.26702116e-01  1.27003551e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.26327356
Centerline is valid?  [True, True]
Translation: X:189.65, Y:-18.33, Z:127.04
[[ 8.25017347e-01 -7.46803065e-02 -5.60151077e-01  1.89645579e+02]
 [ 5.43682194e-02  9.97120722e-01 -5.28617335e-02 -1.83326796e+01]
 [ 5.62485977e-01  1.31574304e-02  8.26702128e-01  1.27037088e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.32327356
Centerline is valid?  [True, True]
Translation: X:189.69, Y:-18.33, Z:127.07
[[ 8.23376116e-01 -9.10182622e-02 -5.60149486e-01  1.89694416e+02]
 [ 7.41099510e-02  9.95847162e-01 -5.28785890e-02 -1.83299877e+01]
 [ 5.62636193e-01  2.02631629e-03  8.26702128e-01  1.27070343e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.38327356
Centerline is valid?  [True, True]
Translation: X:189.74, Y:-18.31, Z:127.10
[[ 8.24287164e-01 -8.23784464e-02 -5.60146823e-01  1.89741767e+02]
 [ 6.36431849e-02  9.96569323e-01 -5.29067934e-02 -1.83147403e+01]
 [ 5.62583519e-01  7.96086287e-03  8.26702128e-01  1.27103389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.44327356
Centerline is valid?  [True, True]
Translation: X:189.79, Y:-18.30, Z:127.14
[[ 8.24361862e-01 -8.16607112e-02 -5.60141991e-01  1.89789075e+02]
 [ 6.27407258e-02  9.96623831e-01 -5.29579105e-02 -1.83011693e+01]
 [ 5.62575437e-01  8.51276666e-03  8.26702129e-01  1.27136290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.50327355999997
Centerline is valid?  [True, True]
Translation: X:189.84, Y:-18.29, Z:127.17
[[ 8.24600741e-01 -7.92519087e-02 -5.60136369e-01  1.89836764e+02]
 [ 5.97883890e-02  9.96802144e-01 -5.30173083e-02 -1.82874608e+01]
 [ 5.62546857e-01  1.02284606e-02  8.26702131e-01  1.27169454e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.56327355999997
Centerline is valid?  [True, True]
Translation: X:189.89, Y:-18.27, Z:127.20
[[ 8.24915598e-01 -7.59381648e-02 -5.60131817e-01  1.89885070e+02]
 [ 5.57503063e-02  9.97033585e-01 -5.30653725e-02 -1.82691903e+01]
 [ 5.62499920e-01  1.25469331e-02  8.26702131e-01  1.27203335e+02]
 [ 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 309.62327356
Centerline is valid?  [True, True]
Translation: X:189.93, Y:-18.25, Z:127.24
[[ 8.24837101e-01 -7.67974766e-02 -5.60130256e-01  1.89932475e+02]
 [ 5.67777549e-02  9.96974726e-01 -5.30818396e-02 -1.82521118e+01]
 [ 5.62512260e-01  1.19809323e-02  8.26702132e-01  1.27236544e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.68327356
Centerline is valid?  [True, True]
Translation: X:189.98, Y:-18.24, Z:127.27
[[ 8.25155745e-01 -7.33115046e-02 -5.60128038e-01  1.89980536e+02]
 [ 5.25487371e-02  9.97205327e-01 -5.31052342e-02 -1.82356417e+01]
 [ 5.62455888e-01  1.43860680e-02  8.26702132e-01  1.27270156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.74327356
Centerline is valid?  [True, True]
Translation: X:190.03, Y:-18.22, Z:127.30
[[ 8.25438302e-01 -7.00744668e-02 -5.60126038e-01  1.90028792e+02]
 [ 4.86227384e-02  9.97403340e-01 -5.31263226e-02 -1.82195952e+01]
 [ 5.62394380e-01  1.66176397e-02  8.26702132e-01  1.27303874e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.80327356
Centerline is valid?  [True, True]
Translation: X:190.08, Y:-18.21, Z:127.34
[[ 8.25607416e-01 -6.80716981e-02 -5.60123771e-01  1.90076446e+02]
 [ 4.61866383e-02  9.97517844e-01 -5.31502213e-02 -1.82079902e+01]
 [ 5.62351482e-01  1.80109829e-02  8.26702132e-01  1.27336900e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.86327356
Centerline is valid?  [True, True]
Translation: X:190.12, Y:-18.19, Z:127.37
[[ 8.25858767e-01 -6.50879014e-02 -5.60107902e-01  1.90124652e+02]
 [ 4.24688074e-02  9.97674144e-01 -5.33170112e-02 -1.81933216e+01]
 [ 5.62275464e-01  2.02452065e-02  8.26702144e-01  1.27370445e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.92327356
Centerline is valid?  [True, True]
Translation: X:190.17, Y:-18.18, Z:127.40
[[ 8.25877017e-01 -6.48695722e-02 -5.60106322e-01  1.90173123e+02]
 [ 4.21938178e-02  9.97684924e-01 -5.33336060e-02 -1.81808800e+01]
 [ 5.62269361e-01  2.04139753e-02  8.26702144e-01  1.27404082e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 309.98327356
Centerline is valid?  [True, True]
Translation: X:190.22, Y:-18.17, Z:127.44
[[ 8.25854039e-01 -6.51809961e-02 -5.60104048e-01  1.90221788e+02]
 [ 4.25538634e-02  9.97668356e-01 -5.33574741e-02 -1.81693935e+01]
 [ 5.62275978e-01  2.02308944e-02  8.26702144e-01  1.27437786e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.04327356
Centerline is valid?  [True, True]
Translation: X:190.27, Y:-18.16, Z:127.47
[[ 8.25643900e-01 -6.78002260e-02 -5.60102920e-01  1.90269583e+02]
 [ 4.57101647e-02  9.97528093e-01 -5.33693193e-02 -1.81569585e+01]
 [ 5.62336849e-01  1.84616562e-02  8.26702144e-01  1.27470967e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.10327356
Centerline is valid?  [True, True]
Translation: X:190.32, Y:-18.15, Z:127.50
[[ 8.25572753e-01 -6.87887950e-02 -5.60087253e-01  1.90318387e+02]
 [ 4.67934163e-02  9.97469078e-01 -5.35333133e-02 -1.81495568e+01]
 [ 5.62352207e-01  1.79872489e-02  8.26702155e-01  1.27504456e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.16327356
Centerline is valid?  [True, True]
Translation: X:190.37, Y:-18.14, Z:127.54
[[ 8.25333421e-01 -7.16212494e-02 -5.60084940e-01  1.90366703e+02]
 [ 5.01994457e-02  9.97302166e-01 -5.35574960e-02 -1.81389544e+01]
 [ 5.62409779e-01  1.60868379e-02  8.26702156e-01  1.27537869e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.22327356
Centerline is valid?  [True, True]
Translation: X:190.42, Y:-18.13, Z:127.57
[[ 8.24906424e-01 -7.63989846e-02 -5.60082661e-01  1.90415495e+02]
 [ 5.59571257e-02  9.96994404e-01 -5.35813189e-02 -1.81291954e+01]
 [ 5.62492838e-01  1.28589583e-02  8.26702156e-01  1.27571550e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.28327356
Centerline is valid?  [True, True]
Translation: X:190.46, Y:-18.10, Z:127.61
[[ 8.23657383e-01 -8.88741110e-02 -5.60080269e-01  1.90462977e+02]
 [ 7.10219222e-02  9.96033257e-01 -5.36063158e-02 -1.81044693e+01]
 [ 5.62622788e-01  4.37526047e-03  8.26702156e-01  1.27605314e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.34327356
Centerline is valid?  [True, True]
Translation: X:190.51, Y:-18.10, Z:127.64
[[ 8.22988859e-01 -9.48795269e-02 -5.60077863e-01  1.90510898e+02]
 [ 7.82680266e-02  9.95488716e-01 -5.36314438e-02 -1.80963747e+01]
 [ 5.62639719e-01  3.01891681e-04  8.26702156e-01  1.27638297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.40327356
Centerline is valid?  [True, True]
Translation: X:190.56, Y:-18.09, Z:127.67
[[ 8.22005063e-01 -1.03143628e-01 -5.60061665e-01  1.90558313e+02]
 [ 8.81512040e-02  9.94653160e-01 -5.38001471e-02 -1.80850038e+01]
 [ 5.62616248e-01 -5.14611684e-03  8.26702168e-01  1.27671112e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.46327356
Centerline is valid?  [True, True]
Translation: X:190.61, Y:-18.07, Z:127.70
[[ 8.21195768e-01 -1.09423624e-01 -5.60057123e-01  1.90606025e+02]
 [ 9.57190612e-02  9.93950864e-01 -5.38473962e-02 -1.80724529e+01]
 [ 5.62561439e-01 -9.38888815e-03  8.26702169e-01  1.27704239e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.52327356
Centerline is valid?  [True, True]
Translation: X:190.65, Y:-18.06, Z:127.74
[[ 8.20731595e-01 -1.12868934e-01 -5.60053794e-01  1.90653002e+02]
 [ 9.98658802e-02  9.93540908e-01 -5.38820017e-02 -1.80573906e+01]
 [ 5.62517959e-01 -1.17076039e-02  8.26702170e-01  1.27737037e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.58327356
Centerline is valid?  [True, True]
Translation: X:190.70, Y:-18.04, Z:127.77
[[ 8.20856699e-01 -1.11982859e-01 -5.60048319e-01  1.90699505e+02]
 [ 9.87544776e-02  9.93648908e-01 -5.39388651e-02 -1.80386311e+01]
 [ 5.62531628e-01 -1.10312003e-02  8.26702171e-01  1.27769750e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.64327356
Centerline is valid?  [True, True]
Translation: X:190.75, Y:-18.02, Z:127.80
[[ 8.21243006e-01 -1.09141356e-01 -5.60042936e-01  1.90746850e+02]
 [ 9.52769839e-02  9.93985346e-01 -5.39947033e-02 -1.80200996e+01]
 [ 5.62567527e-01 -9.01642937e-03  8.26702172e-01  1.27803020e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.70327356
Centerline is valid?  [True, True]
Translation: X:190.79, Y:-18.00, Z:127.84
[[ 8.21672256e-01 -1.05944270e-01 -5.60027245e-01  1.90794159e+02]
 [ 9.12970665e-02  9.94349969e-01 -5.41570353e-02 -1.80043280e+01]
 [ 5.62600702e-01 -6.62951129e-03  8.26702183e-01  1.27836066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.76327356
Centerline is valid?  [True, True]
Translation: X:190.84, Y:-17.98, Z:127.87
[[ 8.22610219e-01 -9.84858111e-02 -5.60011583e-01  1.90840885e+02]
 [ 8.21627190e-02  9.95137568e-01 -5.43185878e-02 -1.79849173e+01]
 [ 5.62638175e-01 -1.32904895e-03  8.26702194e-01  1.27868961e+02]
 [ 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 310.82327356
Centerline is valid?  [True, True]
Translation: X:190.89, Y:-17.97, Z:127.90
[[ 8.23184811e-01 -9.35815130e-02 -5.60008274e-01  1.90888866e+02]
 [ 7.62072950e-02  9.95609479e-01 -5.43526855e-02 -1.79671907e+01]
 [ 5.62635952e-01  2.06558947e-03  8.26702195e-01  1.27902622e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.88327356
Centerline is valid?  [True, True]
Translation: X:190.94, Y:-17.95, Z:127.94
[[ 8.23416702e-01 -9.15325513e-02 -5.60006006e-01  1.90936468e+02]
 [ 7.37133857e-02  9.95795954e-01 -5.43760442e-02 -1.79512896e+01]
 [ 5.62628893e-01  3.49420430e-03  8.26702195e-01  1.27935909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 310.94327356
Centerline is valid?  [True, True]
Translation: X:190.98, Y:-17.94, Z:127.97
[[ 8.23378769e-01 -9.19626360e-02 -5.59991319e-01  1.90983860e+02]
 [ 7.41308829e-02  9.95756709e-01 -5.45269467e-02 -1.79400059e+01]
 [ 5.62629555e-01  3.38367931e-03  8.26702205e-01  1.27968733e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.00327355999997
Centerline is valid?  [True, True]
Translation: X:191.03, Y:-17.93, Z:128.00
[[ 8.23237280e-01 -9.32560158e-02 -5.59985443e-01  1.91031600e+02]
 [ 7.56540779e-02  9.95638838e-01 -5.45872295e-02 -1.79255290e+01]
 [ 5.62633844e-01  2.57305997e-03  8.26702206e-01  1.28002017e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.06327355999997
Centerline is valid?  [True, True]
Translation: X:191.08, Y:-17.92, Z:128.04
[[ 8.22970419e-01 -9.56778966e-02 -5.59969132e-01  1.91080442e+02]
 [ 7.84697435e-02  9.95411716e-01 -5.47541280e-02 -1.79163425e+01]
 [ 5.62638595e-01  1.12039351e-03  8.26702218e-01  1.28035685e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.12327356
Centerline is valid?  [True, True]
Translation: X:191.13, Y:-17.91, Z:128.07
[[ 8.22610982e-01 -9.87337012e-02 -5.59966811e-01  1.91128778e+02]
 [ 8.21499488e-02  9.95113447e-01 -5.47778602e-02 -1.79058890e+01]
 [ 5.62638924e-01 -9.40375503e-04  8.26702218e-01  1.28069116e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.18327356
Centerline is valid?  [True, True]
Translation: X:191.18, Y:-17.90, Z:128.10
[[ 8.22212889e-01 -1.02004655e-01 -5.59965191e-01  1.91175892e+02]
 [ 8.60958467e-02  9.94778909e-01 -5.47944138e-02 -1.78950851e+01]
 [ 5.62630847e-01 -3.15800390e-03  8.26702218e-01  1.28101742e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.24327356
Centerline is valid?  [True, True]
Translation: X:191.22, Y:-17.89, Z:128.13
[[ 8.22127501e-01 -1.02788138e-01 -5.59947294e-01  1.91223719e+02]
 [ 8.69195654e-02  9.94697211e-01 -5.49767969e-02 -1.78865023e+01]
 [ 5.62628974e-01 -3.47243874e-03  8.26702232e-01  1.28134686e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.30327356
Centerline is valid?  [True, True]
Translation: X:191.27, Y:-17.87, Z:128.17
[[ 8.22335507e-01 -1.01201763e-01 -5.59930814e-01  1.91271807e+02]
 [ 8.48862788e-02  9.94863526e-01 -5.51442088e-02 -1.78747980e+01]
 [ 5.62635435e-01 -2.18340226e-03  8.26702244e-01  1.28168017e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.36327356
Centerline is valid?  [True, True]
Translation: X:191.32, Y:-17.87, Z:128.20
[[ 8.22358102e-01 -1.01060634e-01 -5.59923120e-01  1.91320161e+02]
 [ 8.46624135e-02  9.94878274e-01 -5.52222368e-02 -1.78664559e+01]
 [ 5.62636142e-01 -1.99198894e-03  8.26702246e-01  1.28201317e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.42327356
Centerline is valid?  [True, True]
Translation: X:191.37, Y:-17.86, Z:128.23
[[ 8.22964246e-01 -9.60972001e-02 -5.59906402e-01  1.91368748e+02]
 [ 7.85433653e-02  9.95370656e-01 -5.53913147e-02 -1.78552074e+01]
 [ 5.62637352e-01  1.60813847e-03  8.26702258e-01  1.28234960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.48327356
Centerline is valid?  [True, True]
Translation: X:191.42, Y:-17.84, Z:128.27
[[ 8.23312738e-01 -9.30783844e-02 -5.59904054e-01  1.91416588e+02]
 [ 7.48762461e-02  9.95651908e-01 -5.54150368e-02 -1.78426500e+01]
 [ 5.62627482e-01  3.70039191e-03  8.26702258e-01  1.28268200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.54327356
Centerline is valid?  [True, True]
Translation: X:191.46, Y:-17.83, Z:128.30
[[ 8.23756961e-01 -8.91667998e-02 -5.59887266e-01  1.91463962e+02]
 [ 7.00313188e-02  9.95994984e-01 -5.55842235e-02 -1.78314253e+01]
 [ 5.62601176e-01  6.57824742e-03  8.26702270e-01  1.28301025e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.60327356
Centerline is valid?  [True, True]
Translation: X:191.51, Y:-17.82, Z:128.33
[[ 8.24175703e-01 -8.52488725e-02 -5.59881274e-01  1.91512035e+02]
 [ 6.52536714e-02  9.96316037e-01 -5.56445265e-02 -1.78204709e+01]
 [ 5.62562325e-01  9.32655811e-03  8.26702272e-01  1.28334315e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.66327356
Centerline is valid?  [True, True]
Translation: X:191.56, Y:-17.81, Z:128.37
[[ 8.25919969e-01 -6.62809445e-02 -5.59877702e-01  1.91560804e+02]
 [ 4.23097120e-02  9.97551791e-01 -5.56804438e-02 -1.78090211e+01]
 [ 5.62197557e-01  2.22993261e-02  8.26702272e-01  1.28368112e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.72327356
Centerline is valid?  [True, True]
Translation: X:191.61, Y:-17.80, Z:128.40
[[ 8.25449090e-01 -7.19149535e-02 -5.59876807e-01  1.91610067e+02]
 [ 4.91092894e-02  9.97239672e-01 -5.56894410e-02 -1.78049962e+01]
 [ 5.62336267e-01  1.84736463e-02  8.26702272e-01  1.28401746e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.78327356
Centerline is valid?  [True, True]
Translation: X:191.66, Y:-17.80, Z:128.44
[[ 8.26144426e-01 -6.34478138e-02 -5.59874774e-01  1.91659036e+02]
 [ 3.88681513e-02  9.97690171e-01 -5.57098750e-02 -1.77981140e+01]
 [ 5.62116228e-01  2.42631053e-02  8.26702273e-01  1.28435372e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.84327356
Centerline is valid?  [True, True]
Translation: X:191.71, Y:-17.79, Z:128.47
[[ 8.26594856e-01 -5.73043659e-02 -5.59872444e-01  1.91708525e+02]
 [ 3.14342725e-02  9.97950744e-01 -5.57332782e-02 -1.77939029e+01]
 [ 5.61918883e-01  2.84696581e-02  8.26702273e-01  1.28469170e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.90327356
Centerline is valid?  [True, True]
Translation: X:191.76, Y:-17.79, Z:128.50
[[ 8.26600448e-01 -5.72376312e-02 -5.59871014e-01  1.91757366e+02]
 [ 3.13440016e-02  9.97952782e-01 -5.57476395e-02 -1.77930854e+01]
 [ 5.61915699e-01  2.85324258e-02  8.26702273e-01  1.28502301e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 311.96327356
Centerline is valid?  [True, True]
Translation: X:191.81, Y:-17.79, Z:128.54
[[ 8.26244339e-01 -6.23191120e-02 -5.59854106e-01  1.91806202e+02]
 [ 3.73650427e-02  9.97736008e-01 -5.59170088e-02 -1.77938560e+01]
 [ 5.62071300e-01  2.52821394e-02  8.26702285e-01  1.28535311e+02]
 [ 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 312.02327356
Centerline is valid?  [True, True]
Translation: X:191.86, Y:-17.79, Z:128.57
[[ 8.26012286e-01 -6.53483575e-02 -5.59851136e-01  1.91856064e+02]
 [ 4.10031699e-02  9.97591451e-01 -5.59467305e-02 -1.77943109e+01]
 [ 5.62158735e-01  2.32570155e-02  8.26702285e-01  1.28569045e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.08327356
Centerline is valid?  [True, True]
Translation: X:191.91, Y:-17.80, Z:128.60
[[ 8.25772244e-01 -6.83243145e-02 -5.59849970e-01  1.91905762e+02]
 [ 4.45896351e-02  9.97436926e-01 -5.59584047e-02 -1.77957953e+01]
 [ 5.62238352e-01  2.12453916e-02  8.26702285e-01  1.28602599e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.14327356
Centerline is valid?  [True, True]
Translation: X:191.96, Y:-17.80, Z:128.64
[[ 8.25822134e-01 -6.77376711e-02 -5.59847668e-01  1.91955298e+02]
 [ 4.38654660e-02  9.97467744e-01 -5.59814232e-02 -1.77968952e+01]
 [ 5.62222042e-01  2.16727196e-02  8.26702285e-01  1.28636069e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.20327356
Centerline is valid?  [True, True]
Translation: X:192.00, Y:-17.80, Z:128.67
[[ 8.25970211e-01 -6.59281484e-02 -5.59845237e-01  1.92004654e+02]
 [ 4.16634837e-02  9.97560782e-01 -5.60057257e-02 -1.77968343e+01]
 [ 5.62172006e-01  2.29339582e-02  8.26702286e-01  1.28669494e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.26327356
Centerline is valid?  [True, True]
Translation: X:192.05, Y:-17.80, Z:128.70
[[ 8.26233304e-01 -6.25910339e-02 -5.59840058e-01  1.92054219e+02]
 [ 3.75984327e-02  9.97719359e-01 -5.60574553e-02 -1.77990833e+01]
 [ 5.62071958e-01  2.52674278e-02  8.26702287e-01  1.28702902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.32327356
Centerline is valid?  [True, True]
Translation: X:192.10, Y:-17.80, Z:128.74
[[ 8.26394508e-01 -6.04478239e-02 -5.59837635e-01  1.92102716e+02]
 [ 3.49941720e-02  9.97812736e-01 -5.60816477e-02 -1.77989407e+01]
 [ 5.62003136e-01  2.67545112e-02  8.26702287e-01  1.28735751e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.38327356
Centerline is valid?  [True, True]
Translation: X:192.15, Y:-17.80, Z:128.77
[[ 8.26623675e-01 -5.72886052e-02 -5.59831506e-01  1.92151413e+02]
 [ 3.11386319e-02  9.97937060e-01 -5.61427708e-02 -1.78007606e+01]
 [ 5.61892948e-01  2.89765564e-02  8.26702289e-01  1.28768597e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.44327356
Centerline is valid?  [True, True]
Translation: X:192.20, Y:-17.80, Z:128.80
[[ 8.26708233e-01 -5.61131935e-02 -5.59825694e-01  1.92200379e+02]
 [ 2.96805606e-02  9.97978230e-01 -5.62006749e-02 -1.78025162e+01]
 [ 5.61847455e-01  2.98456202e-02  8.26702290e-01  1.28801630e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.50327355999997
Centerline is valid?  [True, True]
Translation: X:192.25, Y:-17.81, Z:128.83
[[ 8.26731492e-01 -5.58049306e-02 -5.59822158e-01  1.92249834e+02]
 [ 2.92846698e-02  9.97987943e-01 -5.62358755e-02 -1.78057368e+01]
 [ 5.61834004e-01  3.00977622e-02  8.26702291e-01  1.28834896e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.56327355999997
Centerline is valid?  [True, True]
Translation: X:192.30, Y:-17.80, Z:128.87
[[ 8.26533231e-01 -5.88317890e-02 -5.59805001e-01  1.92297672e+02]
 [ 3.28236987e-02  9.97868198e-01 -5.64062370e-02 -1.78036892e+01]
 [ 5.61930088e-01  2.82467586e-02  8.26702303e-01  1.28867405e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.62327356
Centerline is valid?  [True, True]
Translation: X:192.35, Y:-17.81, Z:128.90
[[ 8.26254769e-01 -6.26750676e-02 -5.59798975e-01  1.92347916e+02]
 [ 3.74236805e-02  9.97702892e-01 -5.64659872e-02 -1.78060392e+01]
 [ 5.62052066e-01  2.57055532e-02  8.26702304e-01  1.28901258e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.68327356
Centerline is valid?  [True, True]
Translation: X:192.40, Y:-17.81, Z:128.94
[[ 8.25692093e-01 -6.97076076e-02 -5.59797658e-01  1.92398108e+02]
 [ 4.59080193e-02  9.97347768e-01 -5.64790472e-02 -1.78094389e+01]
 [ 5.62249964e-01  2.09351010e-02  8.26702304e-01  1.28935011e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.74327356
Centerline is valid?  [True, True]
Translation: X:192.45, Y:-17.81, Z:128.97
[[ 8.25697792e-01 -6.96597613e-02 -5.59795207e-01  1.92446871e+02]
 [ 4.58337912e-02  9.97349807e-01 -5.65033229e-02 -1.78108431e+01]
 [ 5.62247650e-01  2.09971323e-02  8.26702304e-01  1.28967931e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.80327356
Centerline is valid?  [True, True]
Translation: X:192.50, Y:-17.81, Z:129.00
[[ 8.25944810e-01 -6.67076763e-02 -5.59790369e-01  1.92497033e+02]
 [ 4.22358402e-02  9.97505936e-01 -5.65512231e-02 -1.78110857e+01]
 [ 5.62166617e-01  2.30649726e-02  8.26702305e-01  1.29001872e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.86327356
Centerline is valid?  [True, True]
Translation: X:192.55, Y:-17.81, Z:129.04
[[ 8.26277430e-01 -6.24663745e-02 -5.59788854e-01  1.92546701e+02]
 [ 3.71039259e-02  9.97709157e-01 -5.65662161e-02 -1.78107365e+01]
 [ 5.62039952e-01  2.59690235e-02  8.26702306e-01  1.29035526e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.92327356
Centerline is valid?  [True, True]
Translation: X:192.60, Y:-17.81, Z:129.07
[[ 8.26405867e-01 -6.07574674e-02 -5.59787346e-01  1.92596206e+02]
 [ 3.50304641e-02  9.97783264e-01 -5.65811344e-02 -1.78103924e+01]
 [ 5.61984172e-01  2.71493708e-02  8.26702306e-01  1.29069068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 312.98327356
Centerline is valid?  [True, True]
Translation: X:192.65, Y:-17.81, Z:129.10
[[ 8.26442972e-01 -6.02730712e-02 -5.59784933e-01  1.92645095e+02]
 [ 3.44294966e-02  9.97802828e-01 -5.66049988e-02 -1.78086381e+01]
 [ 5.61966747e-01  2.75076900e-02  8.26702306e-01  1.29102288e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.04327356
Centerline is valid?  [True, True]
Translation: X:192.69, Y:-17.81, Z:129.14
[[ 8.26200409e-01 -6.35541240e-02 -5.59780097e-01  1.92694243e+02]
 [ 3.83588489e-02  9.97656785e-01 -5.66527937e-02 -1.78077324e+01]
 [ 5.62068930e-01  2.53340412e-02  8.26702307e-01  1.29135620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.10327356
Centerline is valid?  [True, True]
Translation: X:192.74, Y:-17.81, Z:129.17
[[ 8.25961118e-01 -6.66161398e-02 -5.59777207e-01  1.92743174e+02]
 [ 4.20372562e-02  9.97506940e-01 -5.66813407e-02 -1.78069615e+01]
 [ 5.62157540e-01  2.32850857e-02  8.26702307e-01  1.29168800e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.16327356
Centerline is valid?  [True, True]
Translation: X:192.79, Y:-17.81, Z:129.20
[[ 8.25794534e-01 -6.87895835e-02 -5.59760110e-01  1.92791773e+02]
 [ 4.45482500e-02  9.97388369e-01 -5.68497622e-02 -1.78054367e+01]
 [ 5.62208894e-01  2.20098896e-02  8.26702319e-01  1.29201776e+02]
 [ 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 313.22327356
Centerline is valid?  [True, True]
Translation: X:192.84, Y:-17.80, Z:129.23
[[ 8.25557453e-01 -7.16171634e-02 -5.59755190e-01  1.92840601e+02]
 [ 4.79308307e-02  9.97228777e-01 -5.68981624e-02 -1.78030187e+01]
 [ 5.62278869e-01  2.01431707e-02  8.26702320e-01  1.29234994e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.28327356
Centerline is valid?  [True, True]
Translation: X:192.89, Y:-17.81, Z:129.27
[[ 8.26724276e-01 -5.66021653e-02 -5.59752773e-01  1.92890617e+02]
 [ 2.97838431e-02  9.97934274e-01 -5.69219416e-02 -1.78075631e+01]
 [ 5.61818382e-01  3.03871622e-02  8.26702320e-01  1.29268542e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.34327356
Centerline is valid?  [True, True]
Translation: X:192.94, Y:-17.80, Z:129.30
[[ 8.26445793e-01 -6.05578508e-02 -5.59750032e-01  1.92940008e+02]
 [ 3.45409714e-02  9.97779408e-01 -5.69488776e-02 -1.78018621e+01]
 [ 5.61955757e-01  2.77308504e-02  8.26702321e-01  1.29302370e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.40327356
Centerline is valid?  [True, True]
Translation: X:192.99, Y:-17.80, Z:129.34
[[ 8.26053641e-01 -6.57022309e-02 -5.59748692e-01  1.92988338e+02]
 [ 4.07436949e-02  9.97544624e-01 -5.69620441e-02 -1.77990484e+01]
 [ 5.62116832e-01  2.42474739e-02  8.26702321e-01  1.29335284e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.46327356
Centerline is valid?  [True, True]
Translation: X:193.04, Y:-17.79, Z:129.37
[[ 8.26153395e-01 -6.44643570e-02 -5.59745402e-01  1.93036849e+02]
 [ 3.92270276e-02  9.97603570e-01 -5.69943595e-02 -1.77914459e+01]
 [ 5.62078116e-01  2.51289352e-02  8.26702321e-01  1.29368648e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.52327356
Centerline is valid?  [True, True]
Translation: X:193.09, Y:-17.79, Z:129.40
[[ 8.25921396e-01 -6.74023718e-02 -5.59741697e-01  1.93086084e+02]
 [ 4.27504015e-02  9.97456715e-01 -5.70307290e-02 -1.77880054e+01]
 [ 5.62162121e-01  2.31737170e-02  8.26702322e-01  1.29402213e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.58327356
Centerline is valid?  [True, True]
Translation: X:193.14, Y:-17.78, Z:129.44
[[ 8.26007949e-01 -6.63458953e-02 -5.59740199e-01  1.93135297e+02]
 [ 4.14645959e-02  9.97510154e-01 -5.70454264e-02 -1.77820322e+01]
 [ 5.62131262e-01  2.39105745e-02  8.26702322e-01  1.29435943e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.64327356
Centerline is valid?  [True, True]
Translation: X:193.18, Y:-17.77, Z:129.47
[[ 8.26376967e-01 -6.15908322e-02 -5.59738937e-01  1.93182884e+02]
 [ 3.57145188e-02  9.97731867e-01 -5.70578142e-02 -1.77739666e+01]
 [ 5.61983613e-01  2.71604567e-02  8.26702322e-01  1.29468716e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.70327356
Centerline is valid?  [True, True]
Translation: X:193.23, Y:-17.77, Z:129.50
[[ 8.26701048e-01 -5.71263435e-02 -5.59733828e-01  1.93232099e+02]
 [ 3.02910435e-02  9.97908383e-01 -5.71078933e-02 -1.77668783e+01]
 [ 5.61825444e-01  3.02562335e-02  8.26702323e-01  1.29502517e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.76327356
Centerline is valid?  [True, True]
Translation: X:193.28, Y:-17.76, Z:129.54
[[ 8.26563330e-01 -5.91111425e-02 -5.59731127e-01  1.93281370e+02]
 [ 3.26691297e-02  9.97831846e-01 -5.71343531e-02 -1.77589853e+01]
 [ 5.61894821e-01  2.89392324e-02  8.26702323e-01  1.29536417e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.82327356
Centerline is valid?  [True, True]
Translation: X:193.33, Y:-17.75, Z:129.57
[[ 8.25935241e-01 -6.73307993e-02 -5.59729883e-01  1.93329828e+02]
 [ 4.25856138e-02  9.97457136e-01 -5.71465417e-02 -1.77541619e+01]
 [ 5.62154288e-01  2.33629021e-02  8.26702323e-01  1.29569557e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.88327356
Centerline is valid?  [True, True]
Translation: X:193.38, Y:-17.75, Z:129.60
[[ 8.25358717e-01 -7.40812096e-02 -5.59727580e-01  1.93379216e+02]
 [ 5.07238996e-02  9.97075113e-01 -5.71690925e-02 -1.77485858e+01]
 [ 5.62325595e-01  1.87934433e-02  8.26702323e-01  1.29603376e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 313.94327356
Centerline is valid?  [True, True]
Translation: X:193.43, Y:-17.74, Z:129.64
[[ 8.24191222e-01 -8.61195847e-02 -5.59725152e-01  1.93427358e+02]
 [ 6.52548663e-02  9.96228277e-01 -5.71928514e-02 -1.77372853e+01]
 [ 5.62539449e-01  1.06130562e-02  8.26702324e-01  1.29636747e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.00327355999997
Centerline is valid?  [True, True]
Translation: X:193.48, Y:-17.73, Z:129.67
[[ 8.23860014e-01 -8.92476432e-02 -5.59722730e-01  1.93476196e+02]
 [ 6.90200453e-02  9.95973142e-01 -5.72165439e-02 -1.77274879e+01]
 [ 5.62575248e-01  8.50633447e-03  8.26702324e-01  1.29670487e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.06327355999997
Centerline is valid?  [True, True]
Translation: X:193.52, Y:-17.72, Z:129.70
[[ 8.23943153e-01 -8.84842873e-02 -5.59721548e-01  1.93523993e+02]
 [ 6.80893755e-02  9.96036535e-01 -5.72281134e-02 -1.77175176e+01]
 [ 5.62566900e-01  9.04162164e-03  8.26702324e-01  1.29703536e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.12327356
Centerline is valid?  [True, True]
Translation: X:193.57, Y:-17.71, Z:129.74
[[ 8.24220562e-01 -8.58926505e-02 -5.59716819e-01  1.93571929e+02]
 [ 6.49252564e-02  9.96245132e-01 -5.72743261e-02 -1.77076200e+01]
 [ 5.62534600e-01  1.08669192e-02  8.26702325e-01  1.29736668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.18327356
Centerline is valid?  [True, True]
Translation: X:193.62, Y:-17.70, Z:129.77
[[ 8.24511572e-01 -8.31687222e-02 -5.59699591e-01  1.93620882e+02]
 [ 6.15190751e-02  9.96451599e-01 -5.74422734e-02 -1.76981190e+01]
 [ 5.62490953e-01  1.29296180e-02  8.26702337e-01  1.29770439e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.24327356
Centerline is valid?  [True, True]
Translation: X:193.67, Y:-17.69, Z:129.80
[[ 8.24951702e-01 -7.86980202e-02 -5.59697518e-01  1.93669216e+02]
 [ 5.61029568e-02  9.96770045e-01 -5.74624658e-02 -1.76870447e+01]
 [ 5.62411903e-01  1.60030733e-02  8.26702337e-01  1.29803929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.30327356
Centerline is valid?  [True, True]
Translation: X:193.72, Y:-17.68, Z:129.84
[[ 8.24053302e-01 -8.76166259e-02 -5.59695884e-01  1.93717121e+02]
 [ 6.68705803e-02  9.96104694e-01 -5.74783749e-02 -1.76755346e+01]
 [ 5.62551759e-01  9.93805599e-03  8.26702337e-01  1.29837159e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.36327356
Centerline is valid?  [True, True]
Translation: X:193.77, Y:-17.67, Z:129.87
[[ 8.23624059e-01 -9.15772207e-02 -5.59693686e-01  1.93766271e+02]
 [ 7.16440084e-02  9.95771516e-01 -5.74997712e-02 -1.76689559e+01]
 [ 5.62592700e-01  7.25949580e-03  8.26702337e-01  1.29870888e+02]
 [ 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 : 0.969738 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.976772 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 314.42327356
Centerline is valid?  [True, True]
Translation: X:193.81, Y:-17.66, Z:129.90
[[ 8.22697432e-01 -9.95722918e-02 -5.59691249e-01  1.93813913e+02]
 [ 8.12958591e-02  9.95028659e-01 -5.75234819e-02 -1.76567358e+01]
 [ 5.62636578e-01  1.82383991e-03  8.26702337e-01  1.29903989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.48327356
Centerline is valid?  [True, True]
Translation: X:193.86, Y:-17.65, Z:129.94
[[ 8.21884738e-01 -1.06084233e-01 -5.59688853e-01  1.93860662e+02]
 [ 8.91572198e-02  9.94353739e-01 -5.75467872e-02 -1.76462415e+01]
 [ 5.62633511e-01 -2.60347594e-03  8.26702337e-01  1.29936366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.54327356
Centerline is valid?  [True, True]
Translation: X:193.91, Y:-17.63, Z:129.97
[[ 8.20776636e-01 -1.14435314e-01 -5.59669789e-01  1.93908919e+02]
 [ 9.91367038e-02  9.93397687e-01 -5.77316951e-02 -1.76321566e+01]
 [ 5.62581219e-01 -8.09899159e-03  8.26702352e-01  1.29969992e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.60327356
Centerline is valid?  [True, True]
Translation: X:193.96, Y:-17.63, Z:130.00
[[ 8.20487501e-01 -1.16499527e-01 -5.59667866e-01  1.93958054e+02]
 [ 1.01622465e-01  9.93145394e-01 -5.77503338e-02 -1.76344709e+01]
 [ 5.62559450e-01 -9.49140086e-03  8.26702352e-01  1.30003091e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.66327356
Centerline is valid?  [True, True]
Translation: X:194.00, Y:-17.62, Z:130.04
[[ 8.20340497e-01 -1.17612967e-01 -5.59650479e-01  1.94004524e+02]
 [ 1.02855611e-01  9.93008651e-01 -5.79184185e-02 -1.76191003e+01]
 [ 5.62549724e-01 -1.00503676e-02  8.26702364e-01  1.30035602e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.72327356
Centerline is valid?  [True, True]
Translation: X:194.05, Y:-17.59, Z:130.07
[[ 8.19248282e-01 -1.25083588e-01 -5.59630546e-01  1.94050766e+02]
 [ 1.11769205e-01  9.92033677e-01 -5.81104859e-02 -1.75859732e+01]
 [ 5.62441016e-01 -1.49425452e-02  8.26702379e-01  1.30069208e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.78327356
Centerline is valid?  [True, True]
Translation: X:194.10, Y:-17.56, Z:130.10
[[ 8.18615346e-01 -1.29172062e-01 -5.59627997e-01  1.94097008e+02]
 [ 1.16703701e-01  9.91463849e-01 -5.81350273e-02 -1.75615341e+01]
 [ 5.62360349e-01 -1.77204329e-02  8.26702379e-01  1.30102228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.84327356
Centerline is valid?  [True, True]
Translation: X:194.15, Y:-17.55, Z:130.14
[[ 8.18994817e-01 -1.26755468e-01 -5.59625358e-01  1.94145807e+02]
 [ 1.13759686e-01  9.91804466e-01 -5.81604203e-02 -1.75489223e+01]
 [ 5.62411081e-01 -1.60297221e-02  8.26702380e-01  1.30136147e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.90327356
Centerline is valid?  [True, True]
Translation: X:194.19, Y:-17.52, Z:130.17
[[ 8.20514101e-01 -1.16522284e-01 -5.59624131e-01  1.94191583e+02]
 [ 1.01362326e-01  9.93147356e-01 -5.81722249e-02 -1.75202855e+01]
 [ 5.62567586e-01 -8.99367268e-03  8.26702380e-01  1.30169148e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 314.96327356
Centerline is valid?  [True, True]
Translation: X:194.24, Y:-17.50, Z:130.20
[[ 8.21304105e-01 -1.10842009e-01 -5.59619171e-01  1.94238659e+02]
 [ 9.44554072e-02  9.93825246e-01 -5.82199021e-02 -1.74995270e+01]
 [ 5.62616871e-01 -5.04281213e-03  8.26702381e-01  1.30202476e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.02327356
Centerline is valid?  [True, True]
Translation: X:194.29, Y:-17.48, Z:130.24
[[ 8.22045029e-01 -1.05221568e-01 -5.59616290e-01  1.94286195e+02]
 [ 8.76364321e-02  9.94448126e-01 -5.82475854e-02 -1.74844225e+01]
 [ 5.62638273e-01 -1.16063698e-03  8.26702381e-01  1.30235718e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.08327356
Centerline is valid?  [True, True]
Translation: X:194.33, Y:-17.46, Z:130.27
[[ 8.23412019e-01 -9.40285254e-02 -5.59599217e-01  1.94333345e+02]
 [ 7.39884074e-02  9.95547008e-01 -5.84112204e-02 -1.74646604e+01]
 [ 5.62599647e-01  6.69264601e-03  8.26702392e-01  1.30269030e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.14327356
Centerline is valid?  [True, True]
Translation: X:194.38, Y:-17.45, Z:130.30
[[ 8.24493727e-01 -8.41317935e-02 -5.59581929e-01  1.94381591e+02]
 [ 6.19135424e-02  9.96361136e-01 -5.85764483e-02 -1.74479017e+01]
 [ 5.62473828e-01  1.36502146e-02  8.26702404e-01  1.30302876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.20327356
Centerline is valid?  [True, True]
Translation: X:194.43, Y:-17.44, Z:130.34
[[ 8.24779926e-01 -8.12868919e-02 -5.59580659e-01  1.94430280e+02]
 [ 5.84676285e-02  9.96568570e-01 -5.85885782e-02 -1.74402154e+01]
 [ 5.62422981e-01  1.56053291e-02  8.26702404e-01  1.30336377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.26327356
Centerline is valid?  [True, True]
Translation: X:194.48, Y:-17.43, Z:130.37
[[ 8.25274925e-01 -7.61063722e-02 -5.59579411e-01  1.94478497e+02]
 [ 5.22008006e-02  9.96915773e-01 -5.86004960e-02 -1.74282401e+01]
 [ 5.62313413e-01  1.91510267e-02  8.26702404e-01  1.30369864e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.32327356
Centerline is valid?  [True, True]
Translation: X:194.53, Y:-17.42, Z:130.40
[[ 8.25438910e-01 -7.43258072e-02 -5.59576876e-01  1.94527611e+02]
 [ 5.00336209e-02  9.97025467e-01 -5.86246976e-02 -1.74188004e+01]
 [ 5.62269724e-01  2.03934492e-02  8.26702404e-01  1.30403779e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.38327356
Centerline is valid?  [True, True]
Translation: X:194.58, Y:-17.41, Z:130.44
[[ 8.25578304e-01 -7.27720905e-02 -5.59575452e-01  1.94576499e+02]
 [ 4.81478025e-02  9.97117516e-01 -5.86382852e-02 -1.74122949e+01]
 [ 5.62229716e-01  2.14681677e-02  8.26702404e-01  1.30437332e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.44327356
Centerline is valid?  [True, True]
Translation: X:194.63, Y:-17.41, Z:130.47
[[ 8.25705311e-01 -7.13360669e-02 -5.59572966e-01  1.94625252e+02]
 [ 4.63974152e-02  9.97199102e-01 -5.86620007e-02 -1.74075409e+01]
 [ 5.62190376e-01  2.24747863e-02  8.26702404e-01  1.30470670e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.50327355999997
Centerline is valid?  [True, True]
Translation: X:194.67, Y:-17.40, Z:130.50
[[ 8.25744776e-01 -7.10063076e-02 -5.59556672e-01  1.94673200e+02]
 [ 4.58942513e-02  9.97213251e-01 -5.88170855e-02 -1.74044010e+01]
 [ 5.62173712e-01  2.28874666e-02  8.26702414e-01  1.30503353e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.56327355999997
Centerline is valid?  [True, True]
Translation: X:194.72, Y:-17.40, Z:130.54
[[ 8.25616980e-01 -7.26340458e-02 -5.59536324e-01  1.94721151e+02]
 [ 4.77294472e-02  9.97115693e-01 -5.90101187e-02 -1.74017268e+01]
 [ 5.62208594e-01  2.20133965e-02  8.26702430e-01  1.30536007e+02]
 [ 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 315.62327356
Centerline is valid?  [True, True]
Translation: X:194.77, Y:-17.40, Z:130.57
[[ 8.25231764e-01 -7.69546780e-02 -5.59527044e-01  1.94771007e+02]
 [ 5.28885976e-02  9.96850150e-01 -5.90980042e-02 -1.74010299e+01]
 [ 5.62312486e-01  1.91769495e-02  8.26702433e-01  1.30569804e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.68327356
Centerline is valid?  [True, True]
Translation: X:194.82, Y:-17.40, Z:130.60
[[ 8.24669686e-01 -8.27696927e-02 -5.59525770e-01  1.94820382e+02]
 [ 5.99057446e-02  9.96452358e-01 -5.91100638e-02 -1.74011838e+01]
 [ 5.62433295e-01  1.52274699e-02  8.26702433e-01  1.30603211e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.74327356
Centerline is valid?  [True, True]
Translation: X:194.87, Y:-17.40, Z:130.64
[[ 8.24375564e-01 -8.57573238e-02 -5.59509260e-01  1.94870072e+02]
 [ 6.34102005e-02  9.96226223e-01 -5.92659986e-02 -1.73992770e+01]
 [ 5.62480290e-01  1.33788467e-02  8.26702443e-01  1.30636982e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.80327356
Centerline is valid?  [True, True]
Translation: X:194.92, Y:-17.40, Z:130.67
[[ 8.24359590e-01 -8.59194803e-02 -5.59507917e-01  1.94919363e+02]
 [ 6.35975629e-02  9.96213526e-01 -5.92786741e-02 -1.73973213e+01]
 [ 5.62482547e-01  1.32836036e-02  8.26702443e-01  1.30670483e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.86327356
Centerline is valid?  [True, True]
Translation: X:194.97, Y:-17.40, Z:130.70
[[ 8.24327974e-01 -8.62392548e-02 -5.59505302e-01  1.94967752e+02]
 [ 6.39672664e-02  9.96188387e-01 -5.93033468e-02 -1.73951993e+01]
 [ 5.62486960e-01  1.30953830e-02  8.26702444e-01  1.30703385e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.92327356
Centerline is valid?  [True, True]
Translation: X:195.02, Y:-17.39, Z:130.74
[[ 8.24206190e-01 -8.74202336e-02 -5.59501438e-01  1.95016433e+02]
 [ 6.53697823e-02  9.96095167e-01 -5.93397813e-02 -1.73913730e+01]
 [ 5.62504176e-01  1.23337278e-02  8.26702444e-01  1.30736606e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 315.98327356
Centerline is valid?  [True, True]
Translation: X:195.07, Y:-17.39, Z:130.77
[[ 8.23917633e-01 -9.02095186e-02 -5.59483670e-01  1.95066146e+02]
 [ 6.86275547e-02  9.95866048e-01 -5.95069101e-02 -1.73885661e+01]
 [ 5.62538881e-01  1.06327964e-02  8.26702456e-01  1.30770455e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.04327356
Centerline is valid?  [True, True]
Translation: X:195.11, Y:-17.39, Z:130.80
[[ 8.23114443e-01 -9.72781314e-02 -5.59481527e-01  1.95113624e+02]
 [ 7.71591597e-02  9.95240169e-01 -5.95270507e-02 -1.73850180e+01]
 [ 5.62609170e-01  5.82845061e-03  8.26702456e-01  1.30802842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.10327356
Centerline is valid?  [True, True]
Translation: X:195.16, Y:-17.38, Z:130.84
[[ 8.22275429e-01 -1.04167056e-01 -5.59475061e-01  1.95161467e+02]
 [ 8.54487656e-02  9.94559101e-01 -5.95877740e-02 -1.73799502e+01]
 [ 5.62638097e-01  1.19110906e-03  8.26702458e-01  1.30835585e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.16327356
Centerline is valid?  [True, True]
Translation: X:195.21, Y:-17.37, Z:130.87
[[ 8.21971263e-01 -1.06573473e-01 -5.59468800e-01  1.95210970e+02]
 [ 8.83195686e-02  9.94304756e-01 -5.96465141e-02 -1.73738329e+01]
 [ 5.62639224e-01 -3.84322481e-04  8.26702459e-01  1.30869528e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.22327356
Centerline is valid?  [True, True]
Translation: X:195.26, Y:-17.36, Z:130.90
[[ 8.21783566e-01 -1.08029937e-01 -5.59465194e-01  1.95258786e+02]
 [ 9.00584474e-02  9.94146738e-01 -5.96803122e-02 -1.73649327e+01]
 [ 5.62637758e-01 -1.34026705e-03  8.26702460e-01  1.30902530e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.28327356
Centerline is valid?  [True, True]
Translation: X:195.31, Y:-17.35, Z:130.94
[[ 8.21965080e-01 -1.06734091e-01 -5.59447264e-01  1.95307723e+02]
 [ 8.83767273e-02  9.94287570e-01 -5.98479944e-02 -1.73539443e+01]
 [ 5.62639282e-01 -2.49156827e-04  8.26702471e-01  1.30936444e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.34327356
Centerline is valid?  [True, True]
Translation: X:195.36, Y:-17.35, Z:130.97
[[ 8.21584238e-01 -1.09633550e-01 -5.59445997e-01  1.95355917e+02]
 [ 9.18762386e-02  9.93969595e-01 -5.98598366e-02 -1.73468262e+01]
 [ 5.62634958e-01 -2.21989569e-03  8.26702471e-01  1.30969574e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.40327356
Centerline is valid?  [True, True]
Translation: X:195.40, Y:-17.33, Z:131.00
[[ 8.23641298e-01 -9.30327787e-02 -5.59428202e-01  1.95403930e+02]
 [ 7.16879155e-02  9.95619280e-01 -6.00257554e-02 -1.73275565e+01]
 [ 5.62561867e-01  9.33544940e-03  8.26702483e-01  1.31003467e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.46327356
Centerline is valid?  [True, True]
Translation: X:195.45, Y:-17.32, Z:131.04
[[ 8.24331328e-01 -8.67160776e-02 -5.59426657e-01  1.95452707e+02]
 [ 6.40437029e-02  9.96139339e-01 -6.00401593e-02 -1.73175383e+01]
 [ 5.62473347e-01  1.36652297e-02  8.26702483e-01  1.31037203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.52327356
Centerline is valid?  [True, True]
Translation: X:195.50, Y:-17.31, Z:131.07
[[ 8.24584158e-01 -8.42934010e-02 -5.59424337e-01  1.95500484e+02]
 [ 6.11016199e-02  9.96322828e-01 -6.00617628e-02 -1.73125616e+01]
 [ 5.62430048e-01  1.53442449e-02  8.26702483e-01  1.31069896e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.58327356
Centerline is valid?  [True, True]
Translation: X:195.55, Y:-17.31, Z:131.10
[[ 8.25090188e-01 -7.92314467e-02 -5.59418054e-01  1.95550132e+02]
 [ 5.49465640e-02  9.96677697e-01 -6.01202353e-02 -1.73060792e+01]
 [ 5.62322911e-01  1.88665163e-02  8.26702485e-01  1.31103966e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.64327356
Centerline is valid?  [True, True]
Translation: X:195.60, Y:-17.29, Z:131.14
[[ 8.26027535e-01 -6.87753568e-02 -5.59417967e-01  1.95598159e+02]
 [ 4.23187216e-02  9.97293630e-01 -6.01210507e-02 -1.72929345e+01]
 [ 5.62038821e-01  2.59877901e-02  8.26702485e-01  1.31137421e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.70327356
Centerline is valid?  [True, True]
Translation: X:195.65, Y:-17.29, Z:131.17
[[ 8.26145062e-01 -6.73711908e-02 -5.59415283e-01  1.95647062e+02]
 [ 4.06066164e-02  9.97363304e-01 -6.01460112e-02 -1.72913145e+01]
 [ 5.61992383e-01  2.69733683e-02  8.26702485e-01  1.31170632e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.76327356
Centerline is valid?  [True, True]
Translation: X:195.70, Y:-17.29, Z:131.20
[[ 8.26155485e-01 -6.72652964e-02 -5.59412633e-01  1.95696568e+02]
 [ 4.04621324e-02  9.97367690e-01 -6.01706480e-02 -1.72896532e+01]
 [ 5.61987482e-01  2.70752829e-02  8.26702485e-01  1.31204254e+02]
 [ 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 316.82327356
Centerline is valid?  [True, True]
Translation: X:195.75, Y:-17.29, Z:131.24
[[ 8.26077438e-01 -6.82382279e-02 -5.59410056e-01  1.95746321e+02]
 [ 4.16205362e-02  9.97318575e-01 -6.01946032e-02 -1.72911975e+01]
 [ 5.62017613e-01  2.64424571e-02  8.26702485e-01  1.31237810e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.88327356
Centerline is valid?  [True, True]
Translation: X:195.80, Y:-17.30, Z:131.27
[[ 8.25348129e-01 -7.65752258e-02 -5.59407455e-01  1.95796735e+02]
 [ 5.16714704e-02  9.96846909e-01 -6.02187644e-02 -1.73005993e+01]
 [ 5.62254858e-01  2.07960388e-02  8.26702486e-01  1.31271240e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 316.94327356
Centerline is valid?  [True, True]
Translation: X:195.85, Y:-17.30, Z:131.30
[[ 8.25386724e-01 -7.61757651e-02 -5.59405048e-01  1.95845112e+02]
 [ 5.11738840e-02  9.96871226e-01 -6.02411151e-02 -1.73030669e+01]
 [ 5.62243710e-01  2.10952876e-02  8.26702486e-01  1.31303795e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.00327355999997
Centerline is valid?  [True, True]
Translation: X:195.89, Y:-17.31, Z:131.34
[[ 8.25310941e-01 -7.71385554e-02 -5.59384924e-01  1.95893957e+02]
 [ 5.22105747e-02  9.96806187e-01 -6.04274968e-02 -1.73055482e+01]
 [ 5.62259643e-01  2.06656658e-02  8.26702500e-01  1.31336667e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.06327355999997
Centerline is valid?  [True, True]
Translation: X:195.94, Y:-17.30, Z:131.37
[[ 8.25952104e-01 -7.00851912e-02 -5.59366774e-01  1.95943034e+02]
 [ 4.35797694e-02  9.97210627e-01 -6.05951173e-02 -1.72987177e+01]
 [ 5.62053313e-01  2.56715896e-02  8.26702512e-01  1.31370374e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.12327356
Centerline is valid?  [True, True]
Translation: X:195.99, Y:-17.31, Z:131.40
[[ 8.24231082e-01 -8.80541551e-02 -5.59365345e-01  1.95994653e+02]
 [ 6.52753238e-02  9.96024982e-01 -6.06083087e-02 -1.73120845e+01]
 [ 5.62478671e-01  1.34424978e-02  8.26702512e-01  1.31404321e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.18327356
Centerline is valid?  [True, True]
Translation: X:196.04, Y:-17.31, Z:131.44
[[ 8.23499872e-01 -9.46635619e-02 -5.59362826e-01  1.96043755e+02]
 [ 7.32478675e-02  9.95469018e-01 -6.06315469e-02 -1.73130385e+01]
 [ 5.62567962e-01  8.95793691e-03  8.26702512e-01  1.31437474e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.24327356
Centerline is valid?  [True, True]
Translation: X:196.09, Y:-17.32, Z:131.47
[[ 8.22574728e-01 -1.02419424e-01 -5.59357738e-01  1.96092978e+02]
 [ 8.25932931e-02  9.94734373e-01 -6.06784593e-02 -1.73182439e+01]
 [ 5.62627022e-01  3.71336954e-03  8.26702513e-01  1.31470396e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.30327356
Centerline is valid?  [True, True]
Translation: X:196.14, Y:-17.31, Z:131.50
[[ 8.23043791e-01 -9.86803121e-02 -5.59339892e-01  1.96141728e+02]
 [ 7.79605007e-02  9.95098155e-01 -6.08425950e-02 -1.73140488e+01]
 [ 5.62602061e-01  6.46970201e-03  8.26702525e-01  1.31503682e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.36327356
Centerline is valid?  [True, True]
Translation: X:196.19, Y:-17.32, Z:131.54
[[ 8.22175483e-01 -1.05758490e-01 -5.59323357e-01  1.96190741e+02]
 [ 8.64166819e-02  9.94390192e-01 -6.09942839e-02 -1.73179694e+01]
 [ 5.62636324e-01  1.81313620e-03  8.26702534e-01  1.31536547e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.42327356
Centerline is valid?  [True, True]
Translation: X:196.24, Y:-17.32, Z:131.57
[[ 8.23009984e-01 -9.91089070e-02 -5.59313857e-01  1.96239458e+02]
 [ 7.83164945e-02  9.95055577e-01 -6.10812934e-02 -1.73154480e+01]
 [ 5.62602073e-01  6.46701374e-03  8.26702537e-01  1.31569689e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.48327356
Centerline is valid?  [True, True]
Translation: X:196.29, Y:-17.33, Z:131.60
[[ 8.24392667e-01 -8.68941415e-02 -5.59308626e-01  1.96290352e+02]
 [ 6.35204147e-02  9.96106612e-01 -6.11291572e-02 -1.73254372e+01]
 [ 5.62442787e-01  1.48669130e-02  8.26702538e-01  1.31603380e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.54327356
Centerline is valid?  [True, True]
Translation: X:196.34, Y:-17.31, Z:131.64
[[ 8.24970395e-01 -8.12377816e-02 -5.59306955e-01  1.96337583e+02]
 [ 5.66765070e-02  9.96518505e-01 -6.11444431e-02 -1.73090232e+01]
 [ 5.62326970e-01  1.87427908e-02  8.26702538e-01  1.31636547e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.60327356
Centerline is valid?  [True, True]
Translation: X:196.39, Y:-17.32, Z:131.67
[[ 8.25906370e-01 -7.11252181e-02 -5.59303023e-01  1.96388572e+02]
 [ 4.44399092e-02  9.97136929e-01 -6.11803906e-02 -1.73172714e+01]
 [ 5.62053168e-01  2.56738987e-02  8.26702539e-01  1.31670432e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.66327356
Centerline is valid?  [True, True]
Translation: X:196.44, Y:-17.32, Z:131.70
[[ 8.26200301e-01 -6.76477463e-02 -5.59300318e-01  1.96437050e+02]
 [ 4.02251445e-02  9.97314329e-01 -6.12051149e-02 -1.73157355e+01]
 [ 5.61938610e-01  2.80697482e-02  8.26702539e-01  1.31703340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.72327356
Centerline is valid?  [True, True]
Translation: X:196.49, Y:-17.32, Z:131.74
[[ 8.26683726e-01 -6.14740660e-02 -5.59298629e-01  1.96487289e+02]
 [ 3.27635892e-02  9.97586383e-01 -6.12205419e-02 -1.73153491e+01]
 [ 5.61712173e-01  3.22853951e-02  8.26702539e-01  1.31737357e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.78327356
Centerline is valid?  [True, True]
Translation: X:196.54, Y:-17.32, Z:131.77
[[ 8.27231469e-01 -5.36184283e-02 -5.59297024e-01  1.96537479e+02]
 [ 2.32759314e-02  9.97851933e-01 -6.12352076e-02 -1.73164930e+01]
 [ 5.61378952e-01  3.76375316e-02  8.26702539e-01  1.31771226e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.84327356
Centerline is valid?  [True, True]
Translation: X:196.59, Y:-17.32, Z:131.80
[[ 8.27781988e-01 -4.43308843e-02 -5.59295765e-01  1.96586998e+02]
 [ 1.20676754e-02  9.98049704e-01 -6.12467031e-02 -1.73216263e+01]
 [ 5.60920093e-01  4.39495179e-02  8.26702539e-01  1.31804346e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.90327356
Centerline is valid?  [True, True]
Translation: X:196.64, Y:-17.33, Z:131.84
[[ 8.27879335e-01 -4.25035169e-02 -5.59293535e-01  1.96637190e+02]
 [ 9.85087108e-03  9.98072797e-01 -6.12670614e-02 -1.73252440e+01]
 [ 5.60819728e-01  4.52122055e-02  8.26702540e-01  1.31838033e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 317.96327356
Centerline is valid?  [True, True]
Translation: X:196.69, Y:-17.33, Z:131.87
[[ 8.27823475e-01 -4.35986725e-02 -5.59291918e-01  1.96687545e+02]
 [ 1.11612941e-02  9.98058097e-01 -6.12818203e-02 -1.73335826e+01]
 [ 5.60877633e-01  4.44881079e-02  8.26702540e-01  1.31871480e+02]
 [ 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 318.02327356
Centerline is valid?  [True, True]
Translation: X:196.74, Y:-17.34, Z:131.91
[[ 8.27759370e-01 -4.48325585e-02 -5.59289252e-01  1.96738700e+02]
 [ 1.26326305e-02  9.98039064e-01 -6.13061423e-02 -1.73429889e+01]
 [ 5.60941033e-01  4.36814392e-02  8.26702540e-01  1.31905387e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.08327356
Centerline is valid?  [True, True]
Translation: X:196.79, Y:-17.35, Z:131.94
[[ 8.27475984e-01 -4.98110125e-02 -5.59287368e-01  1.96789382e+02]
 [ 1.86244035e-02  9.97944177e-01 -6.13233291e-02 -1.73527446e+01]
 [ 5.61192149e-01  4.03271885e-02  8.26702540e-01  1.31938948e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.14327356
Centerline is valid?  [True, True]
Translation: X:196.84, Y:-17.36, Z:131.97
[[ 8.27222379e-01 -5.38821271e-02 -5.59285126e-01  1.96840699e+02]
 [ 2.35209541e-02  9.97839520e-01 -6.13437666e-02 -1.73635442e+01]
 [ 5.61382134e-01  3.75900167e-02  8.26702540e-01  1.31972860e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.20327356
Centerline is valid?  [True, True]
Translation: X:196.89, Y:-17.37, Z:132.01
[[ 8.26987332e-01 -5.74104918e-02 -5.59281671e-01  1.96890557e+02]
 [ 2.77562247e-02  9.97728756e-01 -6.13752499e-02 -1.73685057e+01]
 [ 5.61534990e-01  3.52330064e-02  8.26702541e-01  1.32006216e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.26327356
Centerline is valid?  [True, True]
Translation: X:196.94, Y:-17.38, Z:132.04
[[ 8.26521646e-01 -6.37887063e-02 -5.59278974e-01  1.96941589e+02]
 [ 3.54359546e-02  9.97484012e-01 -6.13998251e-02 -1.73820559e+01]
 [ 5.61788450e-01  3.09297002e-02  8.26702541e-01  1.32039728e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.32327356
Centerline is valid?  [True, True]
Translation: X:196.99, Y:-17.39, Z:132.07
[[ 8.26552260e-01 -6.34116292e-02 -5.59276611e-01  1.96990090e+02]
 [ 3.49663726e-02  9.97499259e-01 -6.14213399e-02 -1.73875947e+01]
 [ 5.61772832e-01  3.12120729e-02  8.26702541e-01  1.32072124e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.38327356
Centerline is valid?  [True, True]
Translation: X:197.04, Y:-17.40, Z:132.11
[[ 8.26465835e-01 -6.46141938e-02 -5.59266689e-01  1.97040129e+02]
 [ 3.63568129e-02  9.97443988e-01 -6.15115759e-02 -1.73954944e+01]
 [ 5.61811717e-01  3.05040616e-02  8.26702544e-01  1.32105366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.44327356
Centerline is valid?  [True, True]
Translation: X:197.09, Y:-17.40, Z:132.14
[[ 8.26431785e-01 -6.52065133e-02 -5.59248260e-01  1.97089835e+02]
 [ 3.69588847e-02  9.97411536e-01 -6.16787464e-02 -1.74010255e+01]
 [ 5.61822522e-01  3.03040845e-02  8.26702556e-01  1.32138535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.50327355999997
Centerline is valid?  [True, True]
Translation: X:197.14, Y:-17.41, Z:132.17
[[ 8.26549408e-01 -6.38639921e-02 -5.59229350e-01  1.97138517e+02]
 [ 3.52232984e-02  9.97463745e-01 -6.18497943e-02 -1.74057797e+01]
 [ 5.61760977e-01  3.14240086e-02  8.26702568e-01  1.32171064e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.56327355999997
Centerline is valid?  [True, True]
Translation: X:197.19, Y:-17.41, Z:132.20
[[ 8.26834351e-01 -6.02610127e-02 -5.59207981e-01  1.97189217e+02]
 [ 3.07458379e-02  9.97599830e-01 -6.20425000e-02 -1.74122819e+01]
 [ 5.61604531e-01  3.41055523e-02  8.26702584e-01  1.32204816e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.62327356
Centerline is valid?  [True, True]
Translation: X:197.24, Y:-17.41, Z:132.24
[[ 8.26767953e-01 -6.11923236e-02 -5.59205017e-01  1.97238547e+02]
 [ 3.18515221e-02  9.97563479e-01 -6.20692026e-02 -1.74131245e+01]
 [ 5.61640661e-01  3.35052966e-02  8.26702584e-01  1.32238113e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.68327356
Centerline is valid?  [True, True]
Translation: X:197.29, Y:-17.41, Z:132.27
[[ 8.26733810e-01 -6.18237737e-02 -5.59186041e-01  1.97288688e+02]
 [ 3.24984690e-02  9.97531985e-01 -6.22397666e-02 -1.74133444e+01]
 [ 5.61653859e-01  3.32830291e-02  8.26702596e-01  1.32271960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.74327356
Centerline is valid?  [True, True]
Translation: X:197.34, Y:-17.42, Z:132.31
[[ 8.27210111e-01 -5.51018004e-02 -5.59184427e-01  1.97338615e+02]
 [ 2.43794098e-02  9.97762522e-01 -6.22542678e-02 -1.74170691e+01]
 [ 5.61363586e-01  3.78647735e-02  8.26702597e-01  1.32305446e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.80327356
Centerline is valid?  [True, True]
Translation: X:197.39, Y:-17.42, Z:132.34
[[ 8.27594449e-01 -4.90118231e-02 -5.59182680e-01  1.97388151e+02]
 [ 1.70244125e-02  9.97914135e-01 -6.22699577e-02 -1.74209758e+01]
 [ 5.61068264e-01  4.20145147e-02  8.26702597e-01  1.32338652e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.86327356
Centerline is valid?  [True, True]
Translation: X:197.44, Y:-17.42, Z:132.37
[[ 8.27587479e-01 -4.91641587e-02 -5.59179622e-01  1.97436884e+02]
 [ 1.71896588e-02  9.97909590e-01 -6.22974044e-02 -1.74233676e+01]
 [ 5.61073507e-01  4.19444450e-02  8.26702597e-01  1.32371426e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.92327356
Centerline is valid?  [True, True]
Translation: X:197.49, Y:-17.43, Z:132.40
[[ 8.27552956e-01 -4.97996152e-02 -5.59174484e-01  1.97486181e+02]
 [ 1.79249376e-02  9.97893775e-01 -6.23434937e-02 -1.74263224e+01]
 [ 5.61101419e-01  4.15693747e-02  8.26702598e-01  1.32404531e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 318.98327356
Centerline is valid?  [True, True]
Translation: X:197.54, Y:-17.42, Z:132.44
[[ 8.27230788e-01 -5.50835875e-02 -5.59155632e-01  1.97535824e+02]
 [ 2.41839031e-02  9.97751154e-01 -6.25121913e-02 -1.74207783e+01]
 [ 5.61341573e-01  3.81894437e-02  8.26702610e-01  1.32438467e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.04327356
Centerline is valid?  [True, True]
Translation: X:197.59, Y:-17.43, Z:132.47
[[ 8.27174115e-01 -5.59636934e-02 -5.59152080e-01  1.97585026e+02]
 [ 2.52240783e-02  9.97723408e-01 -6.25439547e-02 -1.74308101e+01]
 [ 5.61379309e-01  3.76306446e-02  8.26702610e-01  1.32470975e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.10327356
Centerline is valid?  [True, True]
Translation: X:197.63, Y:-17.43, Z:132.50
[[ 8.27328513e-01 -5.37034201e-02 -5.59145307e-01  1.97634709e+02]
 [ 2.24572474e-02  9.97785726e-01 -6.26044507e-02 -1.74322301e+01]
 [ 5.61269279e-01  3.92375826e-02  8.26702612e-01  1.32504449e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.16327356
Centerline is valid?  [True, True]
Translation: X:197.68, Y:-17.44, Z:132.54
[[ 8.27519872e-01 -5.06976190e-02 -5.59142748e-01  1.97683948e+02]
 [ 1.88170759e-02  9.97859579e-01 -6.26272997e-02 -1.74367352e+01]
 [ 5.61121002e-01  4.13039035e-02  8.26702612e-01  1.32537401e+02]
 [ 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 319.22327356
Centerline is valid?  [True, True]
Translation: X:197.73, Y:-17.44, Z:132.57
[[ 8.27821820e-01 -4.55393253e-02 -5.59139701e-01  1.97733477e+02]
 [ 1.25795493e-02  9.97955995e-01 -6.26544982e-02 -1.74371713e+01]
 [ 5.60850060e-01  4.48330352e-02  8.26702612e-01  1.32570856e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.28327356
Centerline is valid?  [True, True]
Translation: X:197.78, Y:-17.44, Z:132.60
[[ 8.28013724e-01 -4.19399975e-02 -5.59137112e-01  1.97784128e+02]
 [ 8.22540218e-03  9.97999931e-01 -6.26775937e-02 -1.74400225e+01]
 [ 5.60647497e-01  4.72987801e-02  8.26702612e-01  1.32604888e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.34327356
Centerline is valid?  [True, True]
Translation: X:197.83, Y:-17.45, Z:132.64
[[ 8.27972280e-01 -4.27559488e-02 -5.59136684e-01  1.97834057e+02]
 [ 9.20632607e-03  9.97991125e-01 -6.26814080e-02 -1.74456987e+01]
 [ 5.60693451e-01  4.67508737e-02  8.26702612e-01  1.32638225e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.40327356
Centerline is valid?  [True, True]
Translation: X:197.88, Y:-17.45, Z:132.67
[[ 8.28054419e-01 -4.13916937e-02 -5.59117705e-01  1.97884462e+02]
 [ 7.44876331e-03  9.97995167e-01 -6.28503240e-02 -1.74462707e+01]
 [ 5.60598248e-01  4.78787531e-02  8.26702624e-01  1.32672200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.46327356
Centerline is valid?  [True, True]
Translation: X:197.93, Y:-17.45, Z:132.71
[[ 8.27908631e-01 -4.42297782e-02 -5.59116290e-01  1.97934263e+02]
 [ 1.08611161e-02  9.97963071e-01 -6.28629036e-02 -1.74524851e+01]
 [ 5.60757823e-01  4.59721135e-02  8.26702624e-01  1.32705403e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.52327356
Centerline is valid?  [True, True]
Translation: X:197.98, Y:-17.45, Z:132.74
[[ 8.27898415e-01 -4.44673529e-02 -5.59112573e-01  1.97983379e+02]
 [ 1.11253224e-02  9.97958079e-01 -6.28959514e-02 -1.74509303e+01]
 [ 5.60767726e-01  4.58511508e-02  8.26702625e-01  1.32738725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.58327356
Centerline is valid?  [True, True]
Translation: X:198.03, Y:-17.45, Z:132.77
[[ 8.27852610e-01 -4.55333405e-02 -5.59094599e-01  1.98032837e+02]
 [ 1.23033410e-02  9.97934189e-01 -6.30553833e-02 -1.74527326e+01]
 [ 5.60810738e-01  4.53218321e-02  8.26702636e-01  1.32771963e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.64327356
Centerline is valid?  [True, True]
Translation: X:198.08, Y:-17.45, Z:132.81
[[ 8.27730524e-01 -4.77501912e-02 -5.59090421e-01  1.98082414e+02]
 [ 1.49509345e-02  9.97895694e-01 -6.30924159e-02 -1.74537273e+01]
 [ 5.60926598e-01  4.38645942e-02  8.26702636e-01  1.32805398e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.70327356
Centerline is valid?  [True, True]
Translation: X:198.13, Y:-17.45, Z:132.84
[[ 8.27623772e-01 -4.95926788e-02 -5.59088060e-01  1.98131802e+02]
 [ 1.71582627e-02  9.97858859e-01 -6.31133275e-02 -1.74543824e+01]
 [ 5.61020933e-01  4.26411104e-02  8.26702636e-01  1.32838739e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.76327356
Centerline is valid?  [True, True]
Translation: X:198.18, Y:-17.45, Z:132.87
[[ 8.27642920e-01 -4.94863586e-02 -5.59069135e-01  1.98181580e+02]
 [ 1.69177459e-02  9.97852372e-01 -6.32805953e-02 -1.74545124e+01]
 [ 5.60999989e-01  4.29155470e-02  8.26702648e-01  1.32872312e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.82327356
Centerline is valid?  [True, True]
Translation: X:198.23, Y:-17.45, Z:132.91
[[ 8.27549500e-01 -5.10530102e-02 -5.59066557e-01  1.98230924e+02]
 [ 1.87913644e-02  9.97817402e-01 -6.33033713e-02 -1.74530280e+01]
 [ 5.61078167e-01  4.18810499e-02  8.26702648e-01  1.32905784e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.88327356
Centerline is valid?  [True, True]
Translation: X:198.28, Y:-17.45, Z:132.94
[[ 8.27474462e-01 -5.24395892e-02 -5.59049286e-01  1.98279939e+02]
 [ 2.03610053e-02  9.97776938e-01 -6.34555875e-02 -1.74529693e+01]
 [ 5.61134069e-01  4.11250727e-02  8.26702658e-01  1.32938860e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 319.94327356
Centerline is valid?  [True, True]
Translation: X:198.33, Y:-17.45, Z:132.97
[[ 8.27283481e-01 -5.53972528e-02 -5.59046677e-01  1.98330089e+02]
 [ 2.39122088e-02  9.97696686e-01 -6.34785639e-02 -1.74518739e+01]
 [ 5.61275555e-01  3.91467264e-02  8.26702658e-01  1.32972846e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.00327355999997
Centerline is valid?  [True, True]
Translation: X:198.38, Y:-17.45, Z:133.01
[[ 8.27106052e-01 -5.79986912e-02 -5.59045374e-01  1.98377743e+02]
 [ 2.70420128e-02  9.97616031e-01 -6.34900374e-02 -1.74502616e+01]
 [ 5.61394966e-01  3.73952820e-02  8.26702658e-01  1.33005189e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.06327355999997
Centerline is valid?  [True, True]
Translation: X:198.43, Y:-17.45, Z:133.04
[[ 8.27051191e-01 -5.88658955e-02 -5.59035897e-01  1.98427482e+02]
 [ 2.80319223e-02  9.97583398e-01 -6.35733868e-02 -1.74493154e+01]
 [ 5.61427234e-01  3.69075944e-02  8.26702661e-01  1.33038854e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.12327356
Centerline is valid?  [True, True]
Translation: X:198.48, Y:-17.45, Z:133.07
[[ 8.27010595e-01 -5.94499441e-02 -5.59034150e-01  1.98476047e+02]
 [ 2.87260667e-02  9.97562672e-01 -6.35887514e-02 -1.74471566e+01]
 [ 5.61451948e-01  3.65297188e-02  8.26702661e-01  1.33071853e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.18327356
Centerline is valid?  [True, True]
Translation: X:198.53, Y:-17.45, Z:133.11
[[ 8.26887351e-01 -6.13143990e-02 -5.59015074e-01  1.98525149e+02]
 [ 3.08624624e-02  9.97488181e-01 -6.37560778e-02 -1.74460337e+01]
 [ 5.61520095e-01  3.54665126e-02  8.26702673e-01  1.33105056e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.24327356
Centerline is valid?  [True, True]
Translation: X:198.58, Y:-17.44, Z:133.14
[[ 8.27194720e-01 -5.72048597e-02 -5.58995974e-01  1.98575020e+02]
 [ 2.57931993e-02  9.97621441e-01 -6.39231729e-02 -1.74439446e+01]
 [ 5.61323085e-01  3.84586165e-02  8.26702685e-01  1.33138851e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.30327356
Centerline is valid?  [True, True]
Translation: X:198.62, Y:-17.44, Z:133.17
[[ 8.27224449e-01 -5.67904277e-02 -5.58994238e-01  1.98623363e+02]
 [ 2.52831806e-02  9.97633524e-01 -6.39383503e-02 -1.74422596e+01]
 [ 5.61302478e-01  3.87582143e-02  8.26702685e-01  1.33171662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.36327356
Centerline is valid?  [True, True]
Translation: X:198.67, Y:-17.44, Z:133.20
[[ 8.27296693e-01 -5.57724933e-02 -5.58989812e-01  1.98672018e+02]
 [ 2.40295802e-02  9.97662027e-01 -6.39770272e-02 -1.74397198e+01]
 [ 5.61251067e-01  3.94956925e-02  8.26702685e-01  1.33204737e+02]
 [ 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 320.42327356
Centerline is valid?  [True, True]
Translation: X:198.72, Y:-17.44, Z:133.24
[[ 8.27285278e-01 -5.61316774e-02 -5.58970753e-01  1.98720415e+02]
 [ 2.43510248e-02  9.97643564e-01 -6.41431813e-02 -1.74362213e+01]
 [ 5.61254039e-01  3.94531989e-02  8.26702697e-01  1.33237643e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.48327356
Centerline is valid?  [True, True]
Translation: X:198.77, Y:-17.44, Z:133.27
[[ 8.26948547e-01 -6.10704322e-02 -5.58951252e-01  1.98770536e+02]
 [ 3.01934331e-02  9.97472921e-01 -6.43127404e-02 -1.74353753e+01]
 [ 5.61466345e-01  3.63066700e-02  8.26702709e-01  1.33271505e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.54327356
Centerline is valid?  [True, True]
Translation: X:198.82, Y:-17.44, Z:133.30
[[ 8.26997843e-01 -6.04303638e-02 -5.58947885e-01  1.98820409e+02]
 [ 2.94017031e-02  9.97494686e-01 -6.43419943e-02 -1.74445640e+01]
 [ 5.61435755e-01  3.67766707e-02  8.26702709e-01  1.33304494e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.60327356
Centerline is valid?  [True, True]
Translation: X:198.87, Y:-17.43, Z:133.34
[[ 8.26743423e-01 -6.38450154e-02 -5.58944654e-01  1.98868985e+02]
 [ 3.35018072e-02  9.97363588e-01 -6.43700491e-02 -1.74298089e+01]
 [ 5.61580752e-01  3.44918587e-02  8.26702710e-01  1.33338470e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.66327356
Centerline is valid?  [True, True]
Translation: X:198.92, Y:-17.43, Z:133.37
[[ 8.27417411e-01 -5.44262372e-02 -5.58943837e-01  1.98917869e+02]
 [ 2.21372689e-02  9.97680071e-01 -6.43771487e-02 -1.74265604e+01]
 [ 5.61150933e-01  4.08932837e-02  8.26702710e-01  1.33371770e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.72327356
Centerline is valid?  [True, True]
Translation: X:198.97, Y:-17.42, Z:133.41
[[ 8.26773913e-01 -6.34864461e-02 -5.58940398e-01  1.98966640e+02]
 [ 3.30443601e-02  9.97376463e-01 -6.44069963e-02 -1.74192012e+01]
 [ 5.61562968e-01  3.47801966e-02  8.26702710e-01  1.33405301e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.78327356
Centerline is valid?  [True, True]
Translation: X:199.01, Y:-17.41, Z:133.44
[[ 8.26796254e-01 -6.32135260e-02 -5.58938284e-01  1.99014282e+02]
 [ 3.27027750e-02  9.97386537e-01 -6.44253382e-02 -1.74128589e+01]
 [ 5.61550072e-01  3.49877953e-02  8.26702710e-01  1.33437996e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.84327356
Centerline is valid?  [True, True]
Translation: X:199.06, Y:-17.41, Z:133.47
[[ 8.26781473e-01 -6.34668400e-02 -5.58931442e-01  1.99063474e+02]
 [ 3.29684146e-02  9.97373959e-01 -6.44846512e-02 -1.74070832e+01]
 [ 5.61556301e-01  3.48876314e-02  8.26702712e-01  1.33471673e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.90327356
Centerline is valid?  [True, True]
Translation: X:199.11, Y:-17.40, Z:133.50
[[ 8.26737076e-01 -6.40667844e-02 -5.58928667e-01  1.99111754e+02]
 [ 3.36759651e-02  9.97348764e-01 -6.45086957e-02 -1.74017723e+01]
 [ 5.61579680e-01  3.45092682e-02  8.26702712e-01  1.33504716e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 320.96327356
Centerline is valid?  [True, True]
Translation: X:199.16, Y:-17.40, Z:133.54
[[ 8.26563547e-01 -6.64329817e-02 -5.58909081e-01  1.99159212e+02]
 [ 3.64165568e-02  9.97241490e-01 -6.46780103e-02 -1.73952877e+01]
 [ 5.61664078e-01  3.31069413e-02  8.26702724e-01  1.33537214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.02327356
Centerline is valid?  [True, True]
Translation: X:199.21, Y:-17.39, Z:133.57
[[ 8.26558334e-01 -6.65788461e-02 -5.58899435e-01  1.99207500e+02]
 [ 3.65364325e-02  9.97231701e-01 -6.47612807e-02 -1.73885381e+01]
 [ 5.61663965e-01  3.31087849e-02  8.26702727e-01  1.33570343e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.08327356
Centerline is valid?  [True, True]
Translation: X:199.26, Y:-17.38, Z:133.60
[[ 8.26677058e-01 -6.52538548e-02 -5.58880108e-01  1.99255227e+02]
 [ 3.48258092e-02  9.97282085e-01 -6.49277050e-02 -1.73812485e+01]
 [ 5.61597902e-01  3.42107922e-02  8.26702738e-01  1.33603089e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.14327356
Centerline is valid?  [True, True]
Translation: X:199.30, Y:-17.38, Z:133.64
[[ 8.26704463e-01 -6.49462186e-02 -5.58875406e-01  1.99304920e+02]
 [ 3.44274425e-02  9.97293282e-01 -6.49681604e-02 -1.73768489e+01]
 [ 5.61582124e-01  3.44688172e-02  8.26702739e-01  1.33637006e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.20327356
Centerline is valid?  [True, True]
Translation: X:199.35, Y:-17.37, Z:133.67
[[ 8.26791081e-01 -6.38630894e-02 -5.58872091e-01  1.99352305e+02]
 [ 3.31016601e-02  9.97336309e-01 -6.49966622e-02 -1.73672075e+01]
 [ 5.61534317e-01  3.52390666e-02  8.26702739e-01  1.33669782e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.26327356
Centerline is valid?  [True, True]
Translation: X:199.40, Y:-17.36, Z:133.70
[[ 8.26757940e-01 -6.43390571e-02 -5.58866526e-01  1.99401589e+02]
 [ 3.36436124e-02  9.97315057e-01 -6.50444873e-02 -1.73616448e+01]
 [ 5.61550902e-01  3.49737576e-02  8.26702740e-01  1.33703511e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.32327356
Centerline is valid?  [True, True]
Translation: X:199.45, Y:-17.36, Z:133.74
[[ 8.26538328e-01 -6.71175397e-02 -5.58864588e-01  1.99450015e+02]
 [ 3.69843190e-02  9.97195672e-01 -6.50611323e-02 -1.73550300e+01]
 [ 5.61664092e-01  3.31062933e-02  8.26702741e-01  1.33736759e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.38327356
Centerline is valid?  [True, True]
Translation: X:199.50, Y:-17.35, Z:133.77
[[ 8.26196101e-01 -7.12281032e-02 -5.58861843e-01  1.99499595e+02]
 [ 4.19282474e-02  9.96998497e-01 -6.50847035e-02 -1.73502039e+01]
 [ 5.61820278e-01  3.03406307e-02  8.26702741e-01  1.33770643e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.44327356
Centerline is valid?  [True, True]
Translation: X:199.55, Y:-17.35, Z:133.80
[[ 8.25771525e-01 -7.60008194e-02 -5.58860684e-01  1.99548204e+02]
 [ 4.76816591e-02  9.96739256e-01 -6.50946557e-02 -1.73456137e+01]
 [ 5.61985630e-01  2.71059085e-02  8.26702741e-01  1.33803860e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.50327355999997
Centerline is valid?  [True, True]
Translation: X:199.60, Y:-17.34, Z:133.84
[[ 8.25406878e-01 -7.98895894e-02 -5.58856993e-01  1.99596634e+02]
 [ 5.23546452e-02  9.96502661e-01 -6.51263286e-02 -1.73399658e+01]
 [ 5.62105396e-01  2.44969600e-02  8.26702741e-01  1.33837026e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.56327355999997
Centerline is valid?  [True, True]
Translation: X:199.65, Y:-17.33, Z:133.87
[[ 8.24959158e-01 -8.45150650e-02 -5.58837714e-01  1.99646029e+02]
 [ 5.78279469e-02  9.96189219e-01 -6.52914097e-02 -1.73338657e+01]
 [ 5.62226214e-01  2.15463087e-02  8.26702753e-01  1.33870808e+02]
 [ 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 321.62327356
Centerline is valid?  [True, True]
Translation: X:199.69, Y:-17.33, Z:133.90
[[ 8.24620164e-01 -8.77838661e-02 -5.58834124e-01  1.99693815e+02]
 [ 6.17547857e-02  9.95951488e-01 -6.53221215e-02 -1.73259712e+01]
 [ 5.62305906e-01  1.93552569e-02  8.26702753e-01  1.33903717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.68327356
Centerline is valid?  [True, True]
Translation: X:199.74, Y:-17.32, Z:133.94
[[ 8.24412855e-01 -8.97538875e-02 -5.58827061e-01  1.99742790e+02]
 [ 6.40933593e-02  9.95799764e-01 -6.53825006e-02 -1.73183118e+01]
 [ 5.62348189e-01  1.80850703e-02  8.26702755e-01  1.33937396e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.74327356
Centerline is valid?  [True, True]
Translation: X:199.79, Y:-17.31, Z:133.97
[[ 8.24186572e-01 -9.18288698e-02 -5.58823723e-01  1.99790689e+02]
 [ 6.65805286e-02  9.95634688e-01 -6.54110214e-02 -1.73090468e+01]
 [ 5.62390903e-01  1.67041066e-02  8.26702755e-01  1.33970492e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.80327356
Centerline is valid?  [True, True]
Translation: X:199.84, Y:-17.30, Z:134.00
[[ 8.23996350e-01 -9.36377073e-02 -5.58804075e-01  1.99838649e+02]
 [ 6.86522495e-02  9.95482962e-01 -6.55785109e-02 -1.72981291e+01]
 [ 5.62420557e-01  1.56732968e-02  8.26702767e-01  1.34003686e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.86327356
Centerline is valid?  [True, True]
Translation: X:199.89, Y:-17.29, Z:134.04
[[ 8.25311881e-01 -8.12682436e-02 -5.58798508e-01  1.99887454e+02]
 [ 5.36814671e-02  9.96399287e-01 -6.56259220e-02 -1.72891091e+01]
 [ 5.62119738e-01  2.41647294e-02  8.26702768e-01  1.34037367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.92327356
Centerline is valid?  [True, True]
Translation: X:199.94, Y:-17.28, Z:134.07
[[ 8.25469677e-01 -7.96737795e-02 -5.58795044e-01  1.99935270e+02]
 [ 5.17366325e-02  9.96500220e-01 -6.56554096e-02 -1.72781694e+01]
 [ 5.62070398e-01  2.52863760e-02  8.26702768e-01  1.34070540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 321.98327356
Centerline is valid?  [True, True]
Translation: X:199.98, Y:-17.27, Z:134.10
[[ 8.25871377e-01 -7.55457383e-02 -5.58774830e-01  1.99983637e+02]
 [ 4.66380017e-02  9.96740535e-01 -6.58270684e-02 -1.72663669e+01]
 [ 5.61926477e-01  2.83045502e-02  8.26702780e-01  1.34104082e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.04327356
Centerline is valid?  [True, True]
Translation: X:200.03, Y:-17.26, Z:134.14
[[ 8.24399197e-01 -9.02154367e-02 -5.58772887e-01  2.00033143e+02]
 [ 6.43386711e-02  9.95753565e-01 -6.58435560e-02 -1.72634088e+01]
 [ 5.62340199e-01  1.83306697e-02  8.26702780e-01  1.34137771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.10327356
Centerline is valid?  [True, True]
Translation: X:200.08, Y:-17.26, Z:134.17
[[ 8.25537038e-01 -7.91505301e-02 -5.58769892e-01  2.00082005e+02]
 [ 5.09607358e-02  9.96526107e-01 -6.58689657e-02 -1.72572964e+01]
 [ 5.62042349e-01  2.59019460e-02  8.26702781e-01  1.34171270e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.16327356
Centerline is valid?  [True, True]
Translation: X:200.13, Y:-17.23, Z:134.21
[[ 8.26920264e-01 -6.30991840e-02 -5.58767724e-01  2.00129378e+02]
 [ 3.15808058e-02  9.97327183e-01 -6.58873473e-02 -1.72336377e+01]
 [ 5.61431678e-01  3.68372476e-02  8.26702781e-01  1.34205166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.22327356
Centerline is valid?  [True, True]
Translation: X:200.18, Y:-17.24, Z:134.24
[[ 8.25785777e-01 -7.65433810e-02 -5.58765569e-01  2.00180021e+02]
 [ 4.77890598e-02  9.96680819e-01 -6.59056246e-02 -1.72371503e+01]
 [ 5.61955564e-01  2.77210463e-02  8.26702781e-01  1.34239106e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.28327356
Centerline is valid?  [True, True]
Translation: X:200.23, Y:-17.23, Z:134.27
[[ 8.25918312e-01 -7.51306625e-02 -5.58761422e-01  2.00228607e+02]
 [ 4.60603339e-02  9.96759881e-01 -6.59407675e-02 -1.72298716e+01]
 [ 5.61905142e-01  2.87249496e-02  8.26702781e-01  1.34272508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.34327356
Centerline is valid?  [True, True]
Translation: X:200.28, Y:-17.22, Z:134.31
[[ 8.26529924e-01 -6.82245168e-02 -5.58742964e-01  2.00277430e+02]
 [ 3.76220682e-02  9.97103699e-01 -6.60968553e-02 -1.72194463e+01]
 [ 5.61634102e-01  3.36099629e-02  8.26702792e-01  1.34306261e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.40327356
Centerline is valid?  [True, True]
Translation: X:200.33, Y:-17.21, Z:134.34
[[ 8.26972817e-01 -6.26565409e-02 -5.58739759e-01  2.00326504e+02]
 [ 3.08878034e-02  9.97333228e-01 -6.61239437e-02 -1.72112504e+01]
 [ 5.61392825e-01  3.74244602e-02  8.26702792e-01  1.34340070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.46327356
Centerline is valid?  [True, True]
Translation: X:200.38, Y:-17.21, Z:134.37
[[ 8.26520010e-01 -6.83866082e-02 -5.58737813e-01  2.00376241e+02]
 [ 3.77882967e-02  9.97094527e-01 -6.61403766e-02 -1.72069470e+01]
 [ 5.61637532e-01  3.35525945e-02  8.26702792e-01  1.34374022e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.52327356
Centerline is valid?  [True, True]
Translation: X:200.42, Y:-17.19, Z:134.41
[[ 8.27259719e-01 -5.87852811e-02 -5.58735759e-01  2.00424804e+02]
 [ 2.61968347e-02  9.97465228e-01 -6.61577269e-02 -1.71940438e+01]
 [ 5.61208592e-01  4.00925142e-02  8.26702792e-01  1.34407868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.58327356
Centerline is valid?  [True, True]
Translation: X:200.47, Y:-17.19, Z:134.44
[[ 8.26940625e-01 -6.31323253e-02 -5.58733848e-01  2.00473689e+02]
 [ 3.14280268e-02  9.97313039e-01 -6.61738666e-02 -1.71909306e+01]
 [ 5.61410262e-01  3.71619563e-02  8.26702792e-01  1.34441149e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.64327356
Centerline is valid?  [True, True]
Translation: X:200.52, Y:-17.19, Z:134.47
[[ 8.26979880e-01 -6.26368933e-02 -5.58731508e-01  2.00522258e+02]
 [ 3.08172477e-02  9.97330789e-01 -6.61936152e-02 -1.71851052e+01]
 [ 5.61386298e-01  3.75222206e-02  8.26702793e-01  1.34474431e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.70327356
Centerline is valid?  [True, True]
Translation: X:200.57, Y:-17.18, Z:134.51
[[ 8.26701480e-01 -6.63707585e-02 -5.58712436e-01  2.00571669e+02]
 [ 3.52125636e-02  9.97174602e-01 -6.63542708e-02 -1.71805713e+01]
 [ 5.61537834e-01  3.51814767e-02  8.26702803e-01  1.34508109e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.76327356
Centerline is valid?  [True, True]
Translation: X:200.62, Y:-17.18, Z:134.54
[[ 8.26293984e-01 -7.12833796e-02 -5.58710061e-01  2.00621799e+02]
 [ 4.11255306e-02  9.96946914e-01 -6.63742599e-02 -1.71789346e+01]
 [ 5.61735652e-01  3.18674039e-02  8.26702804e-01  1.34542110e+02]
 [ 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 322.82327356
Centerline is valid?  [True, True]
Translation: X:200.67, Y:-17.17, Z:134.57
[[ 8.26235489e-01 -7.19682284e-02 -5.58708770e-01  2.00669260e+02]
 [ 4.19445128e-02  9.96912069e-01 -6.63851229e-02 -1.71749201e+01]
 [ 5.61761136e-01  3.14149773e-02  8.26702804e-01  1.34574502e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.88327356
Centerline is valid?  [True, True]
Translation: X:200.72, Y:-17.17, Z:134.61
[[ 8.25750488e-01 -7.73863314e-02 -5.58701609e-01  2.00718252e+02]
 [ 4.84421576e-02  9.96613452e-01 -6.64453494e-02 -1.71688028e+01]
 [ 5.61951501e-01  2.78025683e-02  8.26702805e-01  1.34608074e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 322.94327356
Centerline is valid?  [True, True]
Translation: X:200.77, Y:-17.16, Z:134.64
[[ 8.25613897e-01 -7.88488060e-02 -5.58698988e-01  2.00767889e+02]
 [ 5.01924416e-02  9.96525367e-01 -6.64673802e-02 -1.71649021e+01]
 [ 5.61998587e-01  2.68339265e-02  8.26702805e-01  1.34641922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.00327355999997
Centerline is valid?  [True, True]
Translation: X:200.82, Y:-17.16, Z:134.68
[[ 8.25872932e-01 -7.61184194e-02 -5.58694806e-01  2.00816602e+02]
 [ 4.68733717e-02  9.96684655e-01 -6.65025184e-02 -1.71580004e+01]
 [ 5.61904606e-01  2.87347206e-02  8.26702806e-01  1.34675381e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.06327355999997
Centerline is valid?  [True, True]
Translation: X:200.87, Y:-17.15, Z:134.71
[[ 8.25491600e-01 -8.01615368e-02 -5.58692891e-01  2.00866023e+02]
 [ 5.17423887e-02  9.96442673e-01 -6.65185997e-02 -1.71528154e+01]
 [ 5.62037671e-01  2.60024406e-02  8.26702806e-01  1.34709189e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.12327356
Centerline is valid?  [True, True]
Translation: X:200.91, Y:-17.15, Z:134.74
[[ 8.25701106e-01 -7.79844180e-02 -5.58691430e-01  2.00913481e+02]
 [ 4.91062854e-02  9.96575244e-01 -6.65308688e-02 -1.71471702e+01]
 [ 5.61966419e-01  2.74993511e-02  8.26702806e-01  1.34741709e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.18327356
Centerline is valid?  [True, True]
Translation: X:200.96, Y:-17.14, Z:134.78
[[ 8.25622506e-01 -7.88631836e-02 -5.58684236e-01  2.00962100e+02]
 [ 5.01261796e-02  9.96520433e-01 -6.65912325e-02 -1.71407989e+01]
 [ 5.61991854e-01  2.69745139e-02  8.26702808e-01  1.34775049e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.24327356
Centerline is valid?  [True, True]
Translation: X:201.01, Y:-17.13, Z:134.81
[[ 8.25473435e-01 -8.05388148e-02 -5.58665469e-01  2.01009461e+02]
 [ 5.20426299e-02  9.96411672e-01 -6.67483650e-02 -1.71346080e+01]
 [ 5.62036629e-01  2.60245819e-02  8.26702818e-01  1.34807476e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.30327356
Centerline is valid?  [True, True]
Translation: X:201.06, Y:-17.13, Z:134.84
[[ 8.25342589e-01 -8.19172615e-02 -5.58658368e-01  2.01057782e+02]
 [ 5.36664693e-02  9.96321552e-01 -6.68077532e-02 -1.71301699e+01]
 [ 5.62076081e-01  2.51580618e-02  8.26702819e-01  1.34840458e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.36327356
Centerline is valid?  [True, True]
Translation: X:201.11, Y:-17.12, Z:134.87
[[ 8.25763055e-01 -7.77101004e-02 -5.58638091e-01  2.01107026e+02]
 [ 4.84741609e-02  9.96576311e-01 -6.69769474e-02 -1.71245810e+01]
 [ 5.61930274e-01  2.82275760e-02  8.26702831e-01  1.34874102e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.42327356
Centerline is valid?  [True, True]
Translation: X:201.16, Y:-17.12, Z:134.91
[[ 8.26256089e-01 -7.22938136e-02 -5.58636268e-01  2.01156591e+02]
 [ 4.19282159e-02  9.96872146e-01 -6.69921514e-02 -1.71218367e+01]
 [ 5.61732054e-01  3.19300510e-02  8.26702831e-01  1.34907810e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.48327356
Centerline is valid?  [True, True]
Translation: X:201.21, Y:-17.12, Z:134.94
[[ 8.26254386e-01 -7.23316176e-02 -5.58633893e-01  2.01205976e+02]
 [ 4.19604795e-02  9.96869458e-01 -6.70119567e-02 -1.71155279e+01]
 [ 5.61732149e-01  3.19283772e-02  8.26702832e-01  1.34941682e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.54327356
Centerline is valid?  [True, True]
Translation: X:201.26, Y:-17.11, Z:134.98
[[ 8.26782549e-01 -6.60568449e-02 -5.58629672e-01  2.01255298e+02]
 [ 3.43676564e-02  9.97157734e-01 -6.70471282e-02 -1.71122779e+01]
 [ 5.61470819e-01  3.62346029e-02  8.26702832e-01  1.34975257e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.60327356
Centerline is valid?  [True, True]
Translation: X:201.30, Y:-17.11, Z:135.01
[[ 8.26302057e-01 -7.18338873e-02 -5.58627607e-01  2.01304101e+02]
 [ 4.13246909e-02  9.96892495e-01 -6.70643297e-02 -1.71070149e+01]
 [ 5.61709160e-01  3.23302804e-02  8.26702832e-01  1.35008652e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.66327356
Centerline is valid?  [True, True]
Translation: X:201.35, Y:-17.11, Z:135.04
[[ 8.26509132e-01 -6.94336325e-02 -5.58624762e-01  2.01353150e+02]
 [ 3.84131444e-02  9.97007336e-01 -6.70880148e-02 -1.71050410e+01]
 [ 5.61611151e-01  3.39903233e-02  8.26702832e-01  1.35041944e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.72327356
Centerline is valid?  [True, True]
Translation: X:201.40, Y:-17.10, Z:135.08
[[ 8.26186247e-01 -7.32033989e-02 -5.58621113e-01  2.01402374e+02]
 [ 4.29405619e-02  9.96820560e-01 -6.71183930e-02 -1.70989759e+01]
 [ 5.61758305e-01  3.14647888e-02  8.26702833e-01  1.35075683e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.78327356
Centerline is valid?  [True, True]
Translation: X:201.45, Y:-17.10, Z:135.11
[[ 8.26371748e-01 -7.10943000e-02 -5.58619132e-01  2.01451793e+02]
 [ 4.03849129e-02  9.96926260e-01 -6.71348712e-02 -1.70970298e+01]
 [ 5.61674989e-01  3.29185758e-02  8.26702833e-01  1.35109225e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.84327356
Centerline is valid?  [True, True]
Translation: X:201.50, Y:-17.09, Z:135.14
[[ 8.26332851e-01 -7.15673752e-02 -5.58616264e-01  2.01499960e+02]
 [ 4.09395608e-02  9.96902030e-01 -6.71587278e-02 -1.70940821e+01]
 [ 5.61692062e-01  3.26259585e-02  8.26702833e-01  1.35142000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.90327356
Centerline is valid?  [True, True]
Translation: X:201.55, Y:-17.09, Z:135.18
[[ 8.26681261e-01 -6.74838554e-02 -5.58609007e-01  2.01549633e+02]
 [ 3.59730884e-02  9.97089533e-01 -6.72190519e-02 -1.70949933e+01]
 [ 5.61519394e-01  3.54738394e-02  8.26702835e-01  1.35175459e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 323.96327356
Centerline is valid?  [True, True]
Translation: X:201.60, Y:-17.09, Z:135.21
[[ 8.26515383e-01 -6.95021561e-02 -5.58606992e-01  2.01598422e+02]
 [ 3.83962990e-02  9.96998031e-01 -6.72357874e-02 -1.70909475e+01]
 [ 5.61603103e-01  3.41229715e-02  8.26702835e-01  1.35208746e+02]
 [ 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 324.02327356
Centerline is valid?  [True, True]
Translation: X:201.65, Y:-17.09, Z:135.24
[[ 8.27013000e-01 -6.34832297e-02 -5.58586947e-01  2.01647966e+02]
 [ 3.10253499e-02  9.97243401e-01 -6.74019765e-02 -1.70868306e+01]
 [ 5.61326042e-01  3.84119553e-02  8.26702846e-01  1.35242468e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.08327356
Centerline is valid?  [True, True]
Translation: X:201.70, Y:-17.08, Z:135.28
[[ 8.27112122e-01 -6.21966934e-02 -5.58584917e-01  2.01697732e+02]
 [ 2.94627461e-02  9.97289653e-01 -6.74187991e-02 -1.70834845e+01]
 [ 5.61264184e-01  3.93054604e-02  8.26702847e-01  1.35276358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.14327356
Centerline is valid?  [True, True]
Translation: X:201.75, Y:-17.08, Z:135.31
[[ 8.26721770e-01 -6.72101989e-02 -5.58582048e-01  2.01746965e+02]
 [ 3.54926238e-02  9.97091658e-01 -6.74425611e-02 -1.70775429e+01]
 [ 5.61490328e-01  3.59306910e-02  8.26702847e-01  1.35310095e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.20327356
Centerline is valid?  [True, True]
Translation: X:201.80, Y:-17.08, Z:135.34
[[ 8.27164712e-01 -6.15351974e-02 -5.58580307e-01  2.01796828e+02]
 [ 2.86395104e-02  9.97311052e-01 -6.74569791e-02 -1.70751412e+01]
 [ 5.61229292e-01  3.98005661e-02  8.26702847e-01  1.35343975e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.26327356
Centerline is valid?  [True, True]
Translation: X:201.85, Y:-17.07, Z:135.38
[[ 8.26797793e-01 -6.63106476e-02 -5.58577038e-01  2.01845265e+02]
 [ 3.43798187e-02  9.97127842e-01 -6.74840391e-02 -1.70704381e+01]
 [ 5.61447626e-01  3.65918774e-02  8.26702847e-01  1.35377072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.32327356
Centerline is valid?  [True, True]
Translation: X:201.89, Y:-17.07, Z:135.41
[[ 8.26581420e-01 -6.89854857e-02 -5.58573324e-01  2.01893974e+02]
 [ 3.75852619e-02  9.97010083e-01 -6.75147631e-02 -1.70664306e+01]
 [ 5.61560775e-01  3.48123241e-02  8.26702848e-01  1.35410293e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.38327356
Centerline is valid?  [True, True]
Translation: X:201.94, Y:-17.06, Z:135.44
[[ 8.26623566e-01 -6.86371072e-02 -5.58553872e-01  2.01941385e+02]
 [ 3.70569597e-02  9.97018970e-01 -6.76753732e-02 -1.70604045e+01]
 [ 5.61533848e-01  3.52437500e-02  8.26702858e-01  1.35442731e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.44327356
Centerline is valid?  [True, True]
Translation: X:201.99, Y:-17.05, Z:135.48
[[ 8.26500740e-01 -7.01551040e-02 -5.58547034e-01  2.01990087e+02]
 [ 3.88499733e-02  9.96946883e-01 -6.77317725e-02 -1.70539489e+01]
 [ 5.61593453e-01  3.42808227e-02  8.26702860e-01  1.35476134e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.50327355999997
Centerline is valid?  [True, True]
Translation: X:202.04, Y:-17.05, Z:135.51
[[ 8.26633003e-01 -6.86010144e-02 -5.58544340e-01  2.02038293e+02]
 [ 3.69605246e-02  9.97017210e-01 -6.77539809e-02 -1.70481915e+01]
 [ 5.61526311e-01  3.53635849e-02  8.26702860e-01  1.35509163e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.56327355999997
Centerline is valid?  [True, True]
Translation: X:202.09, Y:-17.04, Z:135.54
[[ 8.26543671e-01 -6.97036124e-02 -5.58540031e-01  2.02085992e+02]
 [ 3.82665313e-02  9.96965525e-01 -6.77894819e-02 -1.70394228e+01]
 [ 5.61570328e-01  3.46575776e-02  8.26702860e-01  1.35542089e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.62327356
Centerline is valid?  [True, True]
Translation: X:202.13, Y:-17.03, Z:135.57
[[ 8.26765451e-01 -6.71849003e-02 -5.58520436e-01  2.02134178e+02]
 [ 3.51203243e-02  9.97070348e-01 -6.79506042e-02 -1.70342336e+01]
 [ 5.61449420e-01  3.65637931e-02  8.26702871e-01  1.35574982e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.68327356
Centerline is valid?  [True, True]
Translation: X:202.18, Y:-17.03, Z:135.61
[[ 8.26786275e-01 -6.69584298e-02 -5.58516808e-01  2.02182761e+02]
 [ 3.48271531e-02  9.97078599e-01 -6.79804164e-02 -1.70274089e+01]
 [ 5.61437018e-01  3.67537249e-02  8.26702872e-01  1.35608349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.74327356
Centerline is valid?  [True, True]
Translation: X:202.23, Y:-17.02, Z:135.64
[[ 8.26491267e-01 -7.05412322e-02 -5.58512417e-01  2.02231473e+02]
 [ 3.91240582e-02  9.96916781e-01 -6.80164746e-02 -1.70211283e+01]
 [ 5.61588367e-01  3.43637499e-02  8.26702872e-01  1.35641756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.80327356
Centerline is valid?  [True, True]
Translation: X:202.28, Y:-17.02, Z:135.68
[[ 8.26136350e-01 -7.46051716e-02 -5.58509445e-01  2.02281089e+02]
 [ 4.40101092e-02  9.96711367e-01 -6.80408756e-02 -1.70170626e+01]
 [ 5.61748913e-01  3.16309789e-02  8.26702873e-01  1.35675597e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.86327356
Centerline is valid?  [True, True]
Translation: X:202.33, Y:-17.01, Z:135.71
[[ 8.25826174e-01 -7.79762440e-02 -5.58507686e-01  2.02330240e+02]
 [ 4.80678667e-02  9.96522933e-01 -6.80553085e-02 -1.70115716e+01]
 [ 5.61872415e-01  2.93555821e-02  8.26702873e-01  1.35709247e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.92327356
Centerline is valid?  [True, True]
Translation: X:202.38, Y:-17.00, Z:135.74
[[ 8.25552053e-01 -8.08472213e-02 -5.58504731e-01  2.02379114e+02]
 [ 5.15161840e-02  9.96348963e-01 -6.80795552e-02 -1.70046332e+01]
 [ 5.61969652e-01  2.74311841e-02  8.26702873e-01  1.35742823e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 324.98327356
Centerline is valid?  [True, True]
Translation: X:202.43, Y:-17.00, Z:135.78
[[ 8.25607778e-01 -8.02967396e-02 -5.58501773e-01  2.02426474e+02]
 [ 5.08354577e-02  9.96382270e-01 -6.81038096e-02 -1.69976841e+01]
 [ 5.61949778e-01  2.78353417e-02  8.26702873e-01  1.35775378e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.04327356
Centerline is valid?  [True, True]
Translation: X:202.47, Y:-16.99, Z:135.81
[[ 8.25669370e-01 -7.97118643e-02 -5.58494503e-01  2.02474616e+02]
 [ 5.00894162e-02  9.96415979e-01 -6.81633898e-02 -1.69912600e+01]
 [ 5.61926277e-01  2.83057595e-02  8.26702875e-01  1.35808399e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.10327356
Centerline is valid?  [True, True]
Translation: X:202.52, Y:-16.99, Z:135.84
[[ 8.25657575e-01 -7.98630705e-02 -5.58490338e-01  2.02523696e+02]
 [ 5.02488822e-02  9.96405616e-01 -6.81974944e-02 -1.69851705e+01]
 [ 5.61929371e-01  2.82442627e-02  8.26702875e-01  1.35842039e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.16327356
Centerline is valid?  [True, True]
Translation: X:202.57, Y:-16.98, Z:135.88
[[ 8.25669903e-01 -7.97777613e-02 -5.58484306e-01  2.02572864e+02]
 [ 5.01126223e-02  9.96409098e-01 -6.82468652e-02 -1.69792399e+01]
 [ 5.61923426e-01  2.83622695e-02  8.26702876e-01  1.35875718e+02]
 [ 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 325.22327356
Centerline is valid?  [True, True]
Translation: X:202.62, Y:-16.97, Z:135.91
[[ 8.25780333e-01 -7.86470118e-02 -5.58481413e-01  2.02622407e+02]
 [ 4.87321262e-02  9.96475948e-01 -6.82705338e-02 -1.69743943e+01]
 [ 5.61882569e-01  2.91604774e-02  8.26702876e-01  1.35909574e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.28327356
Centerline is valid?  [True, True]
Translation: X:202.67, Y:-16.97, Z:135.94
[[ 8.25674407e-01 -7.97616751e-02 -5.58479945e-01  2.02669735e+02]
 [ 5.00691397e-02  9.96408840e-01 -6.82825432e-02 -1.69666527e+01]
 [ 5.61920683e-01  2.84165380e-02  8.26702876e-01  1.35942180e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.34327356
Centerline is valid?  [True, True]
Translation: X:202.72, Y:-16.96, Z:135.98
[[ 8.25804672e-01 -7.85677864e-02 -5.58456576e-01  2.02718091e+02]
 [ 4.84998301e-02  9.96473374e-01 -6.84732218e-02 -1.69624739e+01]
 [ 5.61866897e-01  2.94604574e-02  8.26702892e-01  1.35975087e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.40327356
Centerline is valid?  [True, True]
Translation: X:202.77, Y:-16.95, Z:136.01
[[ 8.25802211e-01 -7.86189677e-02 -5.58453012e-01  2.02765283e+02]
 [ 4.85419972e-02  9.96469324e-01 -6.85022734e-02 -1.69459535e+01]
 [ 5.61866873e-01  2.94609042e-02  8.26702892e-01  1.36008320e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.46327356
Centerline is valid?  [True, True]
Translation: X:202.81, Y:-16.95, Z:136.04
[[ 8.25905592e-01 -7.76748402e-02 -5.58432246e-01  2.02813882e+02]
 [ 4.72888833e-02  9.96517951e-01 -6.86712126e-02 -1.69506361e+01]
 [ 5.61821783e-01  3.03083012e-02  8.26702904e-01  1.36040669e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.52327356
Centerline is valid?  [True, True]
Translation: X:202.86, Y:-16.94, Z:136.07
[[ 8.25906857e-01 -7.77398914e-02 -5.58421322e-01  2.02862290e+02]
 [ 4.73075537e-02  9.96510946e-01 -6.87599457e-02 -1.69418974e+01]
 [ 5.61818351e-01  3.03717639e-02  8.26702907e-01  1.36074046e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.58327356
Centerline is valid?  [True, True]
Translation: X:202.91, Y:-16.93, Z:136.11
[[ 8.25778726e-01 -7.91202782e-02 -5.58416939e-01  2.02909866e+02]
 [ 4.89491504e-02  9.96429203e-01 -6.87955289e-02 -1.69301888e+01]
 [ 5.61866066e-01  2.94758495e-02  8.26702908e-01  1.36107138e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.64327356
Centerline is valid?  [True, True]
Translation: X:202.96, Y:-16.93, Z:136.14
[[ 8.26040738e-01 -7.63611891e-02 -5.58413527e-01  2.02960504e+02]
 [ 4.56014913e-02  9.96586108e-01 -6.88232086e-02 -1.69347629e+01]
 [ 5.61762586e-01  3.13862844e-02  8.26702908e-01  1.36140947e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.70327356
Centerline is valid?  [True, True]
Translation: X:203.01, Y:-16.92, Z:136.17
[[ 8.25815212e-01 -7.87773801e-02 -5.58411462e-01  2.03008434e+02]
 [ 4.85054322e-02  9.96447832e-01 -6.88399657e-02 -1.69171119e+01]
 [ 5.61850923e-01  2.97631015e-02  8.26702908e-01  1.36174783e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.76327356
Centerline is valid?  [True, True]
Translation: X:203.06, Y:-16.92, Z:136.21
[[ 8.25825214e-01 -7.86849569e-02 -5.58409700e-01  2.03058522e+02]
 [ 4.83842785e-02  9.96452735e-01 -6.88542542e-02 -1.69236800e+01]
 [ 5.61846667e-01  2.98433288e-02  8.26702908e-01  1.36208061e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.82327356
Centerline is valid?  [True, True]
Translation: X:203.11, Y:-16.92, Z:136.24
[[ 8.25575636e-01 -8.14076043e-02 -5.58388459e-01  2.03107189e+02]
 [ 5.15537439e-02  9.96281889e-01 -6.90261524e-02 -1.69195863e+01]
 [ 5.61931562e-01  2.81992940e-02  8.26702921e-01  1.36241180e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.88327356
Centerline is valid?  [True, True]
Translation: X:203.16, Y:-16.91, Z:136.27
[[ 8.25282236e-01 -8.44715981e-02 -5.58367066e-01  2.03155359e+02]
 [ 5.51350252e-02  9.96078134e-01 -6.91988429e-02 -1.69133794e+01]
 [ 5.62022562e-01  2.63229936e-02  8.26702933e-01  1.36274139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 325.94327356
Centerline is valid?  [True, True]
Translation: X:203.20, Y:-16.91, Z:136.31
[[ 8.25038007e-01 -8.68534604e-02 -5.58362574e-01  2.03204931e+02]
 [ 5.79855482e-02  9.95913742e-01 -6.92350732e-02 -1.69094520e+01]
 [ 5.62094266e-01  2.47446069e-02  8.26702934e-01  1.36307930e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.00327355999997
Centerline is valid?  [True, True]
Translation: X:203.25, Y:-16.90, Z:136.34
[[ 8.24477501e-01 -9.20835928e-02 -5.58352454e-01  2.03254036e+02]
 [ 6.42447124e-02  9.95523895e-01 -6.93166059e-02 -1.69023337e+01]
 [ 5.62236132e-01  2.12787892e-02  8.26702937e-01  1.36341646e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.06327355999997
Centerline is valid?  [True, True]
Translation: X:203.30, Y:-16.90, Z:136.37
[[ 8.24351748e-01 -9.32185269e-02 -5.58349803e-01  2.03301505e+02]
 [ 6.56007040e-02  9.95433974e-01 -6.93379553e-02 -1.68954251e+01]
 [ 5.62263945e-01  2.05307245e-02  8.26702937e-01  1.36374274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.12327356
Centerline is valid?  [True, True]
Translation: X:203.35, Y:-16.89, Z:136.41
[[ 8.24668181e-01 -9.04438086e-02 -5.58338883e-01  2.03350758e+02]
 [ 6.21910262e-02  9.95646692e-01 -6.94257906e-02 -1.68905468e+01]
 [ 5.62187395e-01  2.25295724e-02  8.26702940e-01  1.36407900e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.18327356
Centerline is valid?  [True, True]
Translation: X:203.40, Y:-16.88, Z:136.44
[[ 8.24770172e-01 -8.95222050e-02 -5.58336761e-01  2.03398694e+02]
 [ 6.10668430e-02  9.95715085e-01 -6.94428561e-02 -1.68842927e+01]
 [ 5.62161013e-01  2.31785330e-02  8.26702940e-01  1.36440791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.24327356
Centerline is valid?  [True, True]
Translation: X:203.45, Y:-16.88, Z:136.47
[[ 8.24801081e-01 -8.93873687e-02 -5.58312703e-01  2.03447283e+02]
 [ 6.07736639e-02  9.95719546e-01 -6.96358264e-02 -1.68777188e+01]
 [ 5.62147434e-01  2.35049963e-02  8.26702956e-01  1.36474053e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.30327356
Centerline is valid?  [True, True]
Translation: X:203.50, Y:-16.87, Z:136.51
[[ 8.24437426e-01 -9.28078577e-02 -5.58291709e-01  2.03495762e+02]
 [ 6.47897756e-02  9.95454526e-01 -6.98038061e-02 -1.68715474e+01]
 [ 5.62232350e-01  2.13772757e-02  8.26702968e-01  1.36507220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.36327356
Centerline is valid?  [True, True]
Translation: X:203.55, Y:-16.87, Z:136.54
[[ 8.23958330e-01 -9.69862944e-02 -5.58288751e-01  2.03545237e+02]
 [ 6.98195657e-02  9.95112735e-01 -6.98274573e-02 -1.68664862e+01]
 [ 5.62332552e-01  1.85554370e-02  8.26702968e-01  1.36541046e+02]
 [ 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 326.42327356
Centerline is valid?  [True, True]
Translation: X:203.59, Y:-16.86, Z:136.57
[[ 8.23054135e-01 -1.04425493e-01 -5.58280580e-01  2.03594968e+02]
 [ 7.87617330e-02  9.94440343e-01 -6.98927287e-02 -1.68646877e+01]
 [ 5.62475315e-01  1.35543534e-02  8.26702970e-01  1.36574746e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.48327356
Centerline is valid?  [True, True]
Translation: X:203.64, Y:-16.86, Z:136.61
[[ 8.22217777e-01 -1.10830841e-01 -5.58278114e-01  2.03643863e+02]
 [ 8.64889459e-02  9.93796717e-01 -6.99124254e-02 -1.68596955e+01]
 [ 5.62563410e-01  9.19835335e-03  8.26702970e-01  1.36608176e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.54327356
Centerline is valid?  [True, True]
Translation: X:203.69, Y:-16.85, Z:136.64
[[ 8.21882822e-01 -1.13304142e-01 -5.58274841e-01  2.03692177e+02]
 [ 8.94608413e-02  9.93531759e-01 -6.99385527e-02 -1.68530642e+01]
 [ 5.62588113e-01  7.53755812e-03  8.26702970e-01  1.36641349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.60327356
Centerline is valid?  [True, True]
Translation: X:203.74, Y:-16.85, Z:136.67
[[ 8.22199151e-01 -1.11091863e-01 -5.58253664e-01  2.03740546e+02]
 [ 8.66721927e-02  9.93767028e-01 -7.01072458e-02 -1.68457200e+01]
 [ 5.62562429e-01  9.25704886e-03  8.26702982e-01  1.36674540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.66327356
Centerline is valid?  [True, True]
Translation: X:203.79, Y:-16.83, Z:136.71
[[ 8.22062337e-01 -1.12204398e-01 -5.58232647e-01  2.03789113e+02]
 [ 8.79035319e-02  9.93647069e-01 -7.02742634e-02 -1.68346897e+01]
 [ 5.62571315e-01  8.69920384e-03  8.26702994e-01  1.36708179e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.72327356
Centerline is valid?  [True, True]
Translation: X:203.84, Y:-16.82, Z:136.74
[[ 8.22307331e-01 -1.10409691e-01 -5.58229661e-01  2.03837549e+02]
 [ 8.57182459e-02  9.93836293e-01 -7.02979779e-02 -1.68235224e+01]
 [ 5.62550474e-01  9.95607525e-03  8.26702994e-01  1.36741822e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.78327356
Centerline is valid?  [True, True]
Translation: X:203.89, Y:-16.81, Z:136.78
[[ 8.23967172e-01 -9.72645380e-02 -5.58227291e-01  2.03885022e+02]
 [ 6.98244379e-02  9.95077935e-01 -7.03167895e-02 -1.68088996e+01]
 [ 5.62318990e-01  1.89608194e-02  8.26702994e-01  1.36775111e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.84327356
Centerline is valid?  [True, True]
Translation: X:203.93, Y:-16.80, Z:136.81
[[ 8.23538866e-01 -1.00855332e-01 -5.58222123e-01  2.03932397e+02]
 [ 7.41336031e-02  9.94763283e-01 -7.03577947e-02 -1.68001851e+01]
 [ 5.62394831e-01  1.65593611e-02  8.26702995e-01  1.36807821e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.90327356
Centerline is valid?  [True, True]
Translation: X:203.98, Y:-16.79, Z:136.84
[[ 8.24346115e-01 -9.40969246e-02 -5.58210759e-01  2.03979986e+02]
 [ 6.59107386e-02  9.95335558e-01 -7.04478605e-02 -1.67869354e+01]
 [ 5.62235945e-01  2.12813367e-02  8.26702998e-01  1.36841035e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 326.96327356
Centerline is valid?  [True, True]
Translation: X:204.03, Y:-16.78, Z:136.87
[[ 8.24221665e-01 -9.52195699e-02 -5.58204156e-01  2.04027357e+02]
 [ 6.72309280e-02  9.95243554e-01 -7.05001482e-02 -1.67770602e+01]
 [ 5.62262082e-01  2.05791662e-02  8.26702999e-01  1.36873836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.02327356
Centerline is valid?  [True, True]
Translation: X:204.08, Y:-16.77, Z:136.91
[[ 8.24564234e-01 -9.22522536e-02 -5.58196512e-01  2.04075428e+02]
 [ 6.36073448e-02  9.95477425e-01 -7.05606243e-02 -1.67678581e+01]
 [ 5.62181404e-01  2.26763690e-02  8.26703001e-01  1.36907048e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.08327356
Centerline is valid?  [True, True]
Translation: X:204.12, Y:-16.76, Z:136.94
[[ 8.24495732e-01 -9.29894302e-02 -5.58175379e-01  2.04123742e+02]
 [ 6.43845619e-02  9.95415618e-01 -7.07274741e-02 -1.67563044e+01]
 [ 5.62193397e-01  2.23766233e-02  8.26703013e-01  1.36940571e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.14327356
Centerline is valid?  [True, True]
Translation: X:204.17, Y:-16.74, Z:136.97
[[ 8.25051541e-01 -8.79408582e-02 -5.58172339e-01  2.04172103e+02]
 [ 5.82741181e-02  9.95790319e-01 -7.07514535e-02 -1.67446970e+01]
 [ 5.62044555e-01  2.58465949e-02  8.26703013e-01  1.36974204e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.20327356
Centerline is valid?  [True, True]
Translation: X:204.22, Y:-16.73, Z:137.01
[[ 8.25426178e-01 -8.43717561e-02 -5.58169358e-01  2.04220036e+02]
 [ 5.39510014e-02  9.96032225e-01 -7.07749692e-02 -1.67337222e+01]
 [ 5.61926076e-01  2.83057165e-02  8.26703013e-01  1.37007495e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.26327356
Centerline is valid?  [True, True]
Translation: X:204.27, Y:-16.72, Z:137.04
[[ 8.25601004e-01 -8.26691261e-02 -5.58165565e-01  2.04268596e+02]
 [ 5.18764007e-02  9.96140306e-01 -7.08048697e-02 -1.67234202e+01]
 [ 5.61864593e-01  2.95009510e-02  8.26703013e-01  1.37041149e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.32327356
Centerline is valid?  [True, True]
Translation: X:204.32, Y:-16.72, Z:137.07
[[ 8.25872033e-01 -7.99314629e-02 -5.58163368e-01  2.04315967e+02]
 [ 4.85618346e-02  9.96306161e-01 -7.08221824e-02 -1.67160576e+01]
 [ 5.61762523e-01  3.13846226e-02  8.26703014e-01  1.37073755e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.38327356
Centerline is valid?  [True, True]
Translation: X:204.36, Y:-16.71, Z:137.11
[[ 8.26081372e-01 -7.77883578e-02 -5.58156375e-01  2.04364495e+02]
 [ 4.59395346e-02  9.96426602e-01 -7.08772613e-02 -1.67078858e+01]
 [ 5.61675286e-01  3.29089411e-02  8.26703015e-01  1.37107192e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.44327356
Centerline is valid?  [True, True]
Translation: X:204.41, Y:-16.70, Z:137.14
[[ 8.26465594e-01 -7.36280471e-02 -5.58151891e-01  2.04412582e+02]
 [ 4.08981960e-02  9.96643741e-01 -7.09125617e-02 -1.67012749e+01]
 [ 5.61499742e-01  3.57793870e-02  8.26703015e-01  1.37140209e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.50327355999997
Centerline is valid?  [True, True]
Translation: X:204.46, Y:-16.69, Z:137.17
[[ 8.26553739e-01 -7.26588703e-02 -5.58148373e-01  2.04460202e+02]
 [ 3.97108762e-02  9.96689785e-01 -7.09402420e-02 -1.66945729e+01]
 [ 5.61455220e-01  3.64713613e-02  8.26703016e-01  1.37172921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.56327355999997
Centerline is valid?  [True, True]
Translation: X:204.51, Y:-16.69, Z:137.21
[[ 8.26531657e-01 -7.29646496e-02 -5.58141183e-01  2.04508705e+02]
 [ 4.00415908e-02  9.96672529e-01 -7.09967667e-02 -1.66880616e+01]
 [ 5.61464239e-01  3.63322143e-02  8.26703017e-01  1.37206199e+02]
 [ 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 327.62327356
Centerline is valid?  [True, True]
Translation: X:204.56, Y:-16.68, Z:137.24
[[ 8.26592518e-01 -7.23068245e-02 -5.58136661e-01  2.04557160e+02]
 [ 3.92244777e-02  9.96702489e-01 -7.10323027e-02 -1.66816337e+01]
 [ 5.61432320e-01  3.68221509e-02  8.26703018e-01  1.37239447e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.68327356
Centerline is valid?  [True, True]
Translation: X:204.60, Y:-16.67, Z:137.27
[[ 8.26772410e-01 -7.03929115e-02 -5.58114881e-01  2.04604853e+02]
 [ 3.68020659e-02  9.96782689e-01 -7.12030879e-02 -1.66742279e+01]
 [ 5.61331445e-01  3.83289679e-02  8.26703030e-01  1.37272200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.74327356
Centerline is valid?  [True, True]
Translation: X:204.65, Y:-16.67, Z:137.31
[[ 8.26884272e-01 -6.91241451e-02 -5.58107744e-01  2.04654110e+02]
 [ 3.52349089e-02  9.96835321e-01 -7.12589958e-02 -1.66708230e+01]
 [ 5.61267229e-01  3.92580673e-02  8.26703031e-01  1.37305720e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.80327356
Centerline is valid?  [True, True]
Translation: X:204.70, Y:-16.67, Z:137.34
[[ 8.26396979e-01 -7.47403295e-02 -5.58105650e-01  2.04703103e+02]
 [ 4.19954771e-02  9.96572224e-01 -7.12753956e-02 -1.66694246e+01]
 [ 5.61519735e-01  3.54638586e-02  8.26703031e-01  1.37338908e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.86327356
Centerline is valid?  [True, True]
Translation: X:204.75, Y:-16.66, Z:137.37
[[ 8.25650717e-01 -8.26042318e-02 -5.58101634e-01  2.04752688e+02]
 [ 5.14597451e-02  9.96126112e-01 -7.13068272e-02 -1.66636666e+01]
 [ 5.61829856e-01  3.01547652e-02  8.26703032e-01  1.37372864e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.92327356
Centerline is valid?  [True, True]
Translation: X:204.80, Y:-16.66, Z:137.41
[[ 8.24551589e-01 -9.29417086e-02 -5.58100812e-01  2.04802817e+02]
 [ 6.39310800e-02  9.95403052e-01 -7.13132573e-02 -1.66640381e+01]
 [ 5.62163228e-01  2.31214719e-02  8.26703032e-01  1.37406670e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 327.98327356
Centerline is valid?  [True, True]
Translation: X:204.85, Y:-16.66, Z:137.44
[[ 8.22800428e-01 -1.07362342e-01 -5.58097468e-01  2.04851614e+02]
 [ 8.13294051e-02  9.94130884e-01 -7.13394215e-02 -1.66587075e+01]
 [ 5.62481097e-01  1.33083715e-02  8.26703032e-01  1.37440059e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.04327356
Centerline is valid?  [True, True]
Translation: X:204.90, Y:-16.66, Z:137.47
[[ 8.22471999e-01 -1.09864096e-01 -5.58094698e-01  2.04900797e+02]
 [ 8.43376229e-02  9.93878645e-01 -7.13610895e-02 -1.66593087e+01]
 [ 5.62518423e-01  1.16241178e-02  8.26703032e-01  1.37473199e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.10327356
Centerline is valid?  [True, True]
Translation: X:204.95, Y:-16.65, Z:137.51
[[ 8.20790422e-01 -1.21820182e-01 -5.58088637e-01  2.04949240e+02]
 [ 9.87583257e-02  9.92546032e-01 -7.14084600e-02 -1.66495921e+01]
 [ 5.62627654e-01  3.49548065e-03  8.26703033e-01  1.37506717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.16327356
Centerline is valid?  [True, True]
Translation: X:205.00, Y:-16.65, Z:137.54
[[ 8.22751012e-01 -1.07801991e-01 -5.58085570e-01  2.04998804e+02]
 [ 8.17975559e-02  9.94085795e-01 -7.14324257e-02 -1.66471070e+01]
 [ 5.62485495e-01  1.31210649e-02  8.26703033e-01  1.37540379e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.22327356
Centerline is valid?  [True, True]
Translation: X:205.05, Y:-16.64, Z:137.57
[[ 8.21887536e-01 -1.14211605e-01 -5.58082958e-01  2.05047727e+02]
 [ 8.95295721e-02  9.93417812e-01 -7.14528244e-02 -1.66374914e+01]
 [ 5.62570293e-01  8.76125733e-03  8.26703034e-01  1.37574226e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.28327356
Centerline is valid?  [True, True]
Translation: X:205.10, Y:-16.63, Z:137.61
[[ 8.21277516e-01 -1.18570777e-01 -5.58071871e-01  2.05095461e+02]
 [ 9.47404207e-02  9.92928183e-01 -7.15393321e-02 -1.66275680e+01]
 [ 5.62607763e-01  5.88168109e-03  8.26703037e-01  1.37607264e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.34327356
Centerline is valid?  [True, True]
Translation: X:205.14, Y:-16.62, Z:137.64
[[ 8.22897692e-01 -1.06862250e-01 -5.58050041e-01  2.05143654e+02]
 [ 8.04745110e-02  9.94173844e-01 -7.17092770e-02 -1.66192927e+01]
 [ 5.62461770e-01  1.41005943e-02  8.26703049e-01  1.37640428e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.40327356
Centerline is valid?  [True, True]
Translation: X:205.19, Y:-16.60, Z:137.67
[[ 8.21142815e-01 -1.19623917e-01 -5.58045335e-01  2.05189523e+02]
 [ 9.58733482e-02  9.92804527e-01 -7.17458831e-02 -1.66030614e+01]
 [ 5.62612459e-01  5.41194164e-03  8.26703049e-01  1.37672781e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.46327356
Centerline is valid?  [True, True]
Translation: X:205.24, Y:-16.60, Z:137.71
[[ 8.23967621e-01 -9.83641560e-02 -5.58033917e-01  2.05238824e+02]
 [ 7.01254619e-02  9.94948345e-01 -7.18346018e-02 -1.65958475e+01]
 [ 5.62280872e-01  2.00569997e-02  8.26703053e-01  1.37706643e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.52327356
Centerline is valid?  [True, True]
Translation: X:205.29, Y:-16.58, Z:137.74
[[ 8.25075474e-01 -8.86067879e-02 -5.58031630e-01  2.05286723e+02]
 [ 5.83347704e-02  9.95707935e-01 -7.18523672e-02 -1.65818485e+01]
 [ 5.62003129e-01  2.67309789e-02  8.26703053e-01  1.37740183e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.58327356
Centerline is valid?  [True, True]
Translation: X:205.33, Y:-16.57, Z:137.77
[[ 8.25508435e-01 -8.45023846e-02 -5.58027930e-01  2.05334696e+02]
 [ 5.33627813e-02  9.95984700e-01 -7.18810904e-02 -1.65702061e+01]
 [ 5.61861404e-01  2.95605240e-02  8.26703053e-01  1.37773564e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.64327356
Centerline is valid?  [True, True]
Translation: X:205.38, Y:-16.56, Z:137.81
[[ 8.24405375e-01 -9.47935324e-02 -5.58005343e-01  2.05382474e+02]
 [ 6.56646972e-02  9.95236691e-01 -7.20560701e-02 -1.65575131e+01]
 [ 5.62177841e-01  2.27621596e-02  8.26703066e-01  1.37806837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.70327356
Centerline is valid?  [True, True]
Translation: X:205.43, Y:-16.55, Z:137.84
[[ 8.25313209e-01 -8.65531337e-02 -5.58002385e-01  2.05430855e+02]
 [ 5.57037294e-02  9.95842214e-01 -7.20789761e-02 -1.65477599e+01]
 [ 5.61920992e-01  2.84049172e-02  8.26703066e-01  1.37840332e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.76327356
Centerline is valid?  [True, True]
Translation: X:205.48, Y:-16.54, Z:137.87
[[ 8.27611291e-01 -6.07970379e-02 -5.57999346e-01  2.05479550e+02]
 [ 2.46337336e-02  9.97092980e-01 -7.21024924e-02 -1.65394410e+01]
 [ 5.60760849e-01  4.59272297e-02  8.26703067e-01  1.37873915e+02]
 [ 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 328.82327356
Centerline is valid?  [True, True]
Translation: X:205.53, Y:-16.53, Z:137.91
[[ 8.25923465e-01 -8.05677281e-02 -5.57995763e-01  2.05527865e+02]
 [ 4.84483802e-02  9.96217841e-01 -7.21302145e-02 -1.65324076e+01]
 [ 5.61696702e-01  3.25400458e-02  8.26703067e-01  1.37907127e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.88327356
Centerline is valid?  [True, True]
Translation: X:205.58, Y:-16.53, Z:137.94
[[ 8.27283562e-01 -6.51622022e-02 -5.57992649e-01  2.05577349e+02]
 [ 2.98587545e-02  9.96946444e-01 -7.21543001e-02 -1.65255984e+01]
 [ 5.60990520e-01  4.30311009e-02  8.26703067e-01  1.37941110e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 328.94327356
Centerline is valid?  [True, True]
Translation: X:205.63, Y:-16.52, Z:137.98
[[ 8.25074790e-01 -8.88634741e-02 -5.57991823e-01  2.05626845e+02]
 [ 5.84364996e-02  9.95679673e-01 -7.21606850e-02 -1.65183323e+01]
 [ 5.61993565e-01  2.69308730e-02  8.26703067e-01  1.37975149e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.00327355999997
Centerline is valid?  [True, True]
Translation: X:205.68, Y:-16.52, Z:138.01
[[ 8.26699028e-01 -7.22322068e-02 -5.57988552e-01  2.05676979e+02]
 [ 3.83592111e-02  9.96653278e-01 -7.21859668e-02 -1.65175724e+01]
 [ 5.61335272e-01  3.82720679e-02  8.26703067e-01  1.38009042e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.06327355999997
Centerline is valid?  [True, True]
Translation: X:205.73, Y:-16.51, Z:138.04
[[ 8.26692498e-01 -7.23326033e-02 -5.57985222e-01  2.05727011e+02]
 [ 3.84629561e-02  9.96647415e-01 -7.22117061e-02 -1.65149540e+01]
 [ 5.61337790e-01  3.82351147e-02  8.26703068e-01  1.38043028e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.12327356
Centerline is valid?  [True, True]
Translation: X:205.78, Y:-16.51, Z:138.08
[[ 8.25996565e-01 -7.98927346e-02 -5.57984611e-01  2.05776280e+02]
 [ 4.75761960e-02  9.96253629e-01 -7.22164223e-02 -1.65088837e+01]
 [ 5.61663761e-01  3.31037315e-02  8.26703068e-01  1.38076811e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.18327356
Centerline is valid?  [True, True]
Translation: X:205.83, Y:-16.50, Z:138.11
[[ 8.26568430e-01 -7.37667851e-02 -5.57981265e-01  2.05825566e+02]
 [ 4.01715152e-02  9.96577796e-01 -7.22422711e-02 -1.65042974e+01]
 [ 5.61400819e-01  3.72982277e-02  8.26703068e-01  1.38110465e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.24327356
Centerline is valid?  [True, True]
Translation: X:205.87, Y:-16.49, Z:138.14
[[ 8.26517095e-01 -7.43693279e-02 -5.57977325e-01  2.05873649e+02]
 [ 4.08775550e-02  9.96546880e-01 -7.22726927e-02 -1.64904199e+01]
 [ 5.61425433e-01  3.69258672e-02  8.26703068e-01  1.38144117e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.30327356
Centerline is valid?  [True, True]
Translation: X:205.92, Y:-16.50, Z:138.18
[[ 8.27094904e-01 -6.76667069e-02 -5.57974226e-01  2.05923869e+02]
 [ 3.27816395e-02  9.96844303e-01 -7.22966087e-02 -1.64956110e+01]
 [ 5.61105502e-01  4.15048467e-02  8.26703069e-01  1.38177547e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.36327356
Centerline is valid?  [True, True]
Translation: X:205.97, Y:-16.49, Z:138.21
[[ 8.27273990e-01 -6.54754254e-02 -5.57970172e-01  2.05972065e+02]
 [ 3.01198328e-02  9.96926012e-01 -7.23278814e-02 -1.64949566e+01]
 [ 5.60990678e-01  4.30290067e-02  8.26703069e-01  1.38210119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.42327356
Centerline is valid?  [True, True]
Translation: X:206.02, Y:-16.48, Z:138.24
[[ 8.27048457e-01 -6.83588269e-02 -5.57958709e-01  2.06019736e+02]
 [ 3.35355660e-02  9.96810542e-01 -7.24162211e-02 -1.64772517e+01]
 [ 5.61129411e-01  4.11802628e-02  8.26703072e-01  1.38243801e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.48327356
Centerline is valid?  [True, True]
Translation: X:206.07, Y:-16.47, Z:138.28
[[ 8.27107856e-01 -6.76512635e-02 -5.57956898e-01  2.06068810e+02]
 [ 3.26734263e-02  9.96838160e-01 -7.24301709e-02 -1.64744963e+01]
 [ 5.61092721e-01  4.16771998e-02  8.26703072e-01  1.38277157e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.54327356
Centerline is valid?  [True, True]
Translation: X:206.12, Y:-16.47, Z:138.31
[[ 8.27082608e-01 -6.81404985e-02 -5.57934793e-01  2.06118320e+02]
 [ 3.31490518e-02  9.96810094e-01 -7.26001194e-02 -1.64707478e+01]
 [ 5.61102041e-01  4.15512867e-02  8.26703084e-01  1.38310820e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.60327356
Centerline is valid?  [True, True]
Translation: X:206.17, Y:-16.47, Z:138.34
[[ 8.26987278e-01 -6.93006924e-02 -5.57933200e-01  2.06166219e+02]
 [ 3.45391692e-02  9.96762004e-01 -7.26123548e-02 -1.64678448e+01]
 [ 5.61158701e-01  4.07789445e-02  8.26703085e-01  1.38343396e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.66327356
Centerline is valid?  [True, True]
Translation: X:206.22, Y:-16.48, Z:138.38
[[ 8.26964178e-01 -6.96703841e-02 -5.57921397e-01  2.06217092e+02]
 [ 3.49239642e-02  9.96741992e-01 -7.27029476e-02 -1.64788005e+01]
 [ 5.61168927e-01  4.06379064e-02  8.26703088e-01  1.38376722e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.72327356
Centerline is valid?  [True, True]
Translation: X:206.26, Y:-16.46, Z:138.41
[[ 8.26610455e-01 -7.39143168e-02 -5.57899480e-01  2.06264158e+02]
 [ 3.99270585e-02  9.96541858e-01 -7.28708093e-02 -1.64628076e+01]
 [ 5.61356381e-01  3.79604876e-02  8.26703100e-01  1.38409810e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.78327356
Centerline is valid?  [True, True]
Translation: X:206.32, Y:-16.47, Z:138.44
[[ 8.26390429e-01 -7.63568504e-02 -5.57896486e-01  2.06315605e+02]
 [ 4.28565302e-02  9.96418498e-01 -7.28937227e-02 -1.64743545e+01]
 [ 5.61464314e-01  3.63291671e-02  8.26703100e-01  1.38443500e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.84327356
Centerline is valid?  [True, True]
Translation: X:206.36, Y:-16.46, Z:138.48
[[ 8.25863935e-01 -8.19228203e-02 -5.57886559e-01  2.06362747e+02]
 [ 4.95176980e-02  9.96104126e-01 -7.29696347e-02 -1.64556972e+01]
 [ 5.61690982e-01  3.26377315e-02  8.26703102e-01  1.38476921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.90327356
Centerline is valid?  [True, True]
Translation: X:206.41, Y:-16.45, Z:138.51
[[ 8.25125190e-01 -8.90704549e-02 -5.57884285e-01  2.06411774e+02]
 [ 5.81288380e-02  9.95637451e-01 -7.29870212e-02 -1.64519478e+01]
 [ 5.61951474e-01  2.77942645e-02  8.26703103e-01  1.38510328e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 329.96327356
Centerline is valid?  [True, True]
Translation: X:206.46, Y:-16.46, Z:138.54
[[ 8.24907619e-01 -9.10863675e-02 -5.57880537e-01  2.06462270e+02]
 [ 6.05421649e-02  9.95491517e-01 -7.30156554e-02 -1.64581258e+01]
 [ 5.62016073e-01  2.64558749e-02  8.26703103e-01  1.38543844e+02]
 [ 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 330.02327356
Centerline is valid?  [True, True]
Translation: X:206.51, Y:-16.44, Z:138.58
[[ 8.23928170e-01 -9.95708821e-02 -5.57878132e-01  2.06509754e+02]
 [ 7.07713996e-02  9.94815279e-01 -7.30340245e-02 -1.64442743e+01]
 [ 5.62257752e-01  2.06929739e-02  8.26703103e-01  1.38577101e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.08327356
Centerline is valid?  [True, True]
Translation: X:206.56, Y:-16.44, Z:138.61
[[ 8.23417078e-01 -1.03727921e-01 -5.57875285e-01  2.06557844e+02]
 [ 7.57765441e-02  9.94444956e-01 -7.30557679e-02 -1.64382785e+01]
 [ 5.62354186e-01  1.78815058e-02  8.26703103e-01  1.38610072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.14327356
Centerline is valid?  [True, True]
Translation: X:206.61, Y:-16.43, Z:138.64
[[ 8.23248953e-01 -1.05169296e-01 -5.57853548e-01  2.06607076e+02]
 [ 7.74052123e-02  9.94307324e-01 -7.32214415e-02 -1.64327116e+01]
 [ 5.62378515e-01  1.70987028e-02  8.26703115e-01  1.38643703e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.20327356
Centerline is valid?  [True, True]
Translation: X:206.66, Y:-16.43, Z:138.68
[[ 8.22985053e-01 -1.07270334e-01 -5.57842880e-01  2.06655719e+02]
 [ 7.98879817e-02  9.94104941e-01 -7.33026377e-02 -1.64267863e+01]
 [ 5.62417562e-01  1.57620333e-02  8.26703118e-01  1.38677011e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.26327356
Centerline is valid?  [True, True]
Translation: X:206.70, Y:-16.42, Z:138.71
[[ 8.22953884e-01 -1.07621776e-01 -5.57821171e-01  2.06704692e+02]
 [ 8.02008181e-02  9.94067579e-01 -7.34675291e-02 -1.64197050e+01]
 [ 5.62418647e-01  1.57226741e-02  8.26703129e-01  1.38710601e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.32327356
Centerline is valid?  [True, True]
Translation: X:206.75, Y:-16.41, Z:138.74
[[ 8.23233360e-01 -1.05488835e-01 -5.57816225e-01  2.06753165e+02]
 [ 7.75991399e-02  9.94271280e-01 -7.35050662e-02 -1.64122747e+01]
 [ 5.62374616e-01  1.72257633e-02  8.26703130e-01  1.38743950e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.38327356
Centerline is valid?  [True, True]
Translation: X:206.80, Y:-16.41, Z:138.78
[[ 8.25017498e-01 -9.05124011e-02 -5.57811467e-01  2.06802172e+02]
 [ 5.94950278e-02  9.95515967e-01 -7.35411584e-02 -1.64052288e+01]
 [ 5.61966608e-01  2.74857338e-02  8.26703130e-01  1.38777625e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.44327356
Centerline is valid?  [True, True]
Translation: X:206.85, Y:-16.40, Z:138.81
[[ 8.24355322e-01 -9.63787892e-02 -5.57807702e-01  2.06849720e+02]
 [ 6.65557413e-02  9.95066747e-01 -7.35697062e-02 -1.63962221e+01]
 [ 5.62146455e-01  2.35222737e-02  8.26703131e-01  1.38810495e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.50327355999997
Centerline is valid?  [True, True]
Translation: X:206.90, Y:-16.39, Z:138.84
[[ 8.25024336e-01 -9.04998800e-02 -5.57803386e-01  2.06898585e+02]
 [ 5.94386011e-02  9.95514810e-01 -7.36024188e-02 -1.63864933e+01]
 [ 5.61962542e-01  2.75687337e-02  8.26703131e-01  1.38844316e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.56327355999997
Centerline is valid?  [True, True]
Translation: X:206.95, Y:-16.39, Z:138.88
[[ 8.26441642e-01 -7.64965707e-02 -5.57801476e-01  2.06949697e+02]
 [ 4.25389529e-02  9.96378939e-01 -7.36168899e-02 -1.63947250e+01]
 [ 5.61413083e-01  3.71117727e-02  8.26703131e-01  1.38878062e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.62327356
Centerline is valid?  [True, True]
Translation: X:207.00, Y:-16.39, Z:138.91
[[ 8.26826735e-01 -7.22436303e-02 -5.57797820e-01  2.06998923e+02]
 [ 3.73935741e-02  9.96583261e-01 -7.36445795e-02 -1.63873193e+01]
 [ 5.61212323e-01  4.00332531e-02  8.26703131e-01  1.38911921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.68327356
Centerline is valid?  [True, True]
Translation: X:207.05, Y:-16.38, Z:138.95
[[ 8.26770300e-01 -7.28963156e-02 -5.57796557e-01  2.07047448e+02]
 [ 3.81738549e-02  9.96552971e-01 -7.36541484e-02 -1.63824627e+01]
 [ 5.61242932e-01  3.96018175e-02  8.26703131e-01  1.38945091e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.74327356
Centerline is valid?  [True, True]
Translation: X:207.10, Y:-16.38, Z:138.98
[[ 8.26853733e-01 -7.21161376e-02 -5.57774298e-01  2.07096756e+02]
 [ 3.71205803e-02  9.96580311e-01 -7.38223914e-02 -1.63766631e+01]
 [ 5.61190669e-01  4.03354143e-02  8.26703143e-01  1.38978789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.80327356
Centerline is valid?  [True, True]
Translation: X:207.14, Y:-16.37, Z:139.01
[[ 8.26879232e-01 -7.18505399e-02 -5.57770773e-01  2.07144772e+02]
 [ 3.67826021e-02  9.96590870e-01 -7.38490153e-02 -1.63703465e+01]
 [ 5.61175352e-01  4.05479566e-02  8.26703144e-01  1.39011736e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.86327356
Centerline is valid?  [True, True]
Translation: X:207.19, Y:-16.35, Z:139.05
[[ 8.27852342e-01 -5.96595525e-02 -5.57764501e-01  2.07191880e+02]
 [ 2.20632444e-02  9.97021836e-01 -7.38963630e-02 -1.63475919e+01]
 [ 5.60512010e-01  4.88691826e-02  8.26703145e-01  1.39045528e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.92327356
Centerline is valid?  [True, True]
Translation: X:207.24, Y:-16.35, Z:139.08
[[ 8.27580940e-01 -6.33264124e-02 -5.57762990e-01  2.07242584e+02]
 [ 2.64722763e-02  9.96913668e-01 -7.39077627e-02 -1.63534752e+01]
 [ 5.60721862e-01  4.63993998e-02  8.26703145e-01  1.39079206e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 330.98327356
Centerline is valid?  [True, True]
Translation: X:207.29, Y:-16.35, Z:139.11
[[ 8.27667854e-01 -6.21962894e-02 -5.57761190e-01  2.07291253e+02]
 [ 2.51018733e-02  9.96948108e-01 -7.39213487e-02 -1.63475090e+01]
 [ 5.60656596e-01  4.71814734e-02  8.26703145e-01  1.39112568e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 331.04327356
Centerline is valid?  [True, True]
Translation: X:207.34, Y:-16.34, Z:139.15
[[ 8.27440704e-01 -6.51897533e-02 -5.57756378e-01  2.07340764e+02]
 [ 2.86836048e-02  9.96848794e-01 -7.39576388e-02 -1.63434155e+01]
 [ 5.60820053e-01  4.51970972e-02  8.26703145e-01  1.39146320e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 331.10327356
Centerline is valid?  [True, True]
Translation: X:207.39, Y:-16.34, Z:139.18
[[ 8.27461888e-01 -6.49365363e-02 -5.57754489e-01  2.07389962e+02]
 [ 2.83690106e-02  9.96856740e-01 -7.39718813e-02 -1.63379462e+01]
 [ 5.60804800e-01  4.53859696e-02  8.26703145e-01  1.39179995e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 331.16327356
Centerline is valid?  [True, True]
Translation: X:207.44, Y:-16.33, Z:139.21
[[ 8.27015778e-01 -7.04079057e-02 -5.57752302e-01  2.07439504e+02]
 [ 3.49504879e-02  9.96646469e-01 -7.39883736e-02 -1.63344723e+01]
 [ 5.61091228e-01  4.16958372e-02  8.26703145e-01  1.39213722e+02]
 [ 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 331.22327356
Centerline is valid?  [True, True]
Translation: X:207.49, Y:-16.33, Z:139.25
[[ 8.26283970e-01 -7.85550149e-02 -5.57748967e-01  2.07488842e+02]
 [ 4.47541952e-02  9.96252510e-01 -7.40135063e-02 -1.63302272e+01]
 [ 5.61472940e-01  3.61945677e-02  8.26703146e-01  1.39247375e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 331.28327356
Centerline is valid?  [True, True]
Translation: X:207.54, Y:-16.32, Z:139.28
[[ 8.26283409e-01 -7.85780331e-02 -5.57746556e-01  2.07536864e+02]
 [ 4.47697406e-02  9.96250462e-01 -7.40316680e-02 -1.63239905e+01]
 [ 5.61472527e-01  3.62009703e-02  8.26703146e-01  1.39280323e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 331.34327356
Centerline is valid?  [True, True]
Translation: X:207.59, Y:-16.32, Z:139.31
[[ 8.26656697e-01 -7.47169523e-02 -5.57724019e-01  2.07585674e+02]
 [ 4.00012045e-02  9.96440714e-01 -7.42011252e-02 -1.63170916e+01]
 [ 5.61283002e-01  3.90292245e-02  8.26703158e-01  1.39313782e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 331.40327356
Centerline is valid?  [True, True]
Translation: X:207.63, Y:-16.31, Z:139.35
[[ 8.26918849e-01 -7.17748769e-02 -5.57721781e-01  2.07633627e+02]
 [ 3.64438994e-02  9.96575907e-01 -7.42179472e-02 -1.63090037e+01]
 [ 5.61139074e-01  4.10466629e-02  8.26703158e-01  1.39346850e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 331.46327356
Centerline is valid?  [True, True]
Translation: X:207.68, Y:-16.30, Z:139.38
[[ 8.27062170e-01 -7.01461899e-02 -5.57716487e-01  2.07681846e+02]
 [ 3.44544937e-02  9.96643708e-01 -7.42577124e-02 -1.63010037e+01]
 [ 5.61053523e-01  4.21999056e-02  8.26703159e-01  1.39380078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 331.52327356
Centerline is valid?  [True, True]
Translation: X:207.73, Y:-16.29, Z:139.41
[[ 8.27014710e-01 -7.07412403e-02 -5.57711706e-01  2.07730010e+02]
 [ 3.51474970e-02  9.96616834e-01 -7.42936063e-02 -1.62945680e+01]
 [ 5.61080496e-01  4.18397347e-02  8.26703159e-01  1.39413130e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 331.58327356
Centerline is valid?  [True, True]
Translation: X:207.78, Y:-16.29, Z:139.45
[[ 8.26816175e-01 -7.30732428e-02 -5.57705401e-01  2.07778088e+02]
 [ 3.79262022e-02  9.96511431e-01 -7.43409051e-02 -1.62879865e+01]
 [ 5.61192139e-01  4.03146150e-02  8.26703160e-01  1.39446131e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 331.64327356
Centerline is valid?  [True, True]
Translation: X:207.83, Y:-16.28, Z:139.48
[[ 8.26701294e-01 -7.45284801e-02 -5.57683133e-01  2.07826226e+02]
 [ 3.95682684e-02  9.96435127e-01 -7.45076451e-02 -1.62817423e+01]
 [ 5.61248005e-01  3.95290107e-02  8.26703172e-01  1.39479081e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 331.70327356
Centerline is valid?  [True, True]
Translation: X:207.87, Y:-16.28, Z:139.51
[[ 8.26731586e-01 -7.42173098e-02 -5.57679725e-01  2.07874757e+02]
 [ 3.91760992e-02  9.96448716e-01 -7.45331463e-02 -1.62758461e+01]
 [ 5.61230895e-01  3.97711900e-02  8.26703172e-01  1.39512337e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 331.76327356
Centerline is valid?  [True, True]
Translation: X:207.92, Y:-16.27, Z:139.55
[[ 8.26144590e-01 -8.06430297e-02 -5.57657438e-01  2.07923861e+02]
 [ 4.68105632e-02  9.96106793e-01 -7.46995796e-02 -1.62689950e+01]
 [ 5.61510363e-01  3.56083948e-02  8.26703184e-01  1.39545993e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 331.82327356
Centerline is valid?  [True, True]
Translation: X:207.97, Y:-16.26, Z:139.58
[[ 8.26052870e-01 -8.16016902e-02 -5.57653854e-01  2.07972258e+02]
 [ 4.79484941e-02  9.96050660e-01 -7.47263304e-02 -1.62629037e+01]
 [ 5.61549284e-01  3.49892371e-02  8.26703184e-01  1.39579176e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 331.88327356
Centerline is valid?  [True, True]
Translation: X:208.02, Y:-16.26, Z:139.61
[[ 8.25815133e-01 -8.40059498e-02 -5.57648964e-01  2.08021064e+02]
 [ 5.08232076e-02  9.95905379e-01 -7.47628097e-02 -1.62562148e+01]
 [ 5.61646123e-01  3.33987506e-02  8.26703185e-01  1.39612683e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 331.94327356
Centerline is valid?  [True, True]
Translation: X:208.07, Y:-16.25, Z:139.65
[[ 8.25590109e-01 -8.62101733e-02 -5.57645747e-01  2.08070434e+02]
 [ 5.34654565e-02  9.95765223e-01 -7.47867991e-02 -1.62486765e+01]
 [ 5.61731624e-01  3.19284572e-02  8.26703185e-01  1.39646655e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 332.00327355999997
Centerline is valid?  [True, True]
Translation: X:208.12, Y:-16.24, Z:139.68
[[ 8.25238297e-01 -8.95252049e-02 -5.57644143e-01  2.08119054e+02]
 [ 5.74561530e-02  9.95542032e-01 -7.47987530e-02 -1.62412126e+01]
 [ 5.61854557e-01  2.96867084e-02  8.26703185e-01  1.39680120e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 332.06327355999997
Centerline is valid?  [True, True]
Translation: X:208.17, Y:-16.23, Z:139.71
[[ 8.25086021e-01 -9.09387882e-02 -5.57640739e-01  2.08167498e+02]
 [ 5.91444295e-02  9.95441252e-01 -7.48241230e-02 -1.62332801e+01]
 [ 5.61903011e-01  2.87549946e-02  8.26703185e-01  1.39713502e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 332.12327356
Centerline is valid?  [True, True]
Translation: X:208.22, Y:-16.23, Z:139.75
[[ 8.24988408e-01 -9.19567771e-02 -5.57618219e-01  2.08215859e+02]
 [ 6.02597037e-02  9.95361755e-01 -7.49916350e-02 -1.62258694e+01]
 [ 5.61927838e-01  2.82653208e-02  8.26703197e-01  1.39746708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 332.18327356
Centerline is valid?  [True, True]
Translation: X:208.26, Y:-16.22, Z:139.78
[[ 8.25051417e-01 -9.14190251e-02 -5.57613415e-01  2.08264194e+02]
 [ 5.95868377e-02  9.95399571e-01 -7.50273439e-02 -1.62195548e+01]
 [ 5.61907081e-01  2.86749964e-02  8.26703198e-01  1.39779864e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 332.24327356
Centerline is valid?  [True, True]
Translation: X:208.31, Y:-16.21, Z:139.81
[[ 8.25120955e-01 -9.09271248e-02 -5.57590950e-01  2.08312089e+02]
 [ 5.88810757e-02  9.95428995e-01 -7.51939876e-02 -1.62105368e+01]
 [ 5.61879372e-01  2.92125799e-02  8.26703209e-01  1.39812902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 332.30327356
Centerline is valid?  [True, True]
Translation: X:208.36, Y:-16.20, Z:139.85
[[ 8.25257130e-01 -8.97122944e-02 -5.57586204e-01  2.08360668e+02]
 [ 5.73918508e-02  9.95513308e-01 -7.52291730e-02 -1.62042513e+01]
 [ 5.61833468e-01  3.00825071e-02  8.26703210e-01  1.39846222e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 332.36327356
Centerline is valid?  [True, True]
Translation: X:208.41, Y:-16.20, Z:139.88
[[ 8.25400695e-01 -8.84106339e-02 -5.57581611e-01  2.08409192e+02]
 [ 5.57987989e-02  9.95601298e-01 -7.52631967e-02 -1.61968477e+01]
 [ 5.61783043e-01  3.10099106e-02  8.26703210e-01  1.39879606e+02]
 [ 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 332.42327356
Centerline is valid?  [True, True]
Translation: X:208.46, Y:-16.19, Z:139.91
[[ 8.25297893e-01 -8.95089944e-02 -5.57558542e-01  2.08457588e+02]
 [ 5.70087910e-02  9.95519836e-01 -7.54337727e-02 -1.61888799e+01]
 [ 5.61812589e-01  3.04695953e-02  8.26703223e-01  1.39912885e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 332.48327356
Centerline is valid?  [True, True]
Translation: X:208.51, Y:-16.18, Z:139.95
[[ 8.24975574e-01 -9.24521372e-02 -5.57555293e-01  2.08505999e+02]
 [ 6.05431146e-02  9.95309326e-01 -7.54577783e-02 -1.61844582e+01]
 [ 5.61916216e-01  2.84946899e-02  8.26703223e-01  1.39945926e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 332.54327356
Centerline is valid?  [True, True]
Translation: X:208.56, Y:-16.18, Z:139.98
[[ 8.24571435e-01 -9.60255767e-02 -5.57549135e-01  2.08555106e+02]
 [ 6.48241591e-02  9.95036224e-01 -7.55032600e-02 -1.61759560e+01]
 [ 5.62031830e-01  2.61151776e-02  8.26703224e-01  1.39979798e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 332.60327356
Centerline is valid?  [True, True]
Translation: X:208.60, Y:-16.17, Z:140.01
[[ 8.24205287e-01 -9.91374017e-02 -5.57545891e-01  2.08603843e+02]
 [ 6.85634910e-02  9.94783740e-01 -7.55272062e-02 -1.61724448e+01]
 [ 5.62125158e-01  2.40226300e-02  8.26703224e-01  1.40012977e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 332.66327356
Centerline is valid?  [True, True]
Translation: X:208.65, Y:-16.17, Z:140.05
[[ 8.23913415e-01 -1.01553447e-01 -5.57542449e-01  2.08652928e+02]
 [ 7.14626205e-02  9.94577748e-01 -7.55526105e-02 -1.61672438e+01]
 [ 5.62191941e-01  2.24053649e-02  8.26703224e-01  1.40046542e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 332.72327356
Centerline is valid?  [True, True]
Translation: X:208.70, Y:-16.16, Z:140.08
[[ 8.23426072e-01 -1.05449319e-01 -5.57539187e-01  2.08701553e+02]
 [ 7.61497784e-02  9.94228031e-01 -7.55766721e-02 -1.61591583e+01]
 [ 5.62290597e-01  1.97753166e-02  8.26703224e-01  1.40080062e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 332.78327356
Centerline is valid?  [True, True]
Translation: X:208.75, Y:-16.16, Z:140.11
[[ 8.23187331e-01 -1.07313811e-01 -5.57535976e-01  2.08751256e+02]
 [ 7.83851263e-02  9.94052493e-01 -7.56003572e-02 -1.61559706e+01]
 [ 5.62332989e-01  1.85307283e-02  8.26703225e-01  1.40113862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 332.84327356
Centerline is valid?  [True, True]
Translation: X:208.80, Y:-16.15, Z:140.15
[[ 8.23135272e-01 -1.07754366e-01 -5.57527865e-01  2.08800133e+02]
 [ 7.88766867e-02  9.94009060e-01 -7.56601350e-02 -1.61489828e+01]
 [ 5.62340459e-01  1.83025752e-02  8.26703226e-01  1.40147433e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 332.90327356
Centerline is valid?  [True, True]
Translation: X:208.85, Y:-16.14, Z:140.18
[[ 8.23284003e-01 -1.06629036e-01 -5.57524618e-01  2.08848027e+02]
 [ 7.75016202e-02  9.94115397e-01 -7.56840518e-02 -1.61411660e+01]
 [ 5.62313925e-01  1.91004079e-02  8.26703226e-01  1.40180436e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 332.96327356
Centerline is valid?  [True, True]
Translation: X:208.89, Y:-16.12, Z:140.21
[[ 8.23074349e-01 -1.08268826e-01 -5.57518141e-01  2.08894672e+02]
 [ 7.94495015e-02  9.93957987e-01 -7.57317376e-02 -1.61231353e+01]
 [ 5.62348996e-01  1.80383122e-02  8.26703227e-01  1.40213519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 333.02327356
Centerline is valid?  [True, True]
Translation: X:208.94, Y:-16.13, Z:140.25
[[ 8.23222260e-01 -1.07259100e-01 -5.57494929e-01  2.08944383e+02]
 [ 7.81148053e-02  9.94050763e-01 -7.59022941e-02 -1.61257931e+01]
 [ 5.62319471e-01  1.89358503e-02  8.26703240e-01  1.40246712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 333.08327356
Centerline is valid?  [True, True]
Translation: X:208.99, Y:-16.12, Z:140.28
[[ 8.23266488e-01 -1.06944592e-01 -5.57490040e-01  2.08993388e+02]
 [ 7.77107587e-02  9.94079690e-01 -7.59381887e-02 -1.61188597e+01]
 [ 5.62310704e-01  1.91943920e-02  8.26703240e-01  1.40280378e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 333.14327356
Centerline is valid?  [True, True]
Translation: X:209.04, Y:-16.11, Z:140.31
[[ 8.23057052e-01 -1.08561230e-01 -5.57486814e-01  2.09042168e+02]
 [ 7.96469027e-02  9.93924628e-01 -7.59618596e-02 -1.61103555e+01]
 [ 5.62346388e-01  1.81188462e-02  8.26703240e-01  1.40314041e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 333.20327356
Centerline is valid?  [True, True]
Translation: X:209.09, Y:-16.10, Z:140.35
[[ 8.22749776e-01 -1.10892674e-01 -5.57481498e-01  2.09089534e+02]
 [ 8.24361607e-02  9.93694193e-01 -7.60008609e-02 -1.61032639e+01]
 [ 5.62394066e-01  1.65730570e-02  8.26703241e-01  1.40346614e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 333.26327356
Centerline is valid?  [True, True]
Translation: X:209.14, Y:-16.10, Z:140.38
[[ 8.22570808e-01 -1.12342492e-01 -5.57455317e-01  2.09137523e+02]
 [ 8.40575224e-02  9.93543677e-01 -7.61924891e-02 -1.60967878e+01]
 [ 5.62415859e-01  1.58154045e-02  8.26703256e-01  1.40379472e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 333.32327356
Centerline is valid?  [True, True]
Translation: X:209.18, Y:-16.08, Z:140.41
[[ 8.22331922e-01 -1.14098265e-01 -5.57451161e-01  2.09184647e+02]
 [ 8.61577602e-02  9.93361420e-01 -7.62228884e-02 -1.60797464e+01]
 [ 5.62447376e-01  1.46517709e-02  8.26703257e-01  1.40412804e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 333.38327356
Centerline is valid?  [True, True]
Translation: X:209.23, Y:-16.07, Z:140.45
[[ 8.22956954e-01 -1.09606070e-01 -5.57430141e-01  2.09232284e+02]
 [ 8.06282001e-02  9.93813738e-01 -7.63763507e-02 -1.60719133e+01]
 [ 5.62353044e-01  1.79098600e-02  8.26703267e-01  1.40445572e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 333.44327356
Centerline is valid?  [True, True]
Translation: X:209.28, Y:-16.07, Z:140.48
[[ 8.24049877e-01 -1.01084220e-01 -5.57426032e-01  2.09281790e+02]
 [ 7.03196289e-02  9.94593999e-01 -7.64063293e-02 -1.60709443e+01]
 [ 5.62136060e-01  2.37646346e-02  8.26703267e-01  1.40479027e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 333.50327355999997
Centerline is valid?  [True, True]
Translation: X:209.33, Y:-16.06, Z:140.51
[[ 8.24488170e-01 -9.74605354e-02 -5.57423270e-01  2.09330629e+02]
 [ 6.59329019e-02  9.94892882e-01 -7.64264745e-02 -1.60626137e+01]
 [ 5.62025009e-01  2.62601903e-02  8.26703267e-01  1.40512718e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 333.56327355999997
Centerline is valid?  [True, True]
Translation: X:209.38, Y:-16.04, Z:140.55
[[ 8.26383331e-01 -7.98409397e-02 -5.57419066e-01  2.09378271e+02]
 [ 4.46628918e-02  9.96072053e-01 -7.64571253e-02 -1.60441453e+01]
 [ 5.61333962e-01  3.82869464e-02  8.26703268e-01  1.40546534e+02]
 [ 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 333.62327356
Centerline is valid?  [True, True]
Translation: X:209.43, Y:-16.05, Z:140.58
[[ 8.24707189e-01 -9.56349553e-02 -5.57415471e-01  2.09429025e+02]
 [ 6.36918044e-02  9.95034499e-01 -7.64833289e-02 -1.60475176e+01]
 [ 5.61962104e-01  2.75735541e-02  8.26703268e-01  1.40580431e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 333.68327356
Centerline is valid?  [True, True]
Translation: X:209.48, Y:-16.03, Z:140.61
[[ 8.26419924e-01 -7.95033310e-02 -5.57413069e-01  2.09476668e+02]
 [ 4.42266246e-02  9.96088163e-01 -7.65008313e-02 -1.60320773e+01]
 [ 5.61314631e-01  3.85693127e-02  8.26703268e-01  1.40613974e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 333.74327356
Centerline is valid?  [True, True]
Translation: X:209.53, Y:-16.04, Z:140.65
[[ 8.24515117e-01 -9.73124826e-02 -5.57409278e-01  2.09526894e+02]
 [ 6.56854668e-02  9.94901410e-01 -7.65284462e-02 -1.60383407e+01]
 [ 5.62014450e-01  2.64851721e-02  8.26703268e-01  1.40647246e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 333.80327356
Centerline is valid?  [True, True]
Translation: X:209.58, Y:-16.03, Z:140.68
[[ 8.24280866e-01 -9.92964186e-02 -5.57405844e-01  2.09575608e+02]
 [ 6.80626605e-02  9.94739686e-01 -7.65534486e-02 -1.60336615e+01]
 [ 5.62075198e-01  2.51630182e-02  8.26703269e-01  1.40680512e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 333.86327356
Centerline is valid?  [True, True]
Translation: X:209.62, Y:-16.03, Z:140.71
[[ 8.24073494e-01 -1.01130303e-01 -5.57382758e-01  2.09624892e+02]
 [ 7.01626392e-02  9.94580845e-01 -7.67212303e-02 -1.60301089e+01]
 [ 5.62121055e-01  2.41164869e-02  8.26703281e-01  1.40713985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 333.92327356
Centerline is valid?  [True, True]
Translation: X:209.67, Y:-16.03, Z:140.75
[[ 8.23824124e-01 -1.03154943e-01 -5.57380365e-01  2.09673141e+02]
 [ 7.25946095e-02  9.94404952e-01 -7.67386117e-02 -1.60260658e+01]
 [ 5.62177762e-01  2.27563096e-02  8.26703281e-01  1.40746882e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 333.98327356
Centerline is valid?  [True, True]
Translation: X:209.72, Y:-16.02, Z:140.78
[[ 8.23779451e-01 -1.03635455e-01 -5.57357254e-01  2.09719704e+02]
 [ 7.30614478e-02  9.94357817e-01 -7.69061582e-02 -1.60204632e+01]
 [ 5.62182747e-01  2.26323848e-02  8.26703293e-01  1.40778709e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 334.04327356
Centerline is valid?  [True, True]
Translation: X:209.77, Y:-16.01, Z:140.81
[[ 8.23774407e-01 -1.03771388e-01 -5.57339417e-01  2.09768537e+02]
 [ 7.31383370e-02  9.94342172e-01 -7.70352431e-02 -1.60147482e+01]
 [ 5.62180141e-01  2.26967836e-02  8.26703300e-01  1.40812097e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 334.10327356
Centerline is valid?  [True, True]
Translation: X:209.82, Y:-16.01, Z:140.85
[[ 8.24113995e-01 -1.01057419e-01 -5.57336093e-01  2.09817390e+02]
 [ 6.98464781e-02  9.94576963e-01 -7.70592844e-02 -1.60094827e+01]
 [ 5.62101052e-01  2.45776715e-02  8.26703300e-01  1.40845510e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 334.16327356
Centerline is valid?  [True, True]
Translation: X:209.87, Y:-16.00, Z:140.88
[[ 8.24763608e-01 -9.56357471e-02 -5.57331853e-01  2.09866102e+02]
 [ 6.32838316e-02  9.95013717e-01 -7.70899398e-02 -1.60032819e+01]
 [ 5.61925393e-01  2.83108818e-02  8.26703300e-01  1.40878912e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 334.22327356
Centerline is valid?  [True, True]
Translation: X:209.91, Y:-16.00, Z:140.91
[[ 8.24813555e-01 -9.52300230e-02 -5.57327410e-01  2.09913897e+02]
 [ 6.27727225e-02  9.95043604e-01 -7.71220509e-02 -1.59959630e+01]
 [ 5.61909410e-01  2.86263541e-02  8.26703301e-01  1.40911799e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 334.28327356
Centerline is valid?  [True, True]
Translation: X:209.96, Y:-15.99, Z:140.94
[[ 8.24756598e-01 -9.58582392e-02 -5.57304004e-01  2.09961141e+02]
 [ 6.34168198e-02  9.94989662e-01 -7.72908793e-02 -1.59908060e+01]
 [ 5.61920690e-01  2.84037150e-02  8.26703313e-01  1.40944042e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 334.34327356
Centerline is valid?  [True, True]
Translation: X:210.01, Y:-15.99, Z:140.98
[[ 8.24335686e-01 -9.94939792e-02 -5.57289534e-01  2.10010576e+02]
 [ 6.77331982e-02  9.94697046e-01 -7.73950921e-02 -1.59858566e+01]
 [ 5.62034599e-01  2.60525339e-02  8.26703317e-01  1.40977776e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 334.40327356
Centerline is valid?  [True, True]
Translation: X:210.06, Y:-15.98, Z:141.01
[[ 8.23383659e-01 -1.07103425e-01 -5.57286467e-01  2.10058981e+02]
 [ 7.69025603e-02  9.94028459e-01 -7.74171701e-02 -1.59828481e+01]
 [ 5.62250253e-01  2.08872766e-02  8.26703317e-01  1.41010676e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 334.46327356
Centerline is valid?  [True, True]
Translation: X:210.11, Y:-15.98, Z:141.04
[[ 8.22506450e-01 -1.13669901e-01 -5.57281162e-01  2.10107591e+02]
 [ 8.48057548e-02  9.93382431e-01 -7.74553415e-02 -1.59775279e+01]
 [ 5.62397657e-01  1.64468683e-02  8.26703318e-01  1.41043923e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 334.52327356
Centerline is valid?  [True, True]
Translation: X:210.16, Y:-15.97, Z:141.08
[[ 8.22391742e-01 -1.14516926e-01 -5.57277038e-01  2.10155292e+02]
 [ 8.58086902e-02  9.93293986e-01 -7.74850084e-02 -1.59700155e+01]
 [ 5.62413275e-01  1.59038183e-02  8.26703318e-01  1.41076766e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 334.58327356
Centerline is valid?  [True, True]
Translation: X:210.20, Y:-15.96, Z:141.11
[[ 8.22771073e-01 -1.11820723e-01 -5.57264647e-01  2.10203064e+02]
 [ 8.24922306e-02  9.93567965e-01 -7.75740341e-02 -1.59569280e+01]
 [ 5.62354686e-01  1.78556675e-02  8.26703322e-01  1.41110149e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 334.64327356
Centerline is valid?  [True, True]
Translation: X:210.25, Y:-15.95, Z:141.14
[[ 8.23478511e-01 -1.06597500e-01 -5.57243317e-01  2.10252712e+02]
 [ 7.60824281e-02  9.94067391e-01 -7.77270041e-02 -1.59523617e+01]
 [ 5.62222914e-01  2.16100930e-02  8.26703332e-01  1.41143963e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 334.70327356
Centerline is valid?  [True, True]
Translation: X:210.30, Y:-15.94, Z:141.18
[[ 8.24303005e-01 -1.00037324e-01 -5.57240604e-01  2.10301244e+02]
 [ 6.81518174e-02  9.94641050e-01 -7.77464535e-02 -1.59439625e+01]
 [ 5.62031926e-01  2.61096754e-02  8.26703332e-01  1.41177457e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 334.76327356
Centerline is valid?  [True, True]
Translation: X:210.35, Y:-15.93, Z:141.21
[[ 8.24955432e-01 -9.45225727e-02 -5.57237847e-01  2.10349321e+02]
 [ 6.14853445e-02  9.95073852e-01 -7.77662029e-02 -1.59348964e+01]
 [ 5.61843473e-01  2.98916905e-02  8.26703332e-01  1.41210705e+02]
 [ 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 334.82327356
Centerline is valid?  [True, True]
Translation: X:210.40, Y:-15.93, Z:141.24
[[ 8.25140926e-01 -9.29182142e-02 -5.57233038e-01  2.10397827e+02]
 [ 5.95270472e-02  9.95190227e-01 -7.78006560e-02 -1.59284731e+01]
 [ 5.61781971e-01  3.10260680e-02  8.26703332e-01  1.41243987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 334.88327356
Centerline is valid?  [True, True]
Translation: X:210.45, Y:-15.92, Z:141.28
[[ 8.25158228e-01 -9.27934439e-02 -5.57228208e-01  2.10446061e+02]
 [ 5.93532853e-02  9.95197902e-01 -7.78352357e-02 -1.59221030e+01]
 [ 5.61774943e-01  3.11530604e-02  8.26703333e-01  1.41277080e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 334.94327356
Centerline is valid?  [True, True]
Translation: X:210.50, Y:-15.92, Z:141.31
[[ 8.24789286e-01 -9.60563455e-02 -5.57221511e-01  2.10495012e+02]
 [ 6.32566947e-02  9.94953670e-01 -7.78831551e-02 -1.59162131e+01]
 [ 5.61890758e-01  2.89892009e-02  8.26703334e-01  1.41310604e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.00327355999997
Centerline is valid?  [True, True]
Translation: X:210.54, Y:-15.91, Z:141.34
[[ 8.24418233e-01 -9.92033289e-02 -5.57219235e-01  2.10543886e+02]
 [ 6.70423476e-02  9.94704480e-01 -7.78994321e-02 -1.59097610e+01]
 [ 5.61996352e-01  2.68644265e-02  8.26703334e-01  1.41344146e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.06327355999997
Centerline is valid?  [True, True]
Translation: X:210.59, Y:-15.90, Z:141.38
[[ 8.24135581e-01 -1.01543087e-01 -5.57215888e-01  2.10590677e+02]
 [ 6.98494521e-02  9.94509428e-01 -7.79233680e-02 -1.58994579e+01]
 [ 5.62069034e-01  2.52981957e-02  8.26703334e-01  1.41376643e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.12327356
Centerline is valid?  [True, True]
Translation: X:210.64, Y:-15.89, Z:141.41
[[ 8.24073815e-01 -1.02087985e-01 -5.57207673e-01  2.10640109e+02]
 [ 7.04673925e-02  9.94461232e-01 -7.79820745e-02 -1.58929305e+01]
 [ 5.62082462e-01  2.49980138e-02  8.26703336e-01  1.41410546e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.18327356
Centerline is valid?  [True, True]
Translation: X:210.69, Y:-15.89, Z:141.44
[[ 8.24402374e-01 -9.94242899e-02 -5.57203317e-01  2.10689489e+02]
 [ 6.72322398e-02  9.94682748e-01 -7.80131891e-02 -1.58928805e+01]
 [ 5.61996932e-01  2.68522313e-02  8.26703336e-01  1.41443817e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.24327356
Centerline is valid?  [True, True]
Translation: X:210.74, Y:-15.88, Z:141.48
[[ 8.24457452e-01 -9.89947274e-02 -5.57198308e-01  2.10737126e+02]
 [ 6.66898451e-02  9.94716455e-01 -7.80489530e-02 -1.58798961e+01]
 [ 5.61980760e-01  2.71885720e-02  8.26703337e-01  1.41477132e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.30327356
Centerline is valid?  [True, True]
Translation: X:210.79, Y:-15.88, Z:141.51
[[ 8.25036758e-01 -9.40666677e-02 -5.57194590e-01  2.10786546e+02]
 [ 6.07271646e-02  9.95096191e-01 -7.80754885e-02 -1.58805080e+01]
 [ 5.61806515e-01  3.05783003e-02  8.26703337e-01  1.41510368e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.36327356
Centerline is valid?  [True, True]
Translation: X:210.84, Y:-15.87, Z:141.54
[[ 8.25405254e-01 -9.08074957e-02 -5.57189524e-01  2.10835082e+02]
 [ 5.67723034e-02  9.95326821e-01 -7.81116238e-02 -1.58719767e+01]
 [ 5.61678799e-01  3.28408119e-02  8.26703338e-01  1.41543868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.42327356
Centerline is valid?  [True, True]
Translation: X:210.88, Y:-15.86, Z:141.58
[[ 8.25419861e-01 -9.06944457e-02 -5.57186298e-01  2.10883207e+02]
 [ 5.66205034e-02  9.95333662e-01 -7.81346327e-02 -1.58575427e+01]
 [ 5.61672655e-01  3.29457090e-02  8.26703338e-01  1.41577656e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.48327356
Centerline is valid?  [True, True]
Translation: X:210.93, Y:-15.85, Z:141.61
[[ 8.25534338e-01 -8.96569937e-02 -5.57184601e-01  2.10931075e+02]
 [ 5.53613975e-02  9.95403538e-01 -7.81467292e-02 -1.58522748e+01]
 [ 5.61629925e-01  3.36662902e-02  8.26703338e-01  1.41610410e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.54327356
Centerline is valid?  [True, True]
Translation: X:210.98, Y:-15.84, Z:141.64
[[ 8.25385319e-01 -9.10593222e-02 -5.57177957e-01  2.10979489e+02]
 [ 5.70205033e-02  9.95306158e-01 -7.81940802e-02 -1.58449711e+01]
 [ 5.61682951e-01  3.27696783e-02  8.26703339e-01  1.41643706e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.60327356
Centerline is valid?  [True, True]
Translation: X:211.03, Y:-15.84, Z:141.68
[[ 8.25124531e-01 -9.35207300e-02 -5.57156514e-01  2.11027919e+02]
 [ 5.98861922e-02  9.95125847e-01 -7.83466194e-02 -1.58389934e+01]
 [ 5.61767881e-01  3.12797356e-02  8.26703349e-01  1.41676833e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.66327356
Centerline is valid?  [True, True]
Translation: X:211.08, Y:-15.84, Z:141.71
[[ 8.24664127e-01 -9.76308121e-02 -5.57133111e-01  2.11076694e+02]
 [ 6.47317947e-02  9.94809300e-01 -7.85127468e-02 -1.58375465e+01]
 [ 5.61906463e-01  2.86824196e-02  8.26703360e-01  1.41709754e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.72327356
Centerline is valid?  [True, True]
Translation: X:211.13, Y:-15.82, Z:141.74
[[ 8.24241015e-01 -1.01163600e-01 -5.57128958e-01  2.11125149e+02]
 [ 6.89740883e-02  9.94521843e-01 -7.85422057e-02 -1.58247008e+01]
 [ 5.62022530e-01  2.63102454e-02  8.26703361e-01  1.41743613e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.78327356
Centerline is valid?  [True, True]
Translation: X:211.17, Y:-15.82, Z:141.78
[[ 8.23573284e-01 -1.06475289e-01 -5.57126610e-01  2.11174307e+02]
 [ 7.53729805e-02  9.94056044e-01 -7.85588600e-02 -1.58187357e+01]
 [ 5.62179651e-01  2.27066852e-02  8.26703361e-01  1.41777300e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.84327356
Centerline is valid?  [True, True]
Translation: X:211.22, Y:-15.81, Z:141.81
[[ 8.22771334e-01 -1.12516045e-01 -5.57124287e-01  2.11223196e+02]
 [ 8.26544872e-02  9.93475794e-01 -7.85753301e-02 -1.58120120e+01]
 [ 5.62330478e-01  1.86007070e-02  8.26703361e-01  1.41810877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.90327356
Centerline is valid?  [True, True]
Translation: X:211.27, Y:-15.80, Z:141.84
[[ 8.21550037e-01 -1.21124261e-01 -5.57121576e-01  2.11271896e+02]
 [ 9.30385860e-02  9.92555650e-01 -7.85945438e-02 -1.58038404e+01]
 [ 5.62493875e-01  1.27355466e-02  8.26703361e-01  1.41844464e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 335.96327356
Centerline is valid?  [True, True]
Translation: X:211.32, Y:-15.80, Z:141.88
[[ 8.20691652e-01 -1.26821031e-01 -5.57119052e-01  2.11320470e+02]
 [ 9.99102788e-02  9.91886093e-01 -7.86124347e-02 -1.57957937e+01]
 [ 5.62568350e-01  8.85464911e-03  8.26703361e-01  1.41877954e+02]
 [ 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 336.02327356
Centerline is valid?  [True, True]
Translation: X:211.37, Y:-15.79, Z:141.91
[[ 8.19533314e-01 -1.34121857e-01 -5.57114417e-01  2.11367938e+02]
 [ 1.08713838e-01  9.90957226e-01 -7.86452664e-02 -1.57858725e+01]
 [ 5.62624607e-01  3.88636945e-03  8.26703362e-01  1.41910869e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 336.08327356
Centerline is valid?  [True, True]
Translation: X:211.42, Y:-15.78, Z:141.94
[[ 8.19418606e-01 -1.34919460e-01 -5.57090555e-01  2.11416074e+02]
 [ 1.09563593e-01  9.90850228e-01 -7.88139920e-02 -1.57790880e+01]
 [ 5.62626845e-01  3.54480832e-03  8.26703374e-01  1.41943867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 336.14327356
Centerline is valid?  [True, True]
Translation: X:211.46, Y:-15.77, Z:141.98
[[ 8.19078498e-01 -1.37066453e-01 -5.57066604e-01  2.11463824e+02]
 [ 1.12045014e-01  9.90559238e-01 -7.89829794e-02 -1.57669432e+01]
 [ 5.62633388e-01  2.27672486e-03  8.26703386e-01  1.41977116e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 336.20327356
Centerline is valid?  [True, True]
Translation: X:211.51, Y:-15.75, Z:142.01
[[ 8.19566819e-01 -1.34129708e-01 -5.57063238e-01  2.11511394e+02]
 [ 1.08477649e-01  9.90954358e-01 -7.90067156e-02 -1.57529604e+01]
 [ 5.62621390e-01  4.32237238e-03  8.26703386e-01  1.42010495e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 336.26327356
Centerline is valid?  [True, True]
Translation: X:211.56, Y:-15.74, Z:142.04
[[ 8.20027640e-01 -1.31307015e-01 -5.57057571e-01  2.11558611e+02]
 [ 1.05037867e-01  9.91321680e-01 -7.90466541e-02 -1.57384027e+01]
 [ 5.62602627e-01  6.30830241e-03  8.26703386e-01  1.42043683e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 336.32327356
Centerline is valid?  [True, True]
Translation: X:211.61, Y:-15.72, Z:142.08
[[ 8.20896687e-01 -1.25863645e-01 -5.57034086e-01  2.11606096e+02]
 [ 9.83465512e-02  9.91994676e-01 -7.92118630e-02 -1.57204634e+01]
 [ 5.62544741e-01  1.02423747e-02  8.26703398e-01  1.42077316e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 336.38327356
Centerline is valid?  [True, True]
Translation: X:211.65, Y:-15.70, Z:142.11
[[ 8.21592848e-01 -1.21252157e-01 -5.57030616e-01  2.11651668e+02]
 [ 9.27582186e-02  9.92530871e-01 -7.92362542e-02 -1.57040150e+01]
 [ 5.62477649e-01  1.34307720e-02  8.26703398e-01  1.42109588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 336.44327356
Centerline is valid?  [True, True]
Translation: X:211.70, Y:-15.69, Z:142.14
[[ 8.22295916e-01 -1.16454869e-01 -5.57016777e-01  2.11699780e+02]
 [ 8.68979612e-02  9.93053347e-01 -7.93334427e-02 -1.56883329e+01]
 [ 5.62386140e-01  1.68319437e-02  8.26703402e-01  1.42143465e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 336.50327355999997
Centerline is valid?  [True, True]
Translation: X:211.75, Y:-15.68, Z:142.18
[[ 8.22890953e-01 -1.12194520e-01 -5.57012450e-01  2.11748034e+02]
 [ 8.17331006e-02  9.93489349e-01 -7.93638115e-02 -1.56766049e+01]
 [ 5.62290121e-01  1.97814078e-02  8.26703403e-01  1.42177088e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 336.56327355999997
Centerline is valid?  [True, True]
Translation: X:211.80, Y:-15.67, Z:142.21
[[ 8.23763418e-01 -1.05616905e-01 -5.57008887e-01  2.11795685e+02]
 [ 7.37766817e-02  9.94109862e-01 -7.93888149e-02 -1.56694054e+01]
 [ 5.62112828e-01  2.43033342e-02  8.26703403e-01  1.42209875e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 336.62327356
Centerline is valid?  [True, True]
Translation: X:211.84, Y:-15.65, Z:142.24
[[ 8.24367549e-01 -1.00821489e-01 -5.57003744e-01  2.11843099e+02]
 [ 6.79662196e-02  9.94521132e-01 -7.94248799e-02 -1.56540034e+01]
 [ 5.61959729e-01  2.76178548e-02  8.26703403e-01  1.42243284e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 336.68327356
Centerline is valid?  [True, True]
Translation: X:211.89, Y:-15.65, Z:142.28
[[ 8.25301205e-01 -9.28909155e-02 -5.57000179e-01  2.11892430e+02]
 [ 5.83844039e-02  9.95127619e-01 -7.94498788e-02 -1.56473397e+01]
 [ 5.61666434e-01  3.30499573e-02  8.26703404e-01  1.42277151e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 336.74327356
Centerline is valid?  [True, True]
Translation: X:211.94, Y:-15.64, Z:142.31
[[ 8.26045050e-01 -8.60404638e-02 -5.56997857e-01  2.11940328e+02]
 [ 5.01152244e-02  9.95577016e-01 -7.94661496e-02 -1.56370207e+01]
 [ 5.61371569e-01  3.77285469e-02  8.26703404e-01  1.42310408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 336.80327356
Centerline is valid?  [True, True]
Translation: X:211.99, Y:-15.63, Z:142.34
[[ 8.26565146e-01 -8.09205211e-02 -5.56993652e-01  2.11989556e+02]
 [ 4.39257791e-02  9.95866945e-01 -7.94956172e-02 -1.56282970e+01]
 [ 5.61124394e-01  4.12419264e-02  8.26703404e-01  1.42344401e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 336.86327356
Centerline is valid?  [True, True]
Translation: X:212.04, Y:-15.62, Z:142.38
[[ 8.26653568e-01 -8.00197037e-02 -5.56992572e-01  2.12037240e+02]
 [ 4.28354117e-02  9.95913837e-01 -7.95031864e-02 -1.56219316e+01]
 [ 5.61078431e-01  4.18625865e-02  8.26703404e-01  1.42377137e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 336.92327356
Centerline is valid?  [True, True]
Translation: X:212.09, Y:-15.62, Z:142.41
[[ 8.26185235e-01 -8.47743791e-02 -5.56984077e-01  2.12086268e+02]
 [ 4.85246079e-02  9.95648103e-01 -7.95626608e-02 -1.56197734e+01]
 [ 5.61305015e-01  3.87060617e-02  8.26703406e-01  1.42410351e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 336.98327356
Centerline is valid?  [True, True]
Translation: X:212.14, Y:-15.61, Z:142.44
[[ 8.26565965e-01 -8.10004439e-02 -5.56980820e-01  2.12135110e+02]
 [ 4.39618646e-02  9.95858177e-01 -7.95854576e-02 -1.56120110e+01]
 [ 5.61120361e-01  4.12967151e-02  8.26703406e-01  1.42443995e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 337.04327356
Centerline is valid?  [True, True]
Translation: X:212.18, Y:-15.61, Z:142.48
[[ 8.26450569e-01 -8.21976443e-02 -5.56976665e-01  2.12183852e+02]
 [ 4.53848354e-02  9.95792018e-01 -7.96145295e-02 -1.56069367e+01]
 [ 5.61177044e-01  4.05191789e-02  8.26703406e-01  1.42477310e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 337.10327356
Centerline is valid?  [True, True]
Translation: X:212.23, Y:-15.61, Z:142.51
[[ 8.25854645e-01 -8.81270774e-02 -5.56953969e-01  2.12234271e+02]
 [ 5.24241672e-02  9.95433559e-01 -7.97730346e-02 -1.56064749e+01]
 [ 5.61440836e-01  3.66830832e-02  8.26703417e-01  1.42511253e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 337.16327356
Centerline is valid?  [True, True]
Translation: X:212.28, Y:-15.60, Z:142.54
[[ 8.26223232e-01 -8.46174686e-02 -5.56951573e-01  2.12281509e+02]
 [ 4.81831714e-02  9.95646512e-01 -7.97897591e-02 -1.56009381e+01]
 [ 5.61278498e-01  3.90884596e-02  8.26703417e-01  1.42543604e+02]
 [ 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 337.22327356
Centerline is valid?  [True, True]
Translation: X:212.33, Y:-15.60, Z:142.58
[[ 8.26318457e-01 -8.37391265e-02 -5.56943055e-01  2.12330762e+02]
 [ 4.70849026e-02  9.95694291e-01 -7.98491797e-02 -1.55974910e+01]
 [ 5.61231521e-01  3.97572415e-02  8.26703418e-01  1.42577092e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 337.28327356
Centerline is valid?  [True, True]
Translation: X:212.38, Y:-15.59, Z:142.61
[[ 8.26619685e-01 -8.07312726e-02 -5.56940174e-01  2.12380446e+02]
 [ 4.34474073e-02  9.95858033e-01 -7.98692682e-02 -1.55937092e+01]
 [ 5.61081294e-01  4.18239028e-02  8.26703419e-01  1.42610920e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 337.34327356
Centerline is valid?  [True, True]
Translation: X:212.43, Y:-15.59, Z:142.64
[[ 8.26645729e-01 -8.04806480e-02 -5.56937792e-01  2.12429097e+02]
 [ 4.31343464e-02  9.95870310e-01 -7.98858783e-02 -1.55916140e+01]
 [ 5.61067079e-01  4.20141725e-02  8.26703419e-01  1.42643890e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 337.40327356
Centerline is valid?  [True, True]
Translation: X:212.48, Y:-15.59, Z:142.68
[[ 8.26447779e-01 -8.26496665e-02 -5.56913908e-01  2.12478882e+02]
 [ 4.56361651e-02  9.95745451e-01 -8.00520898e-02 -1.55874286e+01]
 [ 5.61160769e-01  4.07434568e-02  8.26703430e-01  1.42677756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 337.46327356
Centerline is valid?  [True, True]
Translation: X:212.53, Y:-15.58, Z:142.71
[[ 8.26565755e-01 -8.14767768e-02 -5.56911651e-01  2.12527206e+02]
 [ 4.42125447e-02  9.95808415e-01 -8.00677890e-02 -1.55836532e+01]
 [ 5.61100974e-01  4.15588112e-02  8.26703431e-01  1.42710668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 337.52327356
Centerline is valid?  [True, True]
Translation: X:212.58, Y:-15.58, Z:142.74
[[ 8.26386207e-01 -8.33363326e-02 -5.56902947e-01  2.12576745e+02]
 [ 4.64124300e-02  9.95703442e-01 -8.01282905e-02 -1.55822740e+01]
 [ 5.61187779e-01  4.03696950e-02  8.26703432e-01  1.42744145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 337.58327356
Centerline is valid?  [True, True]
Translation: X:212.62, Y:-15.58, Z:142.78
[[ 8.26257630e-01 -8.47509499e-02 -5.56880244e-01  2.12624681e+02]
 [ 4.80113293e-02  9.95614936e-01 -8.02858153e-02 -1.55752371e+01]
 [ 5.61242587e-01  3.96002067e-02  8.26703443e-01  1.42777043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 337.64327356
Centerline is valid?  [True, True]
Translation: X:212.67, Y:-15.57, Z:142.81
[[ 8.26665960e-01 -8.08630235e-02 -5.56852370e-01  2.12674057e+02]
 [ 4.31978760e-02  9.95819819e-01 -8.04787592e-02 -1.55697434e+01]
 [ 5.61032382e-01  4.24742112e-02  8.26703458e-01  1.42810745e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 337.70327356
Centerline is valid?  [True, True]
Translation: X:212.72, Y:-15.58, Z:142.84
[[ 8.27243147e-01 -7.47459463e-02 -5.56849907e-01  2.12724595e+02]
 [ 3.58192082e-02  9.96111144e-01 -8.04957943e-02 -1.55770805e+01]
 [ 5.60701132e-01  4.66436715e-02  8.26703458e-01  1.42844064e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 337.76327356
Centerline is valid?  [True, True]
Translation: X:212.77, Y:-15.57, Z:142.88
[[ 8.26980477e-01 -7.76288042e-02 -5.56845633e-01  2.12773095e+02]
 [ 3.92711084e-02  9.95978638e-01 -8.05253522e-02 -1.55735503e+01]
 [ 5.60857442e-01  4.47249489e-02  8.26703459e-01  1.42877061e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 337.82327356
Centerline is valid?  [True, True]
Translation: X:212.82, Y:-15.55, Z:142.91
[[ 8.25862270e-01 -8.87652562e-02 -5.56841307e-01  2.12820233e+02]
 [ 5.26682054e-02  9.95357680e-01 -8.05552591e-02 -1.55515570e+01]
 [ 5.61406779e-01  3.71997168e-02  8.26703459e-01  1.42910940e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 337.88327356
Centerline is valid?  [True, True]
Translation: X:212.87, Y:-15.55, Z:142.94
[[ 8.25388873e-01 -9.30870650e-02 -5.56837504e-01  2.12869478e+02]
 [ 5.78600826e-02  9.95067247e-01 -8.05815355e-02 -1.55480509e+01]
 [ 5.61591861e-01  3.42924388e-02  8.26703459e-01  1.42944439e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 337.94327355999997
Centerline is valid?  [True, True]
Translation: X:212.92, Y:-15.55, Z:142.98
[[ 8.24484067e-01 -1.00800903e-01 -5.56834986e-01  2.12919405e+02]
 [ 6.71503430e-02  9.94482098e-01 -8.05989336e-02 -1.55458281e+01]
 [ 5.61886871e-01  2.90608762e-02  8.26703460e-01  1.42978276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 338.00327355999997
Centerline is valid?  [True, True]
Translation: X:212.97, Y:-15.54, Z:143.01
[[ 8.24138508e-01 -1.03609046e-01 -5.56831111e-01  2.12966897e+02]
 [ 7.05197604e-02  9.94246679e-01 -8.06257024e-02 -1.55406897e+01]
 [ 5.61981035e-01  2.71791495e-02  8.26703460e-01  1.43010752e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 338.06327355999997
Centerline is valid?  [True, True]
Translation: X:213.02, Y:-15.54, Z:143.04
[[ 8.23273857e-01 -1.10334693e-01 -5.56818113e-01  2.13016410e+02]
 [ 7.85748925e-02  9.93635252e-01 -8.07153799e-02 -1.55385964e+01]
 [ 5.62179813e-01  2.26989388e-02  8.26703463e-01  1.43044261e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 338.12327356
Centerline is valid?  [True, True]
Translation: X:213.07, Y:-15.53, Z:143.08
[[ 8.22769357e-01 -1.14052978e-01 -5.56814605e-01  2.13066250e+02]
 [ 8.30468105e-02  9.93269524e-01 -8.07395787e-02 -1.55348822e+01]
 [ 5.62275567e-01  2.01883743e-02  8.26703463e-01  1.43078180e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 338.18327356
Centerline is valid?  [True, True]
Translation: X:213.11, Y:-15.53, Z:143.11
[[ 8.22746686e-01 -1.14228684e-01 -5.56812086e-01  2.13113491e+02]
 [ 8.32471905e-02  9.93251338e-01 -8.07569458e-02 -1.55300050e+01]
 [ 5.62279109e-01  2.00894677e-02  8.26703464e-01  1.43110467e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 338.24327356
Centerline is valid?  [True, True]
Translation: X:213.16, Y:-15.52, Z:143.14
[[ 8.22923211e-01 -1.12991107e-01 -5.56803735e-01  2.13162499e+02]
 [ 8.17143212e-02  9.93373942e-01 -8.08144902e-02 -1.55237233e+01]
 [ 5.62245640e-01  2.10052805e-02  8.26703465e-01  1.43144059e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 338.30327356
Centerline is valid?  [True, True]
Translation: X:213.21, Y:-15.52, Z:143.18
[[ 8.23513376e-01 -1.08620945e-01 -5.56800872e-01  2.13211002e+02]
 [ 7.64264344e-02  9.93793153e-01 -8.08342139e-02 -1.55195220e+01]
 [ 5.62125182e-01  2.40137511e-02  8.26703465e-01  1.43177128e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 338.36327356
Centerline is valid?  [True, True]
Translation: X:213.26, Y:-15.52, Z:143.21
[[ 8.23922445e-01 -1.05601610e-01 -5.56776530e-01  2.13259055e+02]
 [ 7.26702943e-02  9.94061251e-01 -8.10015859e-02 -1.55152713e+01]
 [ 5.62023872e-01  2.62779104e-02  8.26703477e-01  1.43209821e+02]
 [ 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 : 0.994651 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 338.42327356
Centerline is valid?  [True, True]
Translation: X:213.31, Y:-15.51, Z:143.24
[[ 8.24411922e-01 -1.01742208e-01 -5.56770605e-01  2.13308068e+02]
 [ 6.79871120e-02  9.94389209e-01 -8.10422962e-02 -1.55110414e+01]
 [ 5.61892103e-01  2.89590097e-02  8.26703478e-01  1.43243224e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 338.48327356
Centerline is valid?  [True, True]
Translation: X:213.36, Y:-15.51, Z:143.28
[[ 8.24618144e-01 -1.00079978e-01 -5.56766482e-01  2.13357174e+02]
 [ 6.59632118e-02  9.94523208e-01 -8.10706129e-02 -1.55053956e+01]
 [ 5.61830732e-01  3.01261929e-02  8.26703478e-01  1.43276835e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 338.54327356
Centerline is valid?  [True, True]
Translation: X:213.41, Y:-15.50, Z:143.31
[[ 8.25209723e-01 -9.50999274e-02 -5.56762891e-01  2.13405080e+02]
 [ 5.99414916e-02  9.94902294e-01 -8.10952650e-02 -1.54982838e+01]
 [ 5.61636832e-01  3.35474030e-02  8.26703478e-01  1.43309784e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 338.60327356
Centerline is valid?  [True, True]
Translation: X:213.45, Y:-15.49, Z:143.34
[[ 8.25494637e-01 -9.26211738e-02 -5.56758405e-01  2.13452569e+02]
 [ 5.69325821e-02  9.95076502e-01 -8.11260538e-02 -1.54915198e+01]
 [ 5.61531197e-01  3.52714287e-02  8.26703479e-01  1.43342414e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 338.66327356
Centerline is valid?  [True, True]
Translation: X:213.50, Y:-15.50, Z:143.38
[[ 8.25236263e-01 -9.49357511e-02 -5.56751573e-01  2.13502939e+02]
 [ 5.96913578e-02  9.94911001e-01 -8.11729184e-02 -1.55024061e+01]
 [ 5.61624477e-01  3.37535784e-02  8.26703480e-01  1.43375242e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 338.72327356
Centerline is valid?  [True, True]
Translation: X:213.55, Y:-15.48, Z:143.41
[[ 8.25263744e-01 -9.48597300e-02 -5.56723796e-01  2.13548600e+02]
 [ 5.94719145e-02  9.94908611e-01 -8.13630525e-02 -1.54793967e+01]
 [ 5.61607376e-01  3.40365472e-02  8.26703495e-01  1.43408152e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 338.78327356
Centerline is valid?  [True, True]
Translation: X:213.60, Y:-15.47, Z:143.44
[[ 8.24788516e-01 -9.90459381e-02 -5.56699026e-01  2.13596895e+02]
 [ 6.44055300e-02  9.94587564e-01 -8.15322367e-02 -1.54739915e+01]
 [ 5.61761365e-01  3.13923566e-02  8.26703507e-01  1.43441118e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 338.84327356
Centerline is valid?  [True, True]
Translation: X:213.65, Y:-15.47, Z:143.47
[[ 8.24152809e-01 -1.04225973e-01 -5.56694794e-01  2.13646376e+02]
 [ 7.06335975e-02  9.94162299e-01 -8.15611273e-02 -1.54689742e+01]
 [ 5.61945764e-01  2.78974762e-02  8.26703507e-01  1.43474918e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 338.90327356
Centerline is valid?  [True, True]
Translation: X:213.70, Y:-15.46, Z:143.51
[[ 8.23591043e-01 -1.08597298e-01 -5.56690598e-01  2.13695766e+02]
 [ 7.58881176e-02  9.93772662e-01 -8.15897600e-02 -1.54636398e+01]
 [ 5.62084325e-01  2.49503939e-02  8.26703508e-01  1.43508688e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 338.96327356
Centerline is valid?  [True, True]
Translation: X:213.74, Y:-15.46, Z:143.54
[[ 8.23268268e-01 -1.11041128e-01 -5.56685932e-01  2.13744236e+02]
 [ 7.88156877e-02  9.93542150e-01 -8.16215824e-02 -1.54576986e+01]
 [ 5.62154291e-01  2.33208742e-02  8.26703508e-01  1.43541897e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 339.02327356
Centerline is valid?  [True, True]
Translation: X:213.79, Y:-15.45, Z:143.58
[[ 8.22521939e-01 -1.16558317e-01 -5.56661314e-01  2.13793143e+02]
 [ 8.53619263e-02  9.92987347e-01 -8.17891871e-02 -1.54503189e+01]
 [ 5.62290852e-01  1.97557186e-02  8.26703520e-01  1.43575468e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 339.08327356
Centerline is valid?  [True, True]
Translation: X:213.84, Y:-15.44, Z:143.61
[[ 8.21534224e-01 -1.23342209e-01 -5.56658080e-01  2.13840834e+02]
 [ 9.35387437e-02  9.92248674e-01 -8.18111969e-02 -1.54423685e+01]
 [ 5.62434015e-01  1.51416008e-02  8.26703520e-01  1.43608356e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 339.14327356
Centerline is valid?  [True, True]
Translation: X:213.89, Y:-15.44, Z:143.64
[[ 8.20966782e-01 -1.27172672e-01 -5.56633321e-01  2.13890014e+02]
 [ 9.80518138e-02  9.91798985e-01 -8.19793625e-02 -1.54356082e+01]
 [ 5.62493897e-01  1.27234267e-02  8.26703532e-01  1.43642050e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 339.20327356
Centerline is valid?  [True, True]
Translation: X:213.94, Y:-15.43, Z:143.68
[[ 8.19885867e-01 -1.33976791e-01 -5.56630384e-01  2.13937583e+02]
 [ 1.06260156e-01  9.90951509e-01 -8.19993011e-02 -1.54253027e+01]
 [ 5.62579722e-01  8.08243644e-03  8.26703532e-01  1.43675091e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 339.26327356
Centerline is valid?  [True, True]
Translation: X:213.99, Y:-15.41, Z:143.71
[[ 8.19788371e-01 -1.34674486e-01 -5.56605613e-01  2.13985710e+02]
 [ 1.06989496e-01  9.90859126e-01 -8.21671537e-02 -1.54140968e+01]
 [ 5.62583571e-01  7.80872324e-03  8.26703544e-01  1.43708519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 339.32327356
Centerline is valid?  [True, True]
Translation: X:214.03, Y:-15.40, Z:143.74
[[ 8.20484822e-01 -1.30383492e-01 -5.56601116e-01  2.14033986e+02]
 [ 1.01783183e-01  9.91404931e-01 -8.21976087e-02 -1.54011537e+01]
 [ 5.62534302e-01  1.07892572e-02  8.26703545e-01  1.43742293e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 339.38327356
Centerline is valid?  [True, True]
Translation: X:214.08, Y:-15.39, Z:143.78
[[ 8.21367258e-01 -1.24723408e-01 -5.56596712e-01  2.14081273e+02]
 [ 9.49251454e-02  9.92082591e-01 -8.22274261e-02 -1.53916508e+01]
 [ 5.62445592e-01  1.47038918e-02  8.26703545e-01  1.43775060e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 339.44327355999997
Centerline is valid?  [True, True]
Translation: X:214.13, Y:-15.38, Z:143.81
[[ 8.22831144e-01 -1.14700337e-01 -5.56590281e-01  2.14128199e+02]
 [ 8.27936041e-02  9.93164997e-01 -8.22709370e-02 -1.53774576e+01]
 [ 5.62222489e-01  2.16129739e-02  8.26703546e-01  1.43808044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 339.50327355999997
Centerline is valid?  [True, True]
Translation: X:214.18, Y:-15.37, Z:143.84
[[ 8.23174719e-01 -1.12235646e-01 -5.56584713e-01  2.14176588e+02]
 [ 7.97935323e-02  9.93407413e-01 -8.23085922e-02 -1.53660299e+01]
 [ 5.62153337e-01  2.33424920e-02  8.26703546e-01  1.43841741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 339.56327355999997
Centerline is valid?  [True, True]
Translation: X:214.22, Y:-15.35, Z:143.87
[[ 8.23582853e-01 -1.09218737e-01 -5.56581127e-01  2.14223758e+02]
 [ 7.61367542e-02  9.93692357e-01 -8.23328296e-02 -1.53545137e+01]
 [ 5.62062700e-01  2.54316262e-02  8.26703547e-01  1.43874633e+02]
 [ 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 339.62327356
Centerline is valid?  [True, True]
Translation: X:214.27, Y:-15.35, Z:143.91
[[ 8.23832498e-01 -1.07390575e-01 -5.56567408e-01  2.14271399e+02]
 [ 7.38686743e-02  9.93855854e-01 -8.24254820e-02 -1.53450068e+01]
 [ 5.61999497e-01  2.67918941e-02  8.26703550e-01  1.43907609e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 339.68327356
Centerline is valid?  [True, True]
Translation: X:214.32, Y:-15.34, Z:143.94
[[ 8.24060904e-01 -1.05663789e-01 -5.56559782e-01  2.14320492e+02]
 [ 7.17509599e-02  9.94006716e-01 -8.24769537e-02 -1.53361609e+01]
 [ 5.61938988e-01  2.80323345e-02  8.26703551e-01  1.43941516e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 339.74327356
Centerline is valid?  [True, True]
Translation: X:214.37, Y:-15.32, Z:143.98
[[ 8.26400931e-01 -8.54637315e-02 -5.56558579e-01  2.14367952e+02]
 [ 4.73963050e-02  9.95464617e-01 -8.24850644e-02 -1.53186253e+01]
 [ 5.61083855e-01  4.17869138e-02  8.26703551e-01  1.43975213e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 339.80327356
Centerline is valid?  [True, True]
Translation: X:214.42, Y:-15.32, Z:144.01
[[ 8.24505538e-01 -1.02164468e-01 -5.56554616e-01  2.14417800e+02]
 [ 6.75070226e-02  9.94301063e-01 -8.25118035e-02 -1.53179287e+01]
 [ 5.61812620e-01  3.04600938e-02  8.26703552e-01  1.44008829e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 339.86327356
Centerline is valid?  [True, True]
Translation: X:214.47, Y:-15.31, Z:144.04
[[ 8.24500032e-01 -1.02229682e-01 -5.56550797e-01  2.14465204e+02]
 [ 6.75683356e-02  9.94294761e-01 -8.25375553e-02 -1.53118971e+01]
 [ 5.61813329e-01  3.04470060e-02  8.26703552e-01  1.44041332e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 339.92327356
Centerline is valid?  [True, True]
Translation: X:214.51, Y:-15.30, Z:144.07
[[ 8.24452670e-01 -1.02659108e-01 -5.56541914e-01  2.14513760e+02]
 [ 6.80459169e-02  9.94257221e-01 -8.25974112e-02 -1.53047273e+01]
 [ 5.61825193e-01  3.02272513e-02  8.26703553e-01  1.44074707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 339.98327356
Centerline is valid?  [True, True]
Translation: X:214.56, Y:-15.30, Z:144.11
[[ 8.24286882e-01 -1.04103965e-01 -5.56519093e-01  2.14562207e+02]
 [ 6.96850749e-02  9.94130913e-01 -8.27509380e-02 -1.52979769e+01]
 [ 5.61867535e-01  2.94294380e-02  8.26703563e-01  1.44107921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 340.04327356
Centerline is valid?  [True, True]
Translation: X:214.61, Y:-15.29, Z:144.14
[[ 8.24080823e-01 -1.05851832e-01 -5.56494553e-01  2.14610750e+02]
 [ 7.16822420e-02  9.93975173e-01 -8.29156934e-02 -1.52934324e+01]
 [ 5.61918547e-01  2.84384556e-02  8.26703575e-01  1.44140974e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 340.10327356
Centerline is valid?  [True, True]
Translation: X:214.66, Y:-15.29, Z:144.17
[[ 8.23990586e-01 -1.06681835e-01 -5.56469675e-01  2.14659070e+02]
 [ 7.25711077e-02  9.93896752e-01 -8.30823712e-02 -1.52873779e+01]
 [ 5.61936783e-01  2.80754711e-02  8.26703587e-01  1.44174025e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 340.16327356
Centerline is valid?  [True, True]
Translation: X:214.71, Y:-15.28, Z:144.21
[[ 8.24001964e-01 -1.06723645e-01 -5.56444810e-01  2.14708593e+02]
 [ 7.25095499e-02  9.93887333e-01 -8.32486295e-02 -1.52812632e+01]
 [ 5.61928045e-01  2.82494716e-02  8.26703598e-01  1.44207892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 340.22327356
Centerline is valid?  [True, True]
Translation: X:214.76, Y:-15.28, Z:144.24
[[ 8.23793794e-01 -1.08342898e-01 -5.56440115e-01  2.14757316e+02]
 [ 7.44416165e-02  9.93741862e-01 -8.32799968e-02 -1.52757492e+01]
 [ 5.61980632e-01  2.71832428e-02  8.26703599e-01  1.44241227e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 340.28327356
Centerline is valid?  [True, True]
Translation: X:214.81, Y:-15.27, Z:144.27
[[ 8.23458249e-01 -1.10891452e-01 -5.56434720e-01  2.14805583e+02]
 [ 7.74919047e-02  9.93505633e-01 -8.33160339e-02 -1.52717214e+01]
 [ 5.62060065e-01  2.54880892e-02  8.26703599e-01  1.44274103e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 340.34327356
Centerline is valid?  [True, True]
Translation: X:214.85, Y:-15.27, Z:144.31
[[ 8.23224720e-01 -1.12631223e-01 -5.56430830e-01  2.14854377e+02]
 [ 7.95735492e-02  9.93338895e-01 -8.33420068e-02 -1.52661198e+01]
 [ 5.62111298e-01  2.43320242e-02  8.26703600e-01  1.44307496e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 340.40327356
Centerline is valid?  [True, True]
Translation: X:214.90, Y:-15.26, Z:144.34
[[ 8.23191600e-01 -1.12895015e-01 -5.56426369e-01  2.14902753e+02]
 [ 7.98717695e-02  9.93312462e-01 -8.33717775e-02 -1.52605196e+01]
 [ 5.62117505e-01  2.41881882e-02  8.26703600e-01  1.44340606e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 340.46327356
Centerline is valid?  [True, True]
Translation: X:214.95, Y:-15.24, Z:144.37
[[ 8.23914391e-01 -1.07623232e-01 -5.56401219e-01  2.14949865e+02]
 [ 7.33987980e-02  9.93797663e-01 -8.35393406e-02 -1.52434125e+01]
 [ 5.61941005e-01  2.79900842e-02  8.26703612e-01  1.44373959e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 340.52327356
Centerline is valid?  [True, True]
Translation: X:215.00, Y:-15.25, Z:144.41
[[ 8.23734189e-01 -1.09021063e-01 -5.56395896e-01  2.15000036e+02]
 [ 7.50610481e-02  9.93670516e-01 -8.35747804e-02 -1.52492822e+01]
 [ 5.61985609e-01  2.70797448e-02  8.26703612e-01  1.44407114e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 340.58327356
Centerline is valid?  [True, True]
Translation: X:215.05, Y:-15.24, Z:144.44
[[ 8.24308286e-01 -1.04725250e-01 -5.56370805e-01  2.15048654e+02]
 [ 6.97675463e-02  9.94042174e-01 -8.37415406e-02 -1.52408684e+01]
 [ 5.61825898e-01  3.02122199e-02  8.26703624e-01  1.44440601e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 340.64327356
Centerline is valid?  [True, True]
Translation: X:215.10, Y:-15.22, Z:144.47
[[ 8.25538746e-01 -9.45526478e-02 -5.56368201e-01  2.15095408e+02]
 [ 5.74929891e-02  9.94826122e-01 -8.37588376e-02 -1.52201796e+01]
 [ 5.61409240e-01  3.71588949e-02  8.26703624e-01  1.44474154e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 340.70327356
Centerline is valid?  [True, True]
Translation: X:215.15, Y:-15.22, Z:144.51
[[ 8.25541823e-01 -9.45518331e-02 -5.56363774e-01  2.15146424e+02]
 [ 5.74722860e-02  9.94824843e-01 -8.37882317e-02 -1.52247744e+01]
 [ 5.61406835e-01  3.71951916e-02  8.26703625e-01  1.44508007e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 340.76327356
Centerline is valid?  [True, True]
Translation: X:215.19, Y:-15.21, Z:144.54
[[ 8.26221835e-01 -8.84251331e-02 -5.56361821e-01  2.15193999e+02]
 [ 5.00821315e-02  9.95223160e-01 -8.38012030e-02 -1.52064729e+01]
 [ 5.61114302e-01  4.13745979e-02  8.26703625e-01  1.44541873e+02]
 [ 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 : 0.988432 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.988719 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 340.82327356
Centerline is valid?  [True, True]
Translation: X:215.24, Y:-15.20, Z:144.58
[[ 8.26103285e-01 -8.95432255e-02 -5.56359033e-01  2.15243295e+02]
 [ 5.14165841e-02  9.95153552e-01 -8.38197047e-02 -1.52015443e+01]
 [ 5.61168155e-01  4.06376523e-02  8.26703625e-01  1.44575539e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 340.88327356
Centerline is valid?  [True, True]
Translation: X:215.29, Y:-15.20, Z:144.61
[[ 8.25855325e-01 -9.18144968e-02 -5.56356973e-01  2.15292460e+02]
 [ 5.41436853e-02  9.95007752e-01 -8.38333794e-02 -1.51970890e+01]
 [ 5.61276620e-01  3.91110259e-02  8.26703625e-01  1.44609072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 340.94327355999997
Centerline is valid?  [True, True]
Translation: X:215.34, Y:-15.20, Z:144.64
[[ 8.24727489e-01 -1.01466555e-01 -5.56353401e-01  2.15343295e+02]
 [ 6.57606172e-02  9.94305553e-01 -8.38570779e-02 -1.52036013e+01]
 [ 5.61693965e-01  3.25730943e-02  8.26703625e-01  1.44642610e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.00327355999997
Centerline is valid?  [True, True]
Translation: X:215.39, Y:-15.20, Z:144.68
[[ 8.24201576e-01 -1.05670610e-01 -5.56350145e-01  2.15393052e+02]
 [ 7.08152951e-02  9.93956519e-01 -8.38786758e-02 -1.51988544e+01]
 [ 5.61851364e-01  2.97348371e-02  8.26703625e-01  1.44676566e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.06327355999997
Centerline is valid?  [True, True]
Translation: X:215.44, Y:-15.18, Z:144.71
[[ 8.24645080e-01 -1.02159681e-01 -5.56348713e-01  2.15440907e+02]
 [ 6.65753755e-02  9.94248709e-01 -8.38881696e-02 -1.51837569e+01]
 [ 5.61718978e-01  3.21388418e-02  8.26703625e-01  1.44710298e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.12327356
Centerline is valid?  [True, True]
Translation: X:215.49, Y:-15.19, Z:144.74
[[ 8.23777185e-01 -1.08950044e-01 -5.56346149e-01  2.15490696e+02]
 [ 7.47527675e-02  9.93665912e-01 -8.39051737e-02 -1.51888409e+01]
 [ 5.61963676e-01  2.75307535e-02  8.26703625e-01  1.44743280e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.18327356
Centerline is valid?  [True, True]
Translation: X:215.54, Y:-15.18, Z:144.78
[[ 8.23501830e-01 -1.11033202e-01 -5.56341949e-01  2.15539037e+02]
 [ 7.72469529e-02  9.93472776e-01 -8.39330138e-02 -1.51847781e+01]
 [ 5.62029932e-01  2.61432701e-02  8.26703626e-01  1.44776209e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.24327356
Centerline is valid?  [True, True]
Translation: X:215.59, Y:-15.18, Z:144.81
[[ 8.23367861e-01 -1.12147255e-01 -5.56316779e-01  2.15587491e+02]
 [ 7.84786960e-02  9.93362148e-01 -8.40995699e-02 -1.51786400e+01]
 [ 5.62055566e-01  2.55858677e-02  8.26703638e-01  1.44809352e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.30327356
Centerline is valid?  [True, True]
Translation: X:215.63, Y:-15.17, Z:144.84
[[ 8.23412854e-01 -1.11840973e-01 -5.56311845e-01  2.15634438e+02]
 [ 7.80871884e-02  9.93390238e-01 -8.41321936e-02 -1.51719256e+01]
 [ 5.62044183e-01  2.58347018e-02  8.26703638e-01  1.44841610e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.36327356
Centerline is valid?  [True, True]
Translation: X:215.68, Y:-15.16, Z:144.87
[[ 8.23270452e-01 -1.12959437e-01 -5.56296620e-01  2.15682273e+02]
 [ 7.93687700e-02  9.93280142e-01 -8.42327648e-02 -1.51642745e+01]
 [ 5.62073271e-01  2.51937679e-02  8.26703642e-01  1.44874524e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.42327356
Centerline is valid?  [True, True]
Translation: X:215.73, Y:-15.16, Z:144.91
[[ 8.23408484e-01 -1.12074392e-01 -5.56271337e-01  2.15731221e+02]
 [ 7.81886190e-02  9.93359588e-01 -8.43994579e-02 -1.51568876e+01]
 [ 5.62036484e-01  2.60011421e-02  8.26703654e-01  1.44908126e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.48327356
Centerline is valid?  [True, True]
Translation: X:215.78, Y:-15.15, Z:144.94
[[ 8.23517980e-01 -1.11284986e-01 -5.56267731e-01  2.15778337e+02]
 [ 7.72202943e-02  9.93433313e-01 -8.44232166e-02 -1.51470893e+01]
 [ 5.62009931e-01  2.65688789e-02  8.26703654e-01  1.44940817e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.54327356
Centerline is valid?  [True, True]
Translation: X:215.83, Y:-15.14, Z:144.97
[[ 8.23698559e-01 -1.10007491e-01 -5.56254470e-01  2.15826479e+02]
 [ 7.56204750e-02  9.93548950e-01 -8.45105140e-02 -1.51395314e+01]
 [ 5.61962835e-01  2.75469614e-02  8.26703657e-01  1.44973937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.60327356
Centerline is valid?  [True, True]
Translation: X:215.87, Y:-15.13, Z:145.01
[[ 8.23861381e-01 -1.08909086e-01 -5.56229482e-01  2.15874937e+02]
 [ 7.41850495e-02  9.93643181e-01 -8.46747160e-02 -1.51301192e+01]
 [ 5.61915478e-01  2.84963168e-02  8.26703669e-01  1.45007418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.66327356
Centerline is valid?  [True, True]
Translation: X:215.92, Y:-15.12, Z:145.04
[[ 8.23845570e-01 -1.09050838e-01 -5.56225126e-01  2.15922022e+02]
 [ 7.43367535e-02  9.93629405e-01 -8.47033184e-02 -1.51222990e+01]
 [ 5.61918609e-01  2.84344835e-02  8.26703669e-01  1.45039884e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.72327356
Centerline is valid?  [True, True]
Translation: X:215.97, Y:-15.13, Z:145.07
[[ 8.24065602e-01 -1.07439325e-01 -5.56212797e-01  2.15972205e+02]
 [ 7.23387896e-02  9.93769961e-01 -8.47842158e-02 -1.51274417e+01]
 [ 5.61856729e-01  2.96319953e-02  8.26703672e-01  1.45073078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.78327356
Centerline is valid?  [True, True]
Translation: X:216.02, Y:-15.10, Z:145.11
[[ 8.23712323e-01 -1.10239573e-01 -5.56188139e-01  2.16018095e+02]
 [ 7.56072600e-02  9.93512842e-01 -8.49457163e-02 -1.51034524e+01]
 [ 5.61944438e-01  2.79189721e-02  8.26703683e-01  1.45106329e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.84327356
Centerline is valid?  [True, True]
Translation: X:216.07, Y:-15.09, Z:145.14
[[ 8.23615069e-01 -1.11086676e-01 -5.56163616e-01  2.16066334e+02]
 [ 7.65210274e-02  9.93429161e-01 -8.51060206e-02 -1.50940484e+01]
 [ 5.61963299e-01  2.75363897e-02  8.26703694e-01  1.45139667e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.90327356
Centerline is valid?  [True, True]
Translation: X:216.11, Y:-15.08, Z:145.17
[[ 8.23648399e-01 -1.10898768e-01 -5.56151758e-01  2.16113601e+02]
 [ 7.62422209e-02  9.93443961e-01 -8.51834550e-02 -1.50849620e+01]
 [ 5.61952345e-01  2.77589712e-02  8.26703696e-01  1.45172361e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 341.96327356
Centerline is valid?  [True, True]
Translation: X:216.16, Y:-15.09, Z:145.21
[[ 8.23828296e-01 -1.09598660e-01 -5.56143033e-01  2.16163055e+02]
 [ 7.46358377e-02  9.93561054e-01 -8.52403824e-02 -1.50888786e+01]
 [ 5.61904290e-01  2.87152378e-02  8.26703698e-01  1.45205197e+02]
 [ 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 : 0.993154 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.990011 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.996024 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.993651 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.991714 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 342.02327356
Centerline is valid?  [True, True]
Translation: X:216.21, Y:-15.08, Z:145.24
[[ 8.23924805e-01 -1.08915778e-01 -5.56134219e-01  2.16211567e+02]
 [ 7.37735947e-02  9.93620517e-01 -8.52978577e-02 -1.50785554e+01]
 [ 5.61876653e-01  2.92510003e-02  8.26703699e-01  1.45238866e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 342.08327356
Centerline is valid?  [True, True]
Translation: X:216.26, Y:-15.07, Z:145.27
[[ 8.23951625e-01 -1.08728294e-01 -5.56131169e-01  2.16258247e+02]
 [ 7.35341163e-02  9.93636562e-01 -8.53177393e-02 -1.50687785e+01]
 [ 5.61868715e-01  2.94030759e-02  8.26703699e-01  1.45271267e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 342.14327356
Centerline is valid?  [True, True]
Translation: X:216.31, Y:-15.06, Z:145.30
[[ 8.23801858e-01 -1.09901774e-01 -5.56122377e-01  2.16305584e+02]
 [ 7.49107604e-02  9.93528804e-01 -8.53750120e-02 -1.50576141e+01]
 [ 5.61906466e-01  2.86725434e-02  8.26703701e-01  1.45304233e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 342.20327356
Centerline is valid?  [True, True]
Translation: X:216.35, Y:-15.05, Z:145.34
[[ 8.23421538e-01 -1.12750013e-01 -5.56115461e-01  2.16354246e+02]
 [ 7.83158183e-02  9.93262326e-01 -8.54200467e-02 -1.50492297e+01]
 [ 5.61999647e-01  2.67840688e-02  8.26703702e-01  1.45337811e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 342.26327356
Centerline is valid?  [True, True]
Translation: X:216.40, Y:-15.04, Z:145.37
[[ 8.22744517e-01 -1.17604027e-01 -5.56112176e-01  2.16402030e+02]
 [ 8.41576112e-02  9.92782584e-01 -8.54414244e-02 -1.50408010e+01]
 [ 5.62146739e-01  2.34953912e-02  8.26703702e-01  1.45370814e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 342.32327356
Centerline is valid?  [True, True]
Translation: X:216.45, Y:-15.03, Z:145.40
[[ 8.22503367e-01 -1.19397639e-01 -5.56086698e-01  2.16451184e+02]
 [ 8.62102975e-02  9.92592177e-01 -8.56069802e-02 -1.50336287e+01]
 [ 5.62188577e-01  2.24716298e-02  8.26703713e-01  1.45404535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 342.38327356
Centerline is valid?  [True, True]
Translation: X:216.50, Y:-15.01, Z:145.44
[[ 8.21383338e-01 -1.26886569e-01 -5.56083817e-01  2.16496371e+02]
 [ 9.52376407e-02  9.91765110e-01 -8.56256901e-02 -1.50078095e+01]
 [ 5.62369278e-01  1.73714043e-02  8.26703714e-01  1.45437595e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 342.44327355999997
Centerline is valid?  [True, True]
Translation: X:216.55, Y:-15.01, Z:145.47
[[ 8.21714512e-01 -1.24741299e-01 -5.56079913e-01  2.16546625e+02]
 [ 9.26304371e-02  9.92009830e-01 -8.56510350e-02 -1.50144029e+01]
 [ 5.62320961e-01  1.88707730e-02  8.26703714e-01  1.45470703e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 342.50327355999997
Centerline is valid?  [True, True]
Translation: X:216.60, Y:-15.00, Z:145.50
[[ 8.21704801e-01 -1.24913845e-01 -5.56055530e-01  2.16595132e+02]
 [ 9.27319059e-02  9.91986690e-01 -8.58090904e-02 -1.50045425e+01]
 [ 5.62318428e-01  1.89456525e-02  8.26703724e-01  1.45504272e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 342.56327355999997
Centerline is valid?  [True, True]
Translation: X:216.64, Y:-14.99, Z:145.54
[[ 8.21876928e-01 -1.23867197e-01 -5.56035280e-01  2.16643202e+02]
 [ 9.13798599e-02  9.92100808e-01 -8.59401372e-02 -1.49936884e+01]
 [ 5.62288215e-01  1.98217899e-02  8.26703732e-01  1.45537665e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 342.62327356
Centerline is valid?  [True, True]
Translation: X:216.69, Y:-14.99, Z:145.57
[[ 8.21962322e-01 -1.23333772e-01 -5.56027627e-01  2.16690742e+02]
 [ 9.07025274e-02  9.92158674e-01 -8.59896326e-02 -1.49851627e+01]
 [ 5.62273058e-01  2.02471271e-02  8.26703733e-01  1.45570502e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 342.68327356
Centerline is valid?  [True, True]
Translation: X:216.74, Y:-14.97, Z:145.60
[[ 8.22103897e-01 -1.22427429e-01 -5.56018622e-01  2.16737940e+02]
 [ 8.95692482e-02  9.92256580e-01 -8.60478265e-02 -1.49743362e+01]
 [ 5.62247750e-01  2.09380836e-02  8.26703734e-01  1.45603344e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 342.74327356
Centerline is valid?  [True, True]
Translation: X:216.79, Y:-14.96, Z:145.64
[[ 8.22373836e-01 -1.20644050e-01 -5.56009251e-01  2.16785742e+02]
 [ 8.73760485e-02  9.92446865e-01 -8.61083396e-02 -1.49626444e+01]
 [ 5.62198097e-01  2.22313542e-02  8.26703736e-01  1.45636681e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 342.80327356
Centerline is valid?  [True, True]
Translation: X:216.83, Y:-14.95, Z:145.67
[[ 8.22876636e-01 -1.17288889e-01 -5.55983236e-01  2.16832994e+02]
 [ 8.32144081e-02  9.92789911e-01 -8.62760423e-02 -1.49528226e+01]
 [ 5.62093768e-01  2.47287236e-02  8.26703748e-01  1.45669402e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 342.86327356
Centerline is valid?  [True, True]
Translation: X:216.88, Y:-14.94, Z:145.70
[[ 8.23261721e-01 -1.14596147e-01 -5.55974695e-01  2.16882101e+02]
 [ 7.99288995e-02  9.93055044e-01 -8.63310491e-02 -1.49444733e+01]
 [ 5.62006681e-01  2.66346025e-02  8.26703749e-01  1.45703272e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 342.92327356
Centerline is valid?  [True, True]
Translation: X:216.93, Y:-14.94, Z:145.74
[[ 8.23704702e-01 -1.11375165e-01 -5.55973144e-01  2.16930847e+02]
 [ 7.60373307e-02  9.93359728e-01 -8.63410353e-02 -1.49353399e+01]
 [ 5.61897579e-01  2.88448028e-02  8.26703749e-01  1.45737004e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 342.98327356
Centerline is valid?  [True, True]
Translation: X:216.98, Y:-14.93, Z:145.77
[[ 8.23777328e-01 -1.10862045e-01 -5.55968093e-01  2.16978555e+02]
 [ 7.53966512e-02  9.93405735e-01 -8.63735526e-02 -1.49270985e+01]
 [ 5.61877441e-01  2.92344420e-02  8.26703749e-01  1.45769933e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 343.04327356
Centerline is valid?  [True, True]
Translation: X:217.03, Y:-14.90, Z:145.80
[[ 8.25931956e-01 -9.35003923e-02 -5.55962301e-01  2.17025267e+02]
 [ 5.44479298e-02  9.94770623e-01 -8.64108200e-02 -1.49034649e+01]
 [ 5.61134410e-01  4.10984613e-02  8.26703750e-01  1.45803799e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 343.10327356
Centerline is valid?  [True, True]
Translation: X:217.08, Y:-14.91, Z:145.84
[[ 8.23522975e-01 -1.12785047e-01 -5.55958130e-01  2.17075837e+02]
 [ 7.76726264e-02  9.93224796e-01 -8.64376468e-02 -1.49117085e+01]
 [ 5.61940275e-01  2.80006599e-02  8.26703750e-01  1.45836933e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 343.16327356
Centerline is valid?  [True, True]
Translation: X:217.12, Y:-14.89, Z:145.87
[[ 8.25148488e-01 -1.00226441e-01 -5.55953804e-01  2.17122957e+02]
 [ 6.25142049e-02  9.94291556e-01 -8.64654622e-02 -1.48932510e+01]
 [ 5.61446299e-01  3.65918353e-02  8.26703751e-01  1.45870537e+02]
 [ 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 : 0.999161 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.981580 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 343.22327356
Centerline is valid?  [True, True]
Translation: X:217.17, Y:-14.89, Z:145.90
[[ 8.23180487e-01 -1.15292986e-01 -5.55950909e-01  2.17172022e+02]
 [ 8.06663573e-02  9.92982096e-01 -8.64840747e-02 -1.48916628e+01]
 [ 5.62020307e-01  2.63454680e-02  8.26703751e-01  1.45903691e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 343.28327356
Centerline is valid?  [True, True]
Translation: X:217.22, Y:-14.89, Z:145.94
[[ 8.22037486e-01 -1.23197307e-01 -5.55946756e-01  2.17220881e+02]
 [ 9.01858126e-02  9.92160474e-01 -8.65107661e-02 -1.48851587e+01]
 [ 5.62246290e-01  2.09765827e-02  8.26703751e-01  1.45937216e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 343.34327356
Centerline is valid?  [True, True]
Translation: X:217.27, Y:-14.87, Z:145.97
[[ 8.24348558e-01 -1.06658402e-01 -5.55943739e-01  2.17269037e+02]
 [ 7.02229126e-02  9.93771239e-01 -8.65301507e-02 -1.48725512e+01]
 [ 5.61710066e-01  3.22910163e-02  8.26703751e-01  1.45970910e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 343.40327356
Centerline is valid?  [True, True]
Translation: X:217.32, Y:-14.86, Z:146.00
[[ 8.24206072e-01 -1.07778114e-01 -5.55939052e-01  2.17317379e+02]
 [ 7.15525644e-02  9.93673766e-01 -8.65602550e-02 -1.48643640e+01]
 [ 5.61751352e-01  3.15646230e-02  8.26703752e-01  1.46004262e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 343.46327356
Centerline is valid?  [True, True]
Translation: X:217.37, Y:-14.86, Z:146.04
[[ 8.23783206e-01 -1.11025444e-01 -5.55926776e-01  2.17366510e+02]
 [ 7.54150266e-02  9.93381222e-01 -8.66390347e-02 -1.48563646e+01]
 [ 5.61866357e-01  2.94465492e-02  8.26703754e-01  1.46038101e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 343.52327356
Centerline is valid?  [True, True]
Translation: X:217.41, Y:-14.85, Z:146.07
[[ 8.23445313e-01 -1.13524265e-01 -5.55922709e-01  2.17413667e+02]
 [ 7.84109954e-02  9.93146954e-01 -8.66651256e-02 -1.48465432e+01]
 [ 5.61951540e-01  2.77735384e-02  8.26703754e-01  1.46070829e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 343.58327356
Centerline is valid?  [True, True]
Translation: X:217.46, Y:-14.84, Z:146.10
[[ 8.23314166e-01 -1.14618848e-01 -5.55892349e-01  2.17461788e+02]
 [ 7.96002783e-02  9.93035358e-01 -8.68595004e-02 -1.48356076e+01]
 [ 5.61976493e-01  2.72634715e-02  8.26703770e-01  1.46104245e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 343.64327356
Centerline is valid?  [True, True]
Translation: X:217.51, Y:-14.82, Z:146.14
[[ 8.20478322e-01 -1.33516099e-01 -5.55867587e-01  2.17508759e+02]
 [ 1.02301455e-01  9.90940123e-01 -8.70177252e-02 -1.48192885e+01]
 [ 5.62449762e-01  1.45300941e-02  8.26703781e-01  1.46137471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 343.70327356
Centerline is valid?  [True, True]
Translation: X:217.56, Y:-14.81, Z:146.17
[[ 8.20180448e-01 -1.35349855e-01 -5.55863697e-01  2.17555786e+02]
 [ 1.04499511e-01  9.90708556e-01 -8.70425677e-02 -1.48055822e+01]
 [ 5.62480119e-01  1.33031276e-02  8.26703781e-01  1.46170523e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 343.76327356
Centerline is valid?  [True, True]
Translation: X:217.61, Y:-14.80, Z:146.20
[[ 8.18959185e-01 -1.42654127e-01 -5.55837794e-01  2.17605225e+02]
 [ 1.13212730e-01  9.89736173e-01 -8.72077173e-02 -1.48018965e+01]
 [ 5.62573312e-01  8.49164728e-03  8.26703793e-01  1.46204078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 343.82327356
Centerline is valid?  [True, True]
Translation: X:217.66, Y:-14.80, Z:146.24
[[ 8.19919089e-01 -1.37044629e-01 -5.55834019e-01  2.17655013e+02]
 [ 1.06418576e-01  9.90487610e-01 -8.72317695e-02 -1.48020096e+01]
 [ 5.62501355e-01  1.23719279e-02  8.26703793e-01  1.46237530e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 343.88327356
Centerline is valid?  [True, True]
Translation: X:217.70, Y:-14.79, Z:146.27
[[ 8.20471286e-01 -1.33711905e-01 -5.55830906e-01  2.17701354e+02]
 [ 1.02379603e-01  9.90911487e-01 -8.72516042e-02 -1.47851683e+01]
 [ 5.62445807e-01  1.46816885e-02  8.26703793e-01  1.46270456e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 343.94327355999997
Centerline is valid?  [True, True]
Translation: X:217.75, Y:-14.75, Z:146.30
[[ 8.20672724e-01 -1.32529802e-01 -5.55816635e-01  2.17746162e+02]
 [ 1.00890529e-01  9.91056205e-01 -8.73424330e-02 -1.47537219e+01]
 [ 5.62421000e-01  1.56029181e-02  8.26703797e-01  1.46303863e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 344.00327355999997
Centerline is valid?  [True, True]
Translation: X:217.79, Y:-14.74, Z:146.34
[[ 8.21247560e-01 -1.29024555e-01 -5.55792326e-01  2.17793431e+02]
 [ 9.65536580e-02  9.91474501e-01 -8.74968905e-02 -1.47371546e+01]
 [ 5.62343166e-01  1.81928256e-02  8.26703807e-01  1.46337329e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 344.06327355999997
Centerline is valid?  [True, True]
Translation: X:217.84, Y:-14.72, Z:146.37
[[ 8.21431929e-01 -1.27859386e-01 -5.55789136e-01  2.17840979e+02]
 [ 9.51333400e-02  9.91610002e-01 -8.75171536e-02 -1.47222874e+01]
 [ 5.62315955e-01  1.90153075e-02  8.26703807e-01  1.46370861e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 344.12327356
Centerline is valid?  [True, True]
Translation: X:217.89, Y:-14.71, Z:146.40
[[ 8.21307916e-01 -1.28669863e-01 -5.55785367e-01  2.17888542e+02]
 [ 9.60955789e-02  9.91515103e-01 -8.75410829e-02 -1.47081494e+01]
 [ 5.62333484e-01  1.84896678e-02  8.26703807e-01  1.46404325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 344.18327356
Centerline is valid?  [True, True]
Translation: X:217.94, Y:-14.70, Z:146.44
[[ 8.21419972e-01 -1.28057887e-01 -5.55761106e-01  2.17935241e+02]
 [ 9.52528579e-02  9.91582826e-01 -8.76948767e-02 -1.46976515e+01]
 [ 5.62313189e-01  1.90964895e-02  8.26703817e-01  1.46436772e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 344.24327356
Centerline is valid?  [True, True]
Translation: X:217.98, Y:-14.69, Z:146.47
[[ 8.21930141e-01 -1.24876541e-01 -5.55730774e-01  2.17983839e+02]
 [ 9.12833819e-02  9.91939144e-01 -8.78867410e-02 -1.46861444e+01]
 [ 5.62226101e-01  2.15077769e-02  8.26703833e-01  1.46470589e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 344.30327356
Centerline is valid?  [True, True]
Translation: X:218.03, Y:-14.69, Z:146.50
[[ 8.22100132e-01 -1.23758941e-01 -5.55729339e-01  2.18033143e+02]
 [ 8.99285438e-02  9.92062086e-01 -8.78958189e-02 -1.46899612e+01]
 [ 5.62195900e-01  2.22832341e-02  8.26703833e-01  1.46503323e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 344.36327356
Centerline is valid?  [True, True]
Translation: X:218.08, Y:-14.67, Z:146.54
[[ 8.23187366e-01 -1.16342856e-01 -5.55721963e-01  2.18080090e+02]
 [ 8.09502726e-02  9.92830893e-01 -8.79424301e-02 -1.46679321e+01]
 [ 5.61969406e-01  2.74072530e-02  8.26703834e-01  1.46537206e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.995542 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.988645 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 344.42327356
Centerline is valid?  [True, True]
Translation: X:218.13, Y:-14.66, Z:146.57
[[ 8.23443293e-01 -1.14531233e-01 -5.55719120e-01  2.18128426e+02]
 [ 7.87533617e-02  9.93005981e-01 -8.79603920e-02 -1.46605665e+01]
 [ 5.61906622e-01  2.86656460e-02  8.26703834e-01  1.46570474e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 344.48327356
Centerline is valid?  [True, True]
Translation: X:218.18, Y:-14.66, Z:146.60
[[ 8.23061590e-01 -1.17279312e-01 -5.55711420e-01  2.18178905e+02]
 [ 8.20349013e-02  9.92735961e-01 -8.80090143e-02 -1.46613466e+01]
 [ 5.61996348e-01  2.68491077e-02  8.26703835e-01  1.46604305e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 344.54327356
Centerline is valid?  [True, True]
Translation: X:218.23, Y:-14.64, Z:146.64
[[ 8.23795384e-01 -1.12021390e-01 -5.55708892e-01  2.18226681e+02]
 [ 7.56835339e-02  9.93238947e-01 -8.80249763e-02 -1.46446020e+01]
 [ 5.61812395e-01  3.04565564e-02  8.26703835e-01  1.46638197e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 344.60327356
Centerline is valid?  [True, True]
Translation: X:218.28, Y:-14.64, Z:146.67
[[ 8.23495573e-01 -1.14213206e-01 -5.55707103e-01  2.18276174e+02]
 [ 7.83187873e-02  9.93033626e-01 -8.80362685e-02 -1.46388718e+01]
 [ 5.61890744e-01  2.89751709e-02  8.26703835e-01  1.46672071e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 344.66327356
Centerline is valid?  [True, True]
Translation: X:218.33, Y:-14.64, Z:146.71
[[ 8.22644924e-01 -1.20196017e-01 -5.55705180e-01  2.18326727e+02]
 [ 8.55267036e-02  9.92437737e-01 -8.80484046e-02 -1.46415481e+01]
 [ 5.62085859e-01  2.49049408e-02  8.26703835e-01  1.46705763e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 344.72327356
Centerline is valid?  [True, True]
Translation: X:218.38, Y:-14.64, Z:146.74
[[ 8.21966661e-01 -1.24763036e-01 -5.55702252e-01  2.18376398e+02]
 [ 9.10247951e-02  9.91946930e-01 -8.80668797e-02 -1.46371083e+01]
 [ 5.62214634e-01  2.18053553e-02  8.26703835e-01  1.46739617e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 344.78327356
Centerline is valid?  [True, True]
Translation: X:218.42, Y:-14.63, Z:146.77
[[ 8.21988402e-01 -1.24632266e-01 -5.55699438e-01  2.18423999e+02]
 [ 9.08549985e-02  9.91960920e-01 -8.80846344e-02 -1.46308193e+01]
 [ 5.62210313e-01  2.19164762e-02  8.26703836e-01  1.46772277e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 344.84327356
Centerline is valid?  [True, True]
Translation: X:218.47, Y:-14.62, Z:146.81
[[ 8.22597863e-01 -1.20587072e-01 -5.55690124e-01  2.18472504e+02]
 [ 8.59344579e-02  9.92394083e-01 -8.81433614e-02 -1.46248352e+01]
 [ 5.62092541e-01  2.47536112e-02  8.26703837e-01  1.46805495e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 344.90327356
Centerline is valid?  [True, True]
Translation: X:218.52, Y:-14.62, Z:146.84
[[ 8.22850325e-01 -1.18867985e-01 -5.55686732e-01  2.18520939e+02]
 [ 8.38462511e-02  9.92570796e-01 -8.81647387e-02 -1.46196783e+01]
 [ 5.62038387e-01  2.59541346e-02  8.26703837e-01  1.46838593e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 344.96327356
Centerline is valid?  [True, True]
Translation: X:218.57, Y:-14.61, Z:146.87
[[ 8.22924682e-01 -1.18475621e-01 -5.55660414e-01  2.18569730e+02]
 [ 8.32613856e-02  9.92605304e-01 -8.83303532e-02 -1.46141111e+01]
 [ 5.62016467e-01  2.64241718e-02  8.26703849e-01  1.46871914e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 345.02327356
Centerline is valid?  [True, True]
Translation: X:218.62, Y:-14.61, Z:146.90
[[ 8.22512270e-01 -1.21425953e-01 -5.55634146e-01  2.18618168e+02]
 [ 8.67092023e-02  9.92295365e-01 -8.84953310e-02 -1.46096507e+01]
 [ 5.62098817e-01  2.46099021e-02  8.26703860e-01  1.46904879e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 345.08327356
Centerline is valid?  [True, True]
Translation: X:218.67, Y:-14.60, Z:146.94
[[ 8.21926023e-01 -1.25366510e-01 -5.55626539e-01  2.18666666e+02]
 [ 9.14316356e-02  9.91867119e-01 -8.85430684e-02 -1.46047730e+01]
 [ 5.62208030e-01  2.19740088e-02  8.26703861e-01  1.46937977e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 345.14327356
Centerline is valid?  [True, True]
Translation: X:218.72, Y:-14.60, Z:146.97
[[ 8.21585757e-01 -1.27692878e-01 -5.55600012e-01  2.18715289e+02]
 [ 9.41270029e-02  9.91600108e-01 -8.87092612e-02 -1.45972931e+01]
 [ 5.62260573e-01  2.05853015e-02  8.26703873e-01  1.46971388e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 345.20327356
Centerline is valid?  [True, True]
Translation: X:218.76, Y:-14.59, Z:147.00
[[ 8.21788713e-01 -1.26398270e-01 -5.55595886e-01  2.18763883e+02]
 [ 9.25471281e-02  9.91746496e-01 -8.87350984e-02 -1.45892940e+01]
 [ 5.62226236e-01  2.15026987e-02  8.26703873e-01  1.47004894e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 345.26327356
Centerline is valid?  [True, True]
Translation: X:218.81, Y:-14.58, Z:147.04
[[ 8.22324146e-01 -1.22883926e-01 -5.55592062e-01  2.18812239e+02]
 [ 8.82903751e-02  9.92132372e-01 -8.87590319e-02 -1.45816393e+01]
 [ 5.62127929e-01  2.39352635e-02  8.26703874e-01  1.47038203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 345.32327356
Centerline is valid?  [True, True]
Translation: X:218.86, Y:-14.57, Z:147.07
[[ 8.23261309e-01 -1.16467126e-01 -5.55586379e-01  2.18861311e+02]
 [ 8.05264073e-02  9.92789513e-01 -8.87945926e-02 -1.45742629e+01]
 [ 5.61921982e-01  2.83617775e-02  8.26703874e-01  1.47071960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 345.38327356
Centerline is valid?  [True, True]
Translation: X:218.91, Y:-14.57, Z:147.11
[[ 8.23713649e-01 -1.13236973e-01 -5.55583669e-01  2.18910255e+02]
 [ 7.66201492e-02  9.93097106e-01 -8.88115512e-02 -1.45658585e+01]
 [ 5.61805284e-01  3.05863833e-02  8.26703874e-01  1.47105748e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 345.44327355999997
Centerline is valid?  [True, True]
Translation: X:218.96, Y:-14.56, Z:147.14
[[ 8.23788533e-01 -1.12703736e-01 -5.55581065e-01  2.18958677e+02]
 [ 7.59663254e-02  9.93145877e-01 -8.88278347e-02 -1.45596432e+01]
 [ 5.61784273e-01  3.09698997e-02  8.26703874e-01  1.47138951e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 345.50327355999997
Centerline is valid?  [True, True]
Translation: X:219.01, Y:-14.56, Z:147.17
[[ 8.23941893e-01 -1.11711161e-01 -5.55554113e-01  2.19006422e+02]
 [ 7.46566271e-02  9.93230123e-01 -8.89961331e-02 -1.45555393e+01]
 [ 5.61734941e-01  3.18518462e-02  8.26703886e-01  1.47171406e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 345.56327355999997
Centerline is valid?  [True, True]
Translation: X:219.06, Y:-14.55, Z:147.21
[[ 8.23943739e-01 -1.11767979e-01 -5.55539947e-01  2.19055862e+02]
 [ 7.46657414e-02  9.93221517e-01 -8.90844869e-02 -1.45506481e+01]
 [ 5.61731022e-01  3.19208032e-02  8.26703890e-01  1.47205119e+02]
 [ 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 345.62327356
Centerline is valid?  [True, True]
Translation: X:219.10, Y:-14.54, Z:147.24
[[ 8.23825447e-01 -1.12701904e-01 -5.55526700e-01  2.19104481e+02]
 [ 7.57360915e-02  9.93133065e-01 -8.91670335e-02 -1.45442518e+01]
 [ 5.61761229e-01  3.13846502e-02  8.26703892e-01  1.47238445e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 345.68327356
Centerline is valid?  [True, True]
Translation: X:219.15, Y:-14.54, Z:147.27
[[ 8.24187170e-01 -1.10160249e-01 -5.55499980e-01  2.19152923e+02]
 [ 7.25607559e-02  9.93355178e-01 -8.93332335e-02 -1.45389381e+01]
 [ 5.61649753e-01  3.33198064e-02  8.26703904e-01  1.47271498e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 345.74327356
Centerline is valid?  [True, True]
Translation: X:219.20, Y:-14.53, Z:147.30
[[ 8.24020927e-01 -1.11419717e-01 -5.55495418e-01  2.19200623e+02]
 [ 7.40597497e-02  9.93241994e-01 -8.93615988e-02 -1.45313827e+01]
 [ 5.61698020e-01  3.24959758e-02  8.26703905e-01  1.47304353e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 345.80327356
Centerline is valid?  [True, True]
Translation: X:219.25, Y:-14.53, Z:147.34
[[ 8.24120878e-01 -1.10826809e-01 -5.55465748e-01  2.19249049e+02]
 [ 7.32214415e-02  9.93287565e-01 -8.95457062e-02 -1.45271710e+01]
 [ 5.61661285e-01  3.31244833e-02  8.26703919e-01  1.47337267e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 345.86327356
Centerline is valid?  [True, True]
Translation: X:219.30, Y:-14.52, Z:147.37
[[ 8.24189052e-01 -1.10447487e-01 -5.55440149e-01  2.19297533e+02]
 [ 7.26577986e-02  9.93314649e-01 -8.97042551e-02 -1.45215198e+01]
 [ 5.61634446e-01  3.35762064e-02  8.26703930e-01  1.47370385e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 345.92327356
Centerline is valid?  [True, True]
Translation: X:219.35, Y:-14.52, Z:147.40
[[ 8.24516786e-01 -1.08104007e-01 -5.55414794e-01  2.19347084e+02]
 [ 6.97285016e-02  9.93510410e-01 -8.98610134e-02 -1.45157458e+01]
 [ 5.61524716e-01  3.53636725e-02  8.26703940e-01  1.47404234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 345.98327356
Centerline is valid?  [True, True]
Translation: X:219.40, Y:-14.51, Z:147.44
[[ 8.24814451e-01 -1.05816724e-01 -5.55413308e-01  2.19396674e+02]
 [ 6.69664911e-02  9.93699571e-01 -8.98701978e-02 -1.45145436e+01]
 [ 5.61423736e-01  3.69321574e-02  8.26703940e-01  1.47437677e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 346.04327356
Centerline is valid?  [True, True]
Translation: X:219.44, Y:-14.51, Z:147.47
[[ 8.24765373e-01 -1.06243018e-01 -5.55404808e-01  2.19444721e+02]
 [ 6.74448725e-02  9.93662466e-01 -8.99227068e-02 -1.45082020e+01]
 [ 5.61438570e-01  3.67059284e-02  8.26703941e-01  1.47470622e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 346.10327356
Centerline is valid?  [True, True]
Translation: X:219.49, Y:-14.51, Z:147.50
[[ 8.24652588e-01 -1.07255154e-01 -5.55377746e-01  2.19492575e+02]
 [ 6.85524075e-02  9.93571555e-01 -9.00895833e-02 -1.45064494e+01]
 [ 5.61470103e-01  3.62201264e-02  8.26703953e-01  1.47502886e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 346.16327356
Centerline is valid?  [True, True]
Translation: X:219.54, Y:-14.50, Z:147.54
[[ 8.24367086e-01 -1.09533874e-01 -5.55356856e-01  2.19541580e+02]
 [ 7.12118094e-02  9.93372817e-01 -9.02182090e-02 -1.44992576e+01]
 [ 5.61558354e-01  3.48249555e-02  8.26703960e-01  1.47536531e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 346.22327356
Centerline is valid?  [True, True]
Translation: X:219.59, Y:-14.49, Z:147.57
[[ 8.24510168e-01 -1.08470622e-01 -5.55353137e-01  2.19590274e+02]
 [ 6.99152773e-02  9.93462832e-01 -9.02410930e-02 -1.44937390e+01]
 [ 5.61511208e-01  3.55770301e-02  8.26703960e-01  1.47569834e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 346.28327356
Centerline is valid?  [True, True]
Translation: X:219.64, Y:-14.49, Z:147.60
[[ 8.24615932e-01 -1.07693855e-01 -5.55347278e-01  2.19639361e+02]
 [ 6.89551930e-02  9.93526657e-01 -9.02771428e-02 -1.44898969e+01]
 [ 5.61474618e-01  3.61498915e-02  8.26703961e-01  1.47603212e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 346.34327356
Centerline is valid?  [True, True]
Translation: X:219.69, Y:-14.49, Z:147.64
[[ 8.24640692e-01 -1.07635855e-01 -5.55321755e-01  2.19688324e+02]
 [ 6.87801904e-02  9.93524531e-01 -9.04339113e-02 -1.44855382e+01]
 [ 5.61459717e-01  3.63803472e-02  8.26703971e-01  1.47636505e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 346.40327356
Centerline is valid?  [True, True]
Translation: X:219.74, Y:-14.48, Z:147.67
[[ 8.24642009e-01 -1.07655637e-01 -5.55315964e-01  2.19737466e+02]
 [ 6.87801895e-02  9.93521295e-01 -9.04694583e-02 -1.44803044e+01]
 [ 5.61457783e-01  3.64101786e-02  8.26703972e-01  1.47670070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 346.46327356
Centerline is valid?  [True, True]
Translation: X:219.79, Y:-14.47, Z:147.70
[[ 8.24690014e-01 -1.07307348e-01 -5.55312087e-01  2.19786696e+02]
 [ 6.83446268e-02  9.93549185e-01 -9.04932526e-02 -1.44744667e+01]
 [ 5.61440462e-01  3.66762844e-02  8.26703972e-01  1.47703766e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 346.52327356
Centerline is valid?  [True, True]
Translation: X:219.83, Y:-14.47, Z:147.74
[[ 8.24987544e-01 -1.05016176e-01 -5.55308162e-01  2.19834621e+02]
 [ 6.55684279e-02  9.93734066e-01 -9.05173352e-02 -1.44704471e+01]
 [ 5.61334421e-01  3.82649910e-02  8.26703972e-01  1.47736387e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 346.58327356
Centerline is valid?  [True, True]
Translation: X:219.88, Y:-14.47, Z:147.77
[[ 8.24956664e-01 -1.05307409e-01 -5.55298886e-01  2.19882218e+02]
 [ 6.58811324e-02  9.93708201e-01 -9.05742073e-02 -1.44663440e+01]
 [ 5.61343192e-01  3.81360765e-02  8.26703974e-01  1.47768779e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 346.64327356
Centerline is valid?  [True, True]
Translation: X:219.93, Y:-14.46, Z:147.80
[[ 8.24678941e-01 -1.07509499e-01 -5.55289430e-01  2.19931408e+02]
 [ 6.84950508e-02  9.93526166e-01 -9.06321481e-02 -1.44586437e+01]
 [ 5.61438395e-01  3.67078462e-02  8.26703975e-01  1.47802636e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 346.70327356
Centerline is valid?  [True, True]
Translation: X:219.98, Y:-14.46, Z:147.84
[[ 8.24485145e-01 -1.08999457e-01 -5.55286740e-01  2.19980108e+02]
 [ 7.02791126e-02  9.93400057e-01 -9.06486296e-02 -1.44559936e+01]
 [ 5.61502530e-01  3.57133893e-02  8.26703975e-01  1.47835629e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 346.76327356
Centerline is valid?  [True, True]
Translation: X:220.03, Y:-14.45, Z:147.87
[[ 8.24253177e-01 -1.10780033e-01 -5.55278745e-01  2.20029432e+02]
 [ 7.23917755e-02  9.93243867e-01 -9.06975783e-02 -1.44536833e+01]
 [ 5.61574689e-01  3.45601528e-02  8.26703976e-01  1.47868988e+02]
 [ 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 346.82327356
Centerline is valid?  [True, True]
Translation: X:220.08, Y:-14.45, Z:147.90
[[ 8.24136650e-01 -1.11772210e-01 -5.55252874e-01  2.20077512e+02]
 [ 7.34812590e-02  9.93149405e-01 -9.08557296e-02 -1.44454690e+01]
 [ 5.61604208e-01  3.40768563e-02  8.26703987e-01  1.47902104e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 346.88327356
Centerline is valid?  [True, True]
Translation: X:220.13, Y:-14.44, Z:147.94
[[ 8.24612159e-01 -1.08249110e-01 -5.55244917e-01  2.20126910e+02]
 [ 6.92036180e-02  9.93452194e-01 -9.09043370e-02 -1.44402917e+01]
 [ 5.61449595e-01  3.65358644e-02  8.26703988e-01  1.47935826e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 346.94327355999997
Centerline is valid?  [True, True]
Translation: X:220.18, Y:-14.43, Z:147.97
[[ 8.24914387e-01 -1.05936944e-01 -5.55241945e-01  2.20175683e+02]
 [ 6.64061144e-02  9.93641449e-01 -9.09224892e-02 -1.44338946e+01]
 [ 5.61343461e-01  3.81318094e-02  8.26703988e-01  1.47969278e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.00327355999997
Centerline is valid?  [True, True]
Translation: X:220.22, Y:-14.42, Z:148.00
[[ 8.24767794e-01 -1.07097990e-01 -5.55236983e-01  2.20223225e+02]
 [ 6.77843987e-02  9.93545604e-01 -9.09527811e-02 -1.44249426e+01]
 [ 5.61394124e-01  3.73785196e-02  8.26703988e-01  1.48002178e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.06327355999997
Centerline is valid?  [True, True]
Translation: X:220.27, Y:-14.42, Z:148.04
[[ 8.24651886e-01 -1.08036354e-01 -5.55227353e-01  2.20271570e+02]
 [ 6.88754400e-02  9.93465185e-01 -9.10115376e-02 -1.44182032e+01]
 [ 5.61431599e-01  3.68113079e-02  8.26703990e-01  1.48035359e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.12327356
Centerline is valid?  [True, True]
Translation: X:220.32, Y:-14.41, Z:148.07
[[ 8.24335909e-01 -1.10461006e-01 -5.55219483e-01  2.20320683e+02]
 [ 7.17645120e-02  9.93256270e-01 -9.10595253e-02 -1.44146417e+01]
 [ 5.61533760e-01  3.52185814e-02  8.26703991e-01  1.48068711e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.18327356
Centerline is valid?  [True, True]
Translation: X:220.37, Y:-14.40, Z:148.10
[[ 8.24117298e-01 -1.12098107e-01 -5.55215899e-01  2.20367004e+02]
 [ 7.37225373e-02  9.93110855e-01 -9.10813767e-02 -1.43959593e+01]
 [ 5.61600986e-01  3.41298133e-02  8.26703991e-01  1.48101868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.24327356
Centerline is valid?  [True, True]
Translation: X:220.42, Y:-14.40, Z:148.14
[[ 8.23850537e-01 -1.14175306e-01 -5.55188520e-01  2.20417906e+02]
 [ 7.61139799e-02  9.92915134e-01 -9.12480079e-02 -1.43999352e+01]
 [ 5.61673353e-01  3.29171125e-02  8.26704003e-01  1.48135529e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.30327356
Centerline is valid?  [True, True]
Translation: X:220.47, Y:-14.39, Z:148.17
[[ 8.23628061e-01 -1.15793006e-01 -5.55183571e-01  2.20465319e+02]
 [ 7.80435438e-02  9.92762565e-01 -9.12781132e-02 -1.43888200e+01]
 [ 5.61734833e-01  3.18507220e-02  8.26704003e-01  1.48168581e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.36327356
Centerline is valid?  [True, True]
Translation: X:220.51, Y:-14.38, Z:148.20
[[ 8.24194135e-01 -1.11832210e-01 -5.55155460e-01  2.20513565e+02]
 [ 7.31555597e-02  9.93119015e-01 -9.14488184e-02 -1.43813385e+01]
 [ 5.61562367e-01  3.47588715e-02  8.26704016e-01  1.48201720e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.42327356
Centerline is valid?  [True, True]
Translation: X:220.56, Y:-14.37, Z:148.24
[[ 8.24533167e-01 -1.09334594e-01 -5.55149533e-01  2.20562185e+02]
 [ 7.01222076e-02  9.93334490e-01 -9.14847874e-02 -1.43714490e+01]
 [ 5.61451630e-01  3.65039307e-02  8.26704016e-01  1.48235445e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.48327356
Centerline is valid?  [True, True]
Translation: X:220.61, Y:-14.36, Z:148.27
[[ 8.24722224e-01 -1.07913772e-01 -5.55146711e-01  2.20609426e+02]
 [ 6.83991332e-02  9.93453049e-01 -9.15019037e-02 -1.43621374e+01]
 [ 5.61386509e-01  3.74920997e-02  8.26704016e-01  1.48268190e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.54327356
Centerline is valid?  [True, True]
Translation: X:220.66, Y:-14.35, Z:148.30
[[ 8.24607848e-01 -1.08833879e-01 -5.55136996e-01  2.20658158e+02]
 [ 6.94680390e-02  9.93373449e-01 -9.15608140e-02 -1.43544743e+01]
 [ 5.61423271e-01  3.69374873e-02  8.26704018e-01  1.48301733e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.60327356
Centerline is valid?  [True, True]
Translation: X:220.71, Y:-14.35, Z:148.34
[[ 8.24178183e-01 -1.12060753e-01 -5.55133056e-01  2.20707075e+02]
 [ 7.33397799e-02  9.93092906e-01 -9.15846957e-02 -1.43477887e+01]
 [ 5.61561750e-01  3.47687719e-02  8.26704018e-01  1.48335309e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.66327356
Centerline is valid?  [True, True]
Translation: X:220.76, Y:-14.34, Z:148.37
[[ 8.23564615e-01 -1.16503398e-01 -5.55129069e-01  2.20755175e+02]
 [ 7.86776026e-02  9.92682049e-01 -9.16088621e-02 -1.43404560e+01]
 [ 5.61739405e-01  3.17695931e-02  8.26704018e-01  1.48368408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.72327356
Centerline is valid?  [True, True]
Translation: X:220.80, Y:-14.33, Z:148.40
[[ 8.23322473e-01 -1.18229290e-01 -5.55123356e-01  2.20802359e+02]
 [ 8.07347781e-02  9.92513663e-01 -9.16434659e-02 -1.43334383e+01]
 [ 5.61802458e-01  3.06343639e-02  8.26704019e-01  1.48400852e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.78327356
Centerline is valid?  [True, True]
Translation: X:220.85, Y:-14.33, Z:148.43
[[ 8.23098005e-01 -1.19825912e-01 -5.55113885e-01  2.20850939e+02]
 [ 8.26210567e-02  9.92353124e-01 -9.17008070e-02 -1.43252738e+01]
 [ 5.61857131e-01  2.96146555e-02  8.26704020e-01  1.48434348e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.84327356
Centerline is valid?  [True, True]
Translation: X:220.90, Y:-14.32, Z:148.47
[[ 8.23049237e-01 -1.20178701e-01 -5.55109928e-01  2.20898846e+02]
 [ 8.30302908e-02  9.92316754e-01 -9.17247523e-02 -1.43161747e+01]
 [ 5.61868244e-01  2.94030486e-02  8.26704020e-01  1.48467514e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.90327356
Centerline is valid?  [True, True]
Translation: X:220.95, Y:-14.31, Z:148.50
[[ 8.22888602e-01 -1.21309860e-01 -5.55102033e-01  2.20947292e+02]
 [ 8.43620077e-02  9.92200009e-01 -9.17725142e-02 -1.43068576e+01]
 [ 5.61905153e-01  2.86890339e-02  8.26704021e-01  1.48501053e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 347.96327356
Centerline is valid?  [True, True]
Translation: X:221.00, Y:-14.30, Z:148.53
[[ 8.22466031e-01 -1.24160305e-01 -5.55098052e-01  2.20995727e+02]
 [ 8.77831007e-02  9.91900960e-01 -9.17965877e-02 -1.42984885e+01]
 [ 5.61999783e-01  2.67713469e-02  8.26704022e-01  1.48534493e+02]
 [ 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 348.02327356
Centerline is valid?  [True, True]
Translation: X:221.04, Y:-14.29, Z:148.57
[[ 8.21575502e-01 -1.30033013e-01 -5.55072166e-01  2.21043967e+02]
 [ 9.47617918e-02  9.91244102e-01 -9.19528902e-02 -1.42912467e+01]
 [ 5.62168922e-01  2.29466089e-02  8.26704032e-01  1.48567608e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 348.08327356
Centerline is valid?  [True, True]
Translation: X:221.09, Y:-14.29, Z:148.60
[[ 8.20635345e-01 -1.35859101e-01 -5.55067505e-01  2.21093410e+02]
 [ 1.01773623e-01  9.90546123e-01 -9.19810175e-02 -1.42859221e+01]
 [ 5.62316424e-01  1.89916431e-02  8.26704032e-01  1.48601383e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 348.14327356
Centerline is valid?  [True, True]
Translation: X:221.14, Y:-14.28, Z:148.63
[[ 8.19839805e-01 -1.40592063e-01 -5.55064471e-01  2.21140651e+02]
 [ 1.07475183e-01  9.89942023e-01 -9.19993273e-02 -1.42806099e+01]
 [ 5.62416020e-01  1.57690551e-02  8.26704032e-01  1.48633683e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 348.20327356
Centerline is valid?  [True, True]
Translation: X:221.19, Y:-14.27, Z:148.67
[[ 8.19633812e-01 -1.41854359e-01 -5.55047525e-01  2.21189652e+02]
 [ 1.08930337e-01  9.89773460e-01 -9.21014692e-02 -1.42740991e+01]
 [ 5.62436304e-01  1.50279646e-02  8.26704037e-01  1.48667255e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 348.26327356
Centerline is valid?  [True, True]
Translation: X:221.24, Y:-14.27, Z:148.70
[[ 8.19682420e-01 -1.41588970e-01 -5.55043506e-01  2.21237962e+02]
 [ 1.08593478e-01  9.89808221e-01 -9.21256832e-02 -1.42672410e+01]
 [ 5.62430606e-01  1.52396983e-02  8.26704037e-01  1.48700441e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 348.32327356
Centerline is valid?  [True, True]
Translation: X:221.29, Y:-14.26, Z:148.73
[[ 8.20215770e-01 -1.38489992e-01 -5.55037488e-01  2.21286332e+02]
 [ 1.04827248e-01  9.90210800e-01 -9.21619263e-02 -1.42585918e+01]
 [ 5.62367620e-01  1.74096130e-02  8.26704038e-01  1.48733862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 348.38327356
Centerline is valid?  [True, True]
Translation: X:221.33, Y:-14.25, Z:148.77
[[ 8.21037160e-01 -1.33559022e-01 -5.55031504e-01  2.21333093e+02]
 [ 9.88511054e-02  9.90821879e-01 -9.21979556e-02 -1.42507719e+01]
 [ 5.62251226e-01  2.08324699e-02  8.26704038e-01  1.48766109e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 348.44327355999997
Centerline is valid?  [True, True]
Translation: X:221.38, Y:-14.24, Z:148.80
[[ 8.21331566e-01 -1.31808826e-01 -5.55014316e-01  2.21381857e+02]
 [ 9.66693816e-02  9.91027495e-01 -9.23013233e-02 -1.42412743e+01]
 [ 5.62200577e-01  2.21570997e-02  8.26704043e-01  1.48799854e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 348.50327355999997
Centerline is valid?  [True, True]
Translation: X:221.43, Y:-14.23, Z:148.83
[[ 8.21767976e-01 -1.29074578e-01 -5.55010943e-01  2.21429572e+02]
 [ 9.33568831e-02  9.91343136e-01 -9.23216026e-02 -1.42307459e+01]
 [ 5.62122661e-01  2.40528448e-02  8.26704043e-01  1.48833052e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 348.56327355999997
Centerline is valid?  [True, True]
Translation: X:221.48, Y:-14.22, Z:148.87
[[ 8.22105445e-01 -1.27030491e-01 -5.54982785e-01  2.21477437e+02]
 [ 9.07773270e-02  9.91566923e-01 -9.24906136e-02 -1.42216815e+01]
 [ 5.62051701e-01  2.56571833e-02  8.26704055e-01  1.48866112e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 348.62327356
Centerline is valid?  [True, True]
Translation: X:221.53, Y:-14.21, Z:148.90
[[ 8.22445096e-01 -1.24936355e-01 -5.54954927e-01  2.21525963e+02]
 [ 8.81393752e-02  9.91789310e-01 -9.26575144e-02 -1.42130577e+01]
 [ 5.61974656e-01  2.72923378e-02  8.26704067e-01  1.48899568e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 348.68327356
Centerline is valid?  [True, True]
Translation: X:221.57, Y:-14.19, Z:148.93
[[ 8.23332050e-01 -1.18965951e-01 -5.54951743e-01  2.21572498e+02]
 [ 8.09284823e-02  9.92401951e-01 -9.26765790e-02 -1.41928442e+01]
 [ 5.61760550e-01  3.13921955e-02  8.26704067e-01  1.48933062e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 348.74327356
Centerline is valid?  [True, True]
Translation: X:221.62, Y:-14.19, Z:148.97
[[ 8.23501204e-01 -1.17803348e-01 -5.54948771e-01  2.21621600e+02]
 [ 7.95152501e-02  9.92514523e-01 -9.26943746e-02 -1.41905521e+01]
 [ 5.61714422e-01  3.22070388e-02  8.26704067e-01  1.48966271e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 348.80327356
Centerline is valid?  [True, True]
Translation: X:221.67, Y:-14.18, Z:149.00
[[ 8.24039655e-01 -1.14005568e-01 -5.54942680e-01  2.21669550e+02]
 [ 7.49142346e-02  9.92869000e-01 -9.27308275e-02 -1.41805642e+01]
 [ 5.61557214e-01  3.48407729e-02  8.26704068e-01  1.48999560e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 348.86327356
Centerline is valid?  [True, True]
Translation: X:221.72, Y:-14.17, Z:149.03
[[ 8.23856562e-01 -1.15347024e-01 -5.54937321e-01  2.21717269e+02]
 [ 7.65090944e-02  9.92744380e-01 -9.27628905e-02 -1.41694549e+01]
 [ 5.61610830e-01  3.39655642e-02  8.26704068e-01  1.49032822e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 348.92327356
Centerline is valid?  [True, True]
Translation: X:221.77, Y:-14.16, Z:149.07
[[ 8.23589599e-01 -1.17275558e-01 -5.54929379e-01  2.21765949e+02]
 [ 7.88012558e-02  9.92560626e-01 -9.28103795e-02 -1.41616717e+01]
 [ 5.61685441e-01  3.27085313e-02  8.26704069e-01  1.49066349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 348.98327356
Centerline is valid?  [True, True]
Translation: X:221.81, Y:-14.15, Z:149.10
[[ 8.23263038e-01 -1.19565219e-01 -5.54925336e-01  2.21813213e+02]
 [ 8.15446778e-02  9.92336744e-01 -9.28345448e-02 -1.41542971e+01]
 [ 5.61772584e-01  3.11760416e-02  8.26704069e-01  1.49098891e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 349.04327356
Centerline is valid?  [True, True]
Translation: X:221.86, Y:-14.14, Z:149.13
[[ 8.22315396e-01 -1.25961613e-01 -5.54915365e-01  2.21860955e+02]
 [ 8.92164829e-02  9.91670864e-01 -9.28941197e-02 -1.41416105e+01]
 [ 5.61994492e-01  2.68806677e-02  8.26704071e-01  1.49132333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 349.10327356
Centerline is valid?  [True, True]
Translation: X:221.91, Y:-14.13, Z:149.17
[[ 8.22104543e-01 -1.27344936e-01 -5.54912054e-01  2.21909227e+02]
 [ 9.08714703e-02  9.91518726e-01 -9.29138944e-02 -1.41337927e+01]
 [ 5.62037806e-01  2.59592605e-02  8.26704071e-01  1.49165604e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 349.16327356
Centerline is valid?  [True, True]
Translation: X:221.96, Y:-14.13, Z:149.20
[[ 8.22555100e-01 -1.24525068e-01 -5.54884326e-01  2.21958581e+02]
 [ 8.73596104e-02  9.91818811e-01 -9.30792407e-02 -1.41288242e+01]
 [ 5.61935411e-01  2.80883257e-02  8.26704083e-01  1.49199207e+02]
 [ 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 349.22327356
Centerline is valid?  [True, True]
Translation: X:222.01, Y:-14.12, Z:149.23
[[ 8.22683199e-01 -1.23693764e-01 -5.54880353e-01  2.22005111e+02]
 [ 8.63413478e-02  9.91905751e-01 -9.31029181e-02 -1.41156825e+01]
 [ 5.61905263e-01  2.86850890e-02  8.26704083e-01  1.49231907e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 349.28327356
Centerline is valid?  [True, True]
Translation: X:222.05, Y:-14.11, Z:149.27
[[ 8.23596180e-01 -1.17504529e-01 -5.54871172e-01  2.22053213e+02]
 [ 7.88440737e-02  9.92524696e-01 -9.31576047e-02 -1.41075849e+01]
 [ 5.61669782e-01  3.29759438e-02  8.26704084e-01  1.49265077e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 349.34327356
Centerline is valid?  [True, True]
Translation: X:222.10, Y:-14.10, Z:149.30
[[ 8.24058606e-01 -1.14244727e-01 -5.54865350e-01  2.22101377e+02]
 [ 7.48928934e-02  9.92827404e-01 -9.31922716e-02 -1.40970737e+01]
 [ 5.61532251e-01  3.52404219e-02  8.26704085e-01  1.49298571e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 349.40327356
Centerline is valid?  [True, True]
Translation: X:222.15, Y:-14.09, Z:149.33
[[ 8.24271558e-01 -1.12712707e-01 -5.54862365e-01  2.22148685e+02]
 [ 7.30353104e-02  9.92964114e-01 -9.32100416e-02 -1.40855859e+01]
 [ 5.61464373e-01  3.63058411e-02  8.26704085e-01  1.49331609e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 349.46327356
Centerline is valid?  [True, True]
Translation: X:222.20, Y:-14.08, Z:149.37
[[ 8.24504463e-01 -1.11136702e-01 -5.54834232e-01  2.22197659e+02]
 [ 7.10248665e-02  9.93094233e-01 -9.33772569e-02 -1.40766341e+01]
 [ 5.61380316e-01  3.75829378e-02  8.26704097e-01  1.49365407e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 349.52327356
Centerline is valid?  [True, True]
Translation: X:222.25, Y:-14.07, Z:149.40
[[ 8.24302973e-01 -1.12636929e-01 -5.54831083e-01  2.22246257e+02]
 [ 7.28194184e-02  9.92962500e-01 -9.33959629e-02 -1.40676801e+01]
 [ 5.61446293e-01  3.65840932e-02  8.26704097e-01  1.49399026e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 349.58327356
Centerline is valid?  [True, True]
Translation: X:222.29, Y:-14.06, Z:149.43
[[ 8.24205970e-01 -1.13370310e-01 -5.54825822e-01  2.22293913e+02]
 [ 7.36819370e-02  9.92895931e-01 -9.34272073e-02 -1.40609058e+01]
 [ 5.61476172e-01  3.61226207e-02  8.26704097e-01  1.49431760e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 349.64327356
Centerline is valid?  [True, True]
Translation: X:222.34, Y:-14.05, Z:149.47
[[ 8.24082305e-01 -1.14313986e-01 -5.54815885e-01  2.22342818e+02]
 [ 7.47792518e-02  9.92808338e-01 -9.34861845e-02 -1.40520115e+01]
 [ 5.61512615e-01  3.55515937e-02  8.26704099e-01  1.49465558e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 349.70327356
Centerline is valid?  [True, True]
Translation: X:222.39, Y:-14.04, Z:149.50
[[ 8.24041721e-01 -1.14652235e-01 -5.54806369e-01  2.22390851e+02]
 [ 7.51489111e-02  9.92775109e-01 -9.35426298e-02 -1.40438808e+01]
 [ 5.61522825e-01  3.53899352e-02  8.26704100e-01  1.49498686e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 349.76327356
Centerline is valid?  [True, True]
Translation: X:222.44, Y:-14.04, Z:149.53
[[ 8.24206469e-01 -1.13599708e-01 -5.54778156e-01  2.22440234e+02]
 [ 7.37689347e-02  9.92862848e-01 -9.37097042e-02 -1.40391784e+01]
 [ 5.61464015e-01  3.63107508e-02  8.26704112e-01  1.49532277e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 349.82327356
Centerline is valid?  [True, True]
Translation: X:222.49, Y:-14.03, Z:149.57
[[ 8.24412228e-01 -1.12116374e-01 -5.54774185e-01  2.22488880e+02]
 [ 7.19664239e-02  9.92992910e-01 -9.37332088e-02 -1.40341577e+01]
 [ 5.61395860e-01  3.73496894e-02  8.26704112e-01  1.49565479e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 349.88327356
Centerline is valid?  [True, True]
Translation: X:222.54, Y:-14.03, Z:149.60
[[ 8.24312945e-01 -1.12887051e-01 -5.54765430e-01  2.22537051e+02]
 [ 7.28600175e-02  9.92922853e-01 -9.37850027e-02 -1.40263837e+01]
 [ 5.61426386e-01  3.68879728e-02  8.26704113e-01  1.49598661e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 349.94327355999997
Centerline is valid?  [True, True]
Translation: X:222.58, Y:-14.02, Z:149.63
[[ 8.24392046e-01 -1.12445143e-01 -5.54737636e-01  2.22584855e+02]
 [ 7.22177580e-02  9.92954254e-01 -9.39491653e-02 -1.40201307e+01]
 [ 5.61393222e-01  3.73890363e-02  8.26704125e-01  1.49631368e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 350.00327355999997
Centerline is valid?  [True, True]
Translation: X:222.63, Y:-14.02, Z:149.66
[[ 8.24940773e-01 -1.08386064e-01 -5.54729828e-01  2.22633922e+02]
 [ 6.72986658e-02  9.93295416e-01 -9.39952473e-02 -1.40159580e+01]
 [ 5.61198370e-01  4.02079346e-02  8.26704126e-01  1.49664744e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 350.06327355999997
Centerline is valid?  [True, True]
Translation: X:222.68, Y:-14.01, Z:149.70
[[ 8.25345903e-01 -1.05288635e-01 -5.54723755e-01  2.22682580e+02]
 [ 6.35456152e-02  9.93539185e-01 -9.40310758e-02 -1.40112542e+01]
 [ 5.61040191e-01  4.23579008e-02  8.26704126e-01  1.49697911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 350.12327356
Centerline is valid?  [True, True]
Translation: X:222.73, Y:-14.00, Z:149.73
[[ 8.25749459e-01 -1.02101011e-01 -5.54719041e-01  2.22731301e+02]
 [ 5.96903146e-02  9.93775625e-01 -9.40588795e-02 -1.40033879e+01]
 [ 5.60869768e-01  4.45577148e-02  8.26704127e-01  1.49731483e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 350.18327356
Centerline is valid?  [True, True]
Translation: X:222.78, Y:-14.00, Z:149.76
[[ 8.25999269e-01 -1.00076310e-01 -5.54716089e-01  2.22780037e+02]
 [ 5.72422032e-02  9.93917996e-01 -9.40762829e-02 -1.39978994e+01]
 [ 5.60757111e-01  4.59537697e-02  8.26704127e-01  1.49764801e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 350.24327356
Centerline is valid?  [True, True]
Translation: X:222.83, Y:-13.99, Z:149.80
[[ 8.25922796e-01 -1.00752546e-01 -5.54707544e-01  2.22828239e+02]
 [ 5.80223364e-02  9.93867991e-01 -9.41266449e-02 -1.39908708e+01]
 [ 5.60789572e-01  4.55559140e-02  8.26704128e-01  1.49797918e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 350.30327356
Centerline is valid?  [True, True]
Translation: X:222.88, Y:-13.98, Z:149.83
[[ 8.25752833e-01 -1.02291616e-01 -5.54678902e-01  2.22877366e+02]
 [ 5.97619963e-02  9.93748924e-01 -9.42951770e-02 -1.39839595e+01]
 [ 5.60857168e-01  4.47157909e-02  8.26704140e-01  1.49831582e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 350.36327356
Centerline is valid?  [True, True]
Translation: X:222.92, Y:-13.98, Z:149.86
[[ 8.25469696e-01 -1.04562738e-01 -5.54676856e-01  2.22924925e+02]
 [ 6.24873707e-02  9.93580132e-01 -9.43072128e-02 -1.39780367e+01]
 [ 5.60976924e-01  4.31874479e-02  8.26704140e-01  1.49864161e+02]
 [ 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 350.42327356
Centerline is valid?  [True, True]
Translation: X:222.97, Y:-13.97, Z:149.90
[[ 8.25184543e-01 -1.06842116e-01 -5.54666776e-01  2.22973394e+02]
 [ 6.51915879e-02  9.93400738e-01 -9.43664703e-02 -1.39692649e+01]
 [ 5.61088697e-01  4.17101449e-02  8.26704141e-01  1.49897651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 350.48327356
Centerline is valid?  [True, True]
Translation: X:223.02, Y:-13.96, Z:149.93
[[ 8.25036745e-01 -1.07997904e-01 -5.54662800e-01  2.23022758e+02]
 [ 6.65674283e-02  9.93307272e-01 -9.43898333e-02 -1.39631574e+01]
 [ 5.61144497e-01  4.09526047e-02  8.26704142e-01  1.49931457e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 350.54327356
Centerline is valid?  [True, True]
Translation: X:223.07, Y:-13.95, Z:149.97
[[ 8.24731593e-01 -1.10320793e-01 -5.54659464e-01  2.23071314e+02]
 [ 6.93512209e-02  9.93114932e-01 -9.44094304e-02 -1.39535675e+01]
 [ 5.61255919e-01  3.93961290e-02  8.26704142e-01  1.49965119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 350.60327356
Centerline is valid?  [True, True]
Translation: X:223.12, Y:-13.95, Z:150.00
[[ 8.24710674e-01 -1.10520180e-01 -5.54650875e-01  2.23119458e+02]
 [ 6.95575672e-02  9.93095705e-01 -9.44598673e-02 -1.39461153e+01]
 [ 5.61261123e-01  3.93218953e-02  8.26704143e-01  1.49998245e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 350.66327356
Centerline is valid?  [True, True]
Translation: X:223.17, Y:-13.94, Z:150.03
[[ 8.24563792e-01 -1.11754714e-01 -5.54621887e-01  2.23167515e+02]
 [ 7.09304695e-02  9.92982410e-01 -9.46298183e-02 -1.39394025e+01]
 [ 5.61305106e-01  3.86887310e-02  8.26704155e-01  1.50031166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 350.72327356
Centerline is valid?  [True, True]
Translation: X:223.21, Y:-13.92, Z:150.06
[[ 8.24410291e-01 -1.12921924e-01 -5.54613660e-01  2.23212416e+02]
 [ 7.23038743e-02  9.92878755e-01 -9.46780168e-02 -1.39205526e+01]
 [ 5.61355344e-01  3.79528150e-02  8.26704156e-01  1.50063422e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 350.78327356
Centerline is valid?  [True, True]
Translation: X:223.26, Y:-13.91, Z:150.10
[[ 8.24090140e-01 -1.15321570e-01 -5.54595688e-01  2.23260993e+02]
 [ 7.51236813e-02  9.92659347e-01 -9.47831912e-02 -1.39122462e+01]
 [ 5.61455140e-01  3.64466235e-02  8.26704161e-01  1.50096909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 350.84327356
Centerline is valid?  [True, True]
Translation: X:223.31, Y:-13.92, Z:150.13
[[ 8.23543789e-01 -1.19175897e-01 -5.54592402e-01  2.23311445e+02]
 [ 7.97542207e-02  9.92296209e-01 -9.48024119e-02 -1.39150854e+01]
 [ 5.61618101e-01  3.38428527e-02  8.26704161e-01  1.50130419e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 350.90327356
Centerline is valid?  [True, True]
Translation: X:223.36, Y:-13.90, Z:150.16
[[ 8.23234387e-01 -1.21313857e-01 -5.54588219e-01  2.23358764e+02]
 [ 8.23140594e-02  9.92084804e-01 -9.48268795e-02 -1.39038369e+01]
 [ 5.61702359e-01  3.24143404e-02  8.26704161e-01  1.50163441e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 350.96327356
Centerline is valid?  [True, True]
Translation: X:223.41, Y:-13.90, Z:150.20
[[ 8.23400396e-01 -1.20314214e-01 -5.54559535e-01  2.23405850e+02]
 [ 8.09970194e-02  9.92177177e-01 -9.49943808e-02 -1.38975696e+01]
 [ 5.61650488e-01  3.33007414e-02  8.26704173e-01  1.50195660e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 351.02327356
Centerline is valid?  [True, True]
Translation: X:223.45, Y:-13.88, Z:150.23
[[ 8.22935865e-01 -1.23505860e-01 -5.54547441e-01  2.23452744e+02]
 [ 8.47959594e-02  9.91852965e-01 -9.50649362e-02 -1.38848937e+01]
 [ 5.61770600e-01  3.12089632e-02  8.26704175e-01  1.50228537e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 351.08327356
Centerline is valid?  [True, True]
Translation: X:223.50, Y:-13.88, Z:150.26
[[ 8.22597726e-01 -1.25860113e-01 -5.54519804e-01  2.23501684e+02]
 [ 8.75255023e-02  9.91600379e-01 -9.52259174e-02 -1.38768042e+01]
 [ 5.61847192e-01  2.97979987e-02  8.26704186e-01  1.50262213e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 351.14327356
Centerline is valid?  [True, True]
Translation: X:223.55, Y:-13.87, Z:150.30
[[ 8.21896422e-01 -1.30388783e-01 -5.54513334e-01  2.23550293e+02]
 [ 9.29602092e-02  9.91102038e-01 -9.52635805e-02 -1.38662596e+01]
 [ 5.62000598e-01  2.67491204e-02  8.26704187e-01  1.50296013e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 351.20327356
Centerline is valid?  [True, True]
Translation: X:223.60, Y:-13.86, Z:150.33
[[ 8.20673657e-01 -1.37882434e-01 -5.54511662e-01  2.23599006e+02]
 [ 1.01992702e-01  9.90212343e-01 -9.52733145e-02 -1.38592589e+01]
 [ 5.62220808e-01  2.16321568e-02  8.26704187e-01  1.50329489e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 351.26327356
Centerline is valid?  [True, True]
Translation: X:223.65, Y:-13.85, Z:150.36
[[ 8.19302151e-01 -1.45827698e-01 -5.54507230e-01  2.23646774e+02]
 [ 1.11564920e-01  9.89177107e-01 -9.52991031e-02 -1.38460147e+01]
 [ 5.62403106e-01  1.62152054e-02  8.26704187e-01  1.50363043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 351.32327356
Centerline is valid?  [True, True]
Translation: X:223.69, Y:-13.84, Z:150.40
[[ 8.19455390e-01 -1.44991313e-01 -5.54500119e-01  2.23694174e+02]
 [ 1.10527192e-01  9.89289612e-01 -9.53404599e-02 -1.38414622e+01]
 [ 5.62384746e-01  1.68399124e-02  8.26704188e-01  1.50395339e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 351.38327356
Centerline is valid?  [True, True]
Translation: X:223.74, Y:-13.83, Z:150.43
[[ 8.19081479e-01 -1.47155151e-01 -5.54482545e-01  2.23741324e+02]
 [ 1.13070638e-01  9.88992288e-01 -9.54425787e-02 -1.38277491e+01]
 [ 5.62423827e-01  1.54795535e-02  8.26704192e-01  1.50428495e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 351.44327355999997
Centerline is valid?  [True, True]
Translation: X:223.79, Y:-13.81, Z:150.46
[[ 8.19071633e-01 -1.47321665e-01 -5.54452871e-01  2.23787670e+02]
 [ 1.13155268e-01  9.88965983e-01 -9.56146998e-02 -1.38141598e+01]
 [ 5.62421145e-01  1.55760251e-02  8.26704205e-01  1.50461063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 351.50327355999997
Centerline is valid?  [True, True]
Translation: X:223.84, Y:-13.81, Z:150.49
[[ 8.20101217e-01 -1.41518757e-01 -5.54442454e-01  2.23835525e+02]
 [ 1.06109559e-01  9.89740896e-01 -9.56750741e-02 -1.38063412e+01]
 [ 5.62294189e-01  1.96316006e-02  8.26704207e-01  1.50494032e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 351.56327355999997
Centerline is valid?  [True, True]
Translation: X:223.88, Y:-13.79, Z:150.53
[[ 8.20514887e-01 -1.39214820e-01 -5.54413703e-01  2.23882613e+02]
 [ 1.03217056e-01  9.90030635e-01 -9.58414354e-02 -1.37898103e+01]
 [ 5.62229099e-01  2.14143743e-02  8.26704218e-01  1.50527444e+02]
 [ 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 351.62327356
Centerline is valid?  [True, True]
Translation: X:223.93, Y:-13.78, Z:150.56
[[ 8.21483557e-01 -1.33416724e-01 -5.54404856e-01  2.23930617e+02]
 [ 9.61882543e-02  9.90733279e-01 -9.58925938e-02 -1.37788887e+01]
 [ 5.62061016e-01  2.54469538e-02  8.26704220e-01  1.50560879e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 351.68327356
Centerline is valid?  [True, True]
Translation: X:223.98, Y:-13.77, Z:150.59
[[ 8.22141803e-01 -1.29312270e-01 -5.54401653e-01  2.23979095e+02]
 [ 9.12265176e-02  9.91200677e-01 -9.59111060e-02 -1.37706387e+01]
 [ 5.61925777e-01  2.82763975e-02  8.26704220e-01  1.50594337e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 351.74327356
Centerline is valid?  [True, True]
Translation: X:224.03, Y:-13.76, Z:150.63
[[ 8.21997351e-01 -1.30246276e-01 -5.54397207e-01  2.24026350e+02]
 [ 9.23353412e-02  9.91095513e-01 -9.59368004e-02 -1.37587977e+01]
 [ 5.61955995e-01  2.76693405e-02  8.26704220e-01  1.50627388e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 351.80327356
Centerline is valid?  [True, True]
Translation: X:224.07, Y:-13.75, Z:150.66
[[ 8.21872081e-01 -1.31055471e-01 -5.54392232e-01  2.24074660e+02]
 [ 9.32916896e-02  9.91003166e-01 -9.59655426e-02 -1.37482655e+01]
 [ 5.61981266e-01  2.71512122e-02  8.26704220e-01  1.50660994e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 351.86327356
Centerline is valid?  [True, True]
Translation: X:224.12, Y:-13.74, Z:150.69
[[ 8.21786140e-01 -1.31610638e-01 -5.54388114e-01  2.24122761e+02]
 [ 9.39451099e-02  9.90939133e-01 -9.59893272e-02 -1.37386585e+01]
 [ 5.61998094e-01  2.68006464e-02  8.26704221e-01  1.50694354e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 351.92327356
Centerline is valid?  [True, True]
Translation: X:224.17, Y:-13.73, Z:150.73
[[ 8.21711896e-01 -1.32093966e-01 -5.54383211e-01  2.24170423e+02]
 [ 9.45088805e-02  9.90882781e-01 -9.60176352e-02 -1.37314570e+01]
 [ 5.62012128e-01  2.65046963e-02  8.26704221e-01  1.50727139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 351.98327356
Centerline is valid?  [True, True]
Translation: X:224.22, Y:-13.72, Z:150.76
[[ 8.22107274e-01 -1.29653492e-01 -5.54373161e-01  2.24219665e+02]
 [ 9.15272475e-02  9.91157019e-01 -9.60756332e-02 -1.37249072e+01]
 [ 5.61927391e-01  2.82442274e-02  8.26704222e-01  1.50760893e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 352.04327356
Centerline is valid?  [True, True]
Translation: X:224.27, Y:-13.72, Z:150.79
[[ 8.21897572e-01 -1.30993587e-01 -5.54369066e-01  2.24266531e+02]
 [ 9.31270986e-02  9.91005690e-01 -9.60992545e-02 -1.37161490e+01]
 [ 5.61971285e-01  2.73569612e-02  8.26704223e-01  1.50793327e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 352.10327356
Centerline is valid?  [True, True]
Translation: X:224.31, Y:-13.71, Z:150.83
[[ 8.22198255e-01 -1.29232502e-01 -5.54336532e-01  2.24314813e+02]
 [ 9.08778219e-02  9.91196302e-01 -9.62866200e-02 -1.37078768e+01]
 [ 5.61899681e-01  2.87897943e-02  8.26704237e-01  1.50826575e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 352.16327356
Centerline is valid?  [True, True]
Translation: X:224.36, Y:-13.70, Z:150.86
[[ 8.22821965e-01 -1.25226737e-01 -5.54330478e-01  2.24362705e+02]
 [ 8.60260690e-02  9.91625782e-01 -9.63214610e-02 -1.36991277e+01]
 [ 5.61750416e-01  3.15685418e-02  8.26704238e-01  1.50859691e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 352.22327356
Centerline is valid?  [True, True]
Translation: X:224.41, Y:-13.69, Z:150.89
[[ 8.23246949e-01 -1.22425629e-01 -5.54325199e-01  2.24410024e+02]
 [ 8.26303072e-02  9.91911567e-01 -9.63518334e-02 -1.36900205e+01]
 [ 5.61637511e-01  3.35172914e-02  8.26704238e-01  1.50892466e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 352.28327356
Centerline is valid?  [True, True]
Translation: X:224.46, Y:-13.68, Z:150.93
[[ 8.22978943e-01 -1.24254913e-01 -5.54316133e-01  2.24458569e+02]
 [ 8.47995341e-02  9.91723406e-01 -9.64039672e-02 -1.36823818e+01]
 [ 5.61706950e-01  3.23326852e-02  8.26704240e-01  1.50925882e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 352.34327356
Centerline is valid?  [True, True]
Translation: X:224.51, Y:-13.68, Z:150.96
[[ 8.22812219e-01 -1.25446250e-01 -5.54295309e-01  2.24507093e+02]
 [ 8.61548983e-02  9.91594944e-01 -9.65235731e-02 -1.36754701e+01]
 [ 5.61744947e-01  3.16655194e-02  8.26704246e-01  1.50959166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 352.40327356
Centerline is valid?  [True, True]
Translation: X:224.56, Y:-13.67, Z:150.99
[[ 8.22161015e-01 -1.29769356e-01 -5.54266343e-01  2.24555645e+02]
 [ 9.12540240e-02  9.91122501e-01 -9.66896654e-02 -1.36684617e+01]
 [ 5.61893200e-01  2.89154393e-02  8.26704257e-01  1.50992457e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 352.46327356
Centerline is valid?  [True, True]
Translation: X:224.60, Y:-13.66, Z:151.03
[[ 8.21862074e-01 -1.31666476e-01 -5.54262275e-01  2.24603133e+02]
 [ 9.35255081e-02  9.90908461e-01 -9.67129805e-02 -1.36612707e+01]
 [ 5.61957036e-01  2.76470699e-02  8.26704258e-01  1.51025126e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 352.52327356
Centerline is valid?  [True, True]
Translation: X:224.65, Y:-13.65, Z:151.06
[[ 8.21929918e-01 -1.31284386e-01 -5.54252306e-01  2.24652048e+02]
 [ 9.30264263e-02  9.90949865e-01 -9.67700836e-02 -1.36531730e+01]
 [ 5.61940649e-01  2.79781156e-02  8.26704259e-01  1.51058840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 352.58327356
Centerline is valid?  [True, True]
Translation: X:224.70, Y:-13.65, Z:151.09
[[ 8.22103439e-01 -1.30288018e-01 -5.54230068e-01  2.24701055e+02]
 [ 9.17396713e-02  9.91057387e-01 -9.68973114e-02 -1.36457311e+01]
 [ 5.61898361e-01  2.88147288e-02  8.26704266e-01  1.51092505e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 352.64327356
Centerline is valid?  [True, True]
Translation: X:224.75, Y:-13.64, Z:151.13
[[ 8.22638759e-01 -1.26878878e-01 -5.54226689e-01  2.24749055e+02]
 [ 8.76174896e-02  9.91428435e-01 -9.69166333e-02 -1.36353289e+01]
 [ 5.61772773e-01  3.11674278e-02  8.26704266e-01  1.51125895e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 352.70327356
Centerline is valid?  [True, True]
Translation: X:224.80, Y:-13.63, Z:151.16
[[ 8.22894326e-01 -1.25230907e-01 -5.54222110e-01  2.24796348e+02]
 [ 8.56139470e-02  9.91600899e-01 -9.69428106e-02 -1.36256967e+01]
 [ 5.61707379e-01  3.23245464e-02  8.26704266e-01  1.51158717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 352.76327356
Centerline is valid?  [True, True]
Translation: X:224.84, Y:-13.62, Z:151.19
[[ 8.23464888e-01 -1.21493764e-01 -5.54206499e-01  2.24844790e+02]
 [ 8.10515219e-02  9.91975526e-01 -9.70319876e-02 -1.36164600e+01]
 [ 5.61548065e-01  3.49831545e-02  8.26704270e-01  1.51192232e+02]
 [ 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 352.82327356
Centerline is valid?  [True, True]
Translation: X:224.89, Y:-13.61, Z:151.23
[[ 8.23556535e-01 -1.20885993e-01 -5.54203221e-01  2.24893309e+02]
 [ 8.03068498e-02  9.92034258e-01 -9.70507092e-02 -1.36094167e+01]
 [ 5.61520653e-01  3.54204310e-02  8.26704270e-01  1.51225576e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 352.88327356
Centerline is valid?  [True, True]
Translation: X:224.94, Y:-13.60, Z:151.26
[[ 8.23643112e-01 -1.20428676e-01 -5.54174123e-01  2.24940531e+02]
 [ 7.96448184e-02  9.92071384e-01 -9.72166239e-02 -1.36023869e+01]
 [ 5.61487959e-01  3.59347052e-02  8.26704282e-01  1.51257977e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 352.94327355999997
Centerline is valid?  [True, True]
Translation: X:224.99, Y:-13.59, Z:151.29
[[ 8.23567942e-01 -1.20988571e-01 -5.54163884e-01  2.24987571e+02]
 [ 8.02801300e-02  9.92014457e-01 -9.72749617e-02 -1.35945849e+01]
 [ 5.61507743e-01  3.56241914e-02  8.26704283e-01  1.51290399e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.00327355999997
Centerline is valid?  [True, True]
Translation: X:225.04, Y:-13.59, Z:151.32
[[ 8.23593691e-01 -1.20965460e-01 -5.54130661e-01  2.25035809e+02]
 [ 8.01256889e-02  9.92008397e-01 -9.74639088e-02 -1.35883021e+01]
 [ 5.61492036e-01  3.58705594e-02  8.26704298e-01  1.51323381e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.06327355999997
Centerline is valid?  [True, True]
Translation: X:225.08, Y:-13.58, Z:151.36
[[ 8.23619686e-01 -1.20816420e-01 -5.54124539e-01  2.25084154e+02]
 [ 7.99228615e-02  9.92021340e-01 -9.74987051e-02 -1.35820308e+01]
 [ 5.61482812e-01  3.60146341e-02  8.26704299e-01  1.51356508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.12327356
Centerline is valid?  [True, True]
Translation: X:225.13, Y:-13.57, Z:151.39
[[ 8.23811891e-01 -1.19631024e-01 -5.54096008e-01  2.25132101e+02]
 [ 7.83867348e-02  9.92127977e-01 -9.76606235e-02 -1.35735240e+01]
 [ 5.61417392e-01  3.70202061e-02  8.26704310e-01  1.51389570e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.18327356
Centerline is valid?  [True, True]
Translation: X:225.18, Y:-13.57, Z:151.42
[[ 8.24510644e-01 -1.14757440e-01 -5.54087474e-01  2.25181254e+02]
 [ 7.24862040e-02  9.92571759e-01 -9.77090255e-02 -1.35666299e+01]
 [ 5.61184416e-01  4.03984339e-02  8.26704311e-01  1.51423305e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.24327356
Centerline is valid?  [True, True]
Translation: X:225.23, Y:-13.56, Z:151.46
[[ 8.24817410e-01 -1.12549431e-01 -5.54083808e-01  2.25230114e+02]
 [ 6.98144858e-02  9.92761211e-01 -9.77298115e-02 -1.35588848e+01]
 [ 5.61072346e-01  4.19261738e-02  8.26704311e-01  1.51456958e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.30327356
Centerline is valid?  [True, True]
Translation: X:225.28, Y:-13.55, Z:151.49
[[ 8.25074282e-01 -1.10671781e-01 -5.54079585e-01  2.25279109e+02]
 [ 6.75387160e-02  9.92916274e-01 -9.77537449e-02 -1.35514212e+01]
 [ 5.60973218e-01  4.32322771e-02  8.26704311e-01  1.51490666e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.36327356
Centerline is valid?  [True, True]
Translation: X:225.33, Y:-13.55, Z:151.52
[[ 8.25081017e-01 -1.10638867e-01 -5.54076128e-01  2.25326699e+02]
 [ 6.74860307e-02  9.92917927e-01 -9.77733369e-02 -1.35469727e+01]
 [ 5.60969652e-01  4.32785257e-02  8.26704312e-01  1.51523078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.42327356
Centerline is valid?  [True, True]
Translation: X:225.38, Y:-13.54, Z:151.56
[[ 8.24901084e-01 -1.12024759e-01 -5.54065569e-01  2.25376391e+02]
 [ 6.91139939e-02  9.92800046e-01 -9.78331451e-02 -1.35409904e+01]
 [ 5.61036057e-01  4.24089831e-02  8.26704313e-01  1.51557061e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.48327356
Centerline is valid?  [True, True]
Translation: X:225.43, Y:-13.54, Z:151.59
[[ 8.24503286e-01 -1.14941980e-01 -5.54060170e-01  2.25426039e+02]
 [ 7.26049625e-02  9.92547839e-01 -9.78637105e-02 -1.35350432e+01]
 [ 5.61179874e-01  4.04614330e-02  8.26704314e-01  1.51591023e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.54327356
Centerline is valid?  [True, True]
Translation: X:225.47, Y:-13.51, Z:151.62
[[ 8.24889808e-01 -1.12159925e-01 -5.54055012e-01  2.25472631e+02]
 [ 6.92367660e-02  9.92785601e-01 -9.78929072e-02 -1.35130343e+01]
 [ 5.61037499e-01  4.23898842e-02  8.26704314e-01  1.51624840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.60327356
Centerline is valid?  [True, True]
Translation: X:225.52, Y:-13.52, Z:151.66
[[ 8.24443364e-01 -1.15412243e-01 -5.54051580e-01  2.25523812e+02]
 [ 7.31385804e-02  9.92503866e-01 -9.79123277e-02 -1.35192000e+01]
 [ 5.61198616e-01  4.02006228e-02  8.26704314e-01  1.51658401e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.66327356
Centerline is valid?  [True, True]
Translation: X:225.57, Y:-13.51, Z:151.69
[[ 8.24957530e-01 -1.11697327e-01 -5.54047633e-01  2.25571755e+02]
 [ 6.86521506e-02  9.92822081e-01 -9.79346557e-02 -1.35100714e+01]
 [ 5.61009764e-01  4.27553702e-02  8.26704314e-01  1.51691602e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.72327356
Centerline is valid?  [True, True]
Translation: X:225.62, Y:-13.50, Z:151.72
[[ 8.25323750e-01 -1.08984335e-01 -5.54042527e-01  2.25619515e+02]
 [ 6.53682067e-02  9.93040857e-01 -9.79635345e-02 -1.34995852e+01]
 [ 5.60863357e-01  4.46348652e-02  8.26704315e-01  1.51724838e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.78327356
Centerline is valid?  [True, True]
Translation: X:225.67, Y:-13.49, Z:151.76
[[ 8.25191696e-01 -1.10006196e-01 -5.54037275e-01  2.25667567e+02]
 [ 6.65779607e-02  9.92957553e-01 -9.79932316e-02 -1.34891755e+01]
 [ 5.60915360e-01  4.39765290e-02  8.26704315e-01  1.51758260e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.84327356
Centerline is valid?  [True, True]
Translation: X:225.71, Y:-13.48, Z:151.79
[[ 8.24869950e-01 -1.12530591e-01 -5.54009415e-01  2.25714919e+02]
 [ 6.95108566e-02  9.92741011e-01 -9.81505261e-02 -1.34785914e+01]
 [ 5.61032804e-01  4.24517505e-02  8.26704326e-01  1.51791170e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.90327356
Centerline is valid?  [True, True]
Translation: X:225.76, Y:-13.46, Z:151.82
[[ 8.26803575e-01 -9.73594051e-02 -5.54000898e-01  2.25761285e+02]
 [ 5.12313664e-02  9.93847265e-01 -9.81985801e-02 -1.34558723e+01]
 [ 5.60152833e-01  5.28087140e-02  8.26704327e-01  1.51824916e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 353.96327356
Centerline is valid?  [True, True]
Translation: X:225.81, Y:-13.45, Z:151.86
[[ 8.24810133e-01 -1.13035990e-01 -5.53995586e-01  2.25809454e+02]
 [ 7.00670240e-02  9.92694195e-01 -9.82285431e-02 -1.34452917e+01]
 [ 5.61051563e-01  4.22030757e-02  8.26704327e-01  1.51858438e+02]
 [ 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 354.02327356
Centerline is valid?  [True, True]
Translation: X:225.86, Y:-13.44, Z:151.89
[[ 8.24608990e-01 -1.14517464e-01 -5.53990762e-01  2.25858534e+02]
 [ 7.18319774e-02  9.92565351e-01 -9.82557412e-02 -1.34368984e+01]
 [ 5.61124034e-01  4.12283156e-02  8.26704327e-01  1.51892311e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 354.08327356
Centerline is valid?  [True, True]
Translation: X:225.91, Y:-13.44, Z:151.93
[[ 8.23487660e-01 -1.22388645e-01 -5.53975716e-01  2.25909186e+02]
 [ 8.12525827e-02  9.91830208e-01 -9.83405126e-02 -1.34400580e+01]
 [ 5.61485612e-01  3.59702409e-02  8.26704330e-01  1.51925837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 354.14327356
Centerline is valid?  [True, True]
Translation: X:225.96, Y:-13.43, Z:151.96
[[ 8.23397077e-01 -1.23013032e-01 -5.53972064e-01  2.25957227e+02]
 [ 8.19908487e-02  9.91767411e-01 -9.83610819e-02 -1.34318224e+01]
 [ 5.61511135e-01  3.55695877e-02  8.26704330e-01  1.51958998e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 354.20327356
Centerline is valid?  [True, True]
Translation: X:226.00, Y:-13.41, Z:151.99
[[ 8.20679876e-01 -1.40018880e-01 -5.53966836e-01  2.26004286e+02]
 [ 1.02468420e-01  9.89858338e-01 -9.83905206e-02 -1.34134840e+01]
 [ 5.62125221e-01  2.39830138e-02  8.26704331e-01  1.51992700e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 354.26327356
Centerline is valid?  [True, True]
Translation: X:226.06, Y:-13.41, Z:152.03
[[ 8.21508719e-01 -1.35093430e-01 -5.53961361e-01  2.26055056e+02]
 [ 9.65080819e-02  9.90454154e-01 -9.84213373e-02 -1.34149054e+01]
 [ 5.61969407e-01  2.73922384e-02  8.26704331e-01  1.52026536e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 354.32327356
Centerline is valid?  [True, True]
Translation: X:226.10, Y:-13.41, Z:152.06
[[ 8.21512164e-01 -1.35086736e-01 -5.53957885e-01  2.26103429e+02]
 [ 9.64868549e-02  9.90454278e-01 -9.84408952e-02 -1.34070733e+01]
 [ 5.61968017e-01  2.74207387e-02  8.26704331e-01  1.52059872e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 354.38327356
Centerline is valid?  [True, True]
Translation: X:226.15, Y:-13.40, Z:152.09
[[ 8.20646097e-01 -1.40372222e-01 -5.53927452e-01  2.26151193e+02]
 [ 1.02745453e-01  9.89807590e-01 -9.86118952e-02 -1.33984132e+01]
 [ 5.62123967e-01  2.40119398e-02  8.26704344e-01  1.52092824e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 354.44327355999997
Centerline is valid?  [True, True]
Translation: X:226.20, Y:-13.38, Z:152.13
[[ 8.19088618e-01 -1.49211076e-01 -5.53922279e-01  2.26198214e+02]
 [ 1.13390521e-01  9.88641772e-01 -9.86409456e-02 -1.33781364e+01]
 [ 5.62349025e-01  1.79861399e-02  8.26704344e-01  1.52126734e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 354.50327355999997
Centerline is valid?  [True, True]
Translation: X:226.25, Y:-13.38, Z:152.16
[[ 8.21211756e-01 -1.37067738e-01 -5.53916678e-01  2.26249117e+02]
 [ 9.87196372e-02  9.90211186e-01 -9.86723870e-02 -1.33817751e+01]
 [ 5.62019292e-01  2.63484707e-02  8.26704345e-01  1.52160391e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 354.56327355999997
Centerline is valid?  [True, True]
Translation: X:226.30, Y:-13.37, Z:152.19
[[ 8.21014561e-01 -1.38256919e-01 -5.53913454e-01  2.26296586e+02]
 [ 1.00141428e-01  9.90066605e-01 -9.86904868e-02 -1.33703814e+01]
 [ 5.62055855e-01  2.55566426e-02  8.26704345e-01  1.52193548e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 354.62327356
Centerline is valid?  [True, True]
Translation: X:226.34, Y:-13.36, Z:152.23
[[ 8.21123044e-01 -1.37730801e-01 -5.53883718e-01  2.26344360e+02]
 [ 9.93948214e-02  9.90125212e-01 -9.88571404e-02 -1.33604231e+01]
 [ 5.62029906e-01  2.61207029e-02  8.26704357e-01  1.52226664e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 354.68327356
Centerline is valid?  [True, True]
Translation: X:226.39, Y:-13.34, Z:152.26
[[ 8.22201533e-01 -1.31264824e-01 -5.53853938e-01  2.26389509e+02]
 [ 9.14882022e-02  9.90870429e-01 -9.90237475e-02 -1.33373010e+01]
 [ 5.61795824e-01  3.07463760e-02  8.26704368e-01  1.52259598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 354.74327356
Centerline is valid?  [True, True]
Translation: X:226.44, Y:-13.34, Z:152.29
[[ 8.21791651e-01 -1.33829582e-01 -5.53848468e-01  2.26440114e+02]
 [ 9.45588695e-02  9.90579052e-01 -9.90543342e-02 -1.33398699e+01]
 [ 5.61887091e-01  2.90307398e-02  8.26704369e-01  1.52293178e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 354.80327356
Centerline is valid?  [True, True]
Translation: X:226.49, Y:-13.33, Z:152.33
[[ 8.22338896e-01 -1.30475965e-01 -5.53836405e-01  2.26487992e+02]
 [ 9.04717560e-02  9.90953955e-01 -9.91217429e-02 -1.33301461e+01]
 [ 5.61759381e-01  3.14051125e-02  8.26704371e-01  1.52326386e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 354.86327356
Centerline is valid?  [True, True]
Translation: X:226.53, Y:-13.32, Z:152.36
[[ 8.22511209e-01 -1.29407942e-01 -5.53831108e-01  2.26534326e+02]
 [ 8.91649430e-02  9.91069436e-01 -9.91513303e-02 -1.33181997e+01]
 [ 5.61716054e-01  3.21707613e-02  8.26704371e-01  1.52358845e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 354.92327356
Centerline is valid?  [True, True]
Translation: X:226.58, Y:-13.31, Z:152.39
[[ 8.22771598e-01 -1.27890862e-01 -5.53796736e-01  2.26582483e+02]
 [ 8.72085304e-02  9.91224314e-01 -9.93430015e-02 -1.33078213e+01]
 [ 5.61641852e-01  3.34408006e-02  8.26704387e-01  1.52392259e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 354.98327356
Centerline is valid?  [True, True]
Translation: X:226.63, Y:-13.30, Z:152.43
[[ 8.22931880e-01 -1.26882286e-01 -5.53790579e-01  2.26629597e+02]
 [ 8.59705098e-02  9.91329018e-01 -9.93773116e-02 -1.32969973e+01]
 [ 5.61597892e-01  3.41710994e-02  8.26704387e-01  1.52425104e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 355.04327356
Centerline is valid?  [True, True]
Translation: X:226.68, Y:-13.28, Z:152.46
[[ 8.22445646e-01 -1.30042876e-01 -5.53779748e-01  2.26677492e+02]
 [ 8.97378617e-02  9.90989037e-01 -9.94376393e-02 -1.32849964e+01]
 [ 5.61720816e-01  3.20870431e-02  8.26704389e-01  1.52458601e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 355.10327356
Centerline is valid?  [True, True]
Translation: X:226.73, Y:-13.28, Z:152.49
[[ 8.22456130e-01 -1.29996340e-01 -5.53775105e-01  2.26725537e+02]
 [ 8.96644404e-02  9.90993089e-01 -9.94634926e-02 -1.32804011e+01]
 [ 5.61717191e-01  3.21504243e-02  8.26704389e-01  1.52491325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 355.16327356
Centerline is valid?  [True, True]
Translation: X:226.77, Y:-13.27, Z:152.52
[[ 8.22196495e-01 -1.31673995e-01 -5.53764284e-01  2.26773084e+02]
 [ 9.16455917e-02  9.90805792e-01 -9.95237041e-02 -1.32670995e+01]
 [ 5.61777544e-01  3.10779851e-02  8.26704391e-01  1.52524747e+02]
 [ 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 355.22327356
Centerline is valid?  [True, True]
Translation: X:226.82, Y:-13.25, Z:152.56
[[ 8.25312234e-01 -1.10494182e-01 -5.53760555e-01  2.26820652e+02]
 [ 6.61307234e-02  9.92833133e-01 -9.95444506e-02 -1.32540289e+01]
 [ 5.60790910e-01  4.55346668e-02  8.26704391e-01  1.52558174e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 355.28327356
Centerline is valid?  [True, True]
Translation: X:226.87, Y:-13.25, Z:152.59
[[ 8.25609136e-01 -1.08282345e-01 -5.53754899e-01  2.26868778e+02]
 [ 6.34492222e-02  9.93004952e-01 -9.95759083e-02 -1.32465845e+01]
 [ 5.60663669e-01  4.70754621e-02  8.26704391e-01  1.52591292e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 355.34327356
Centerline is valid?  [True, True]
Translation: X:226.92, Y:-13.24, Z:152.63
[[ 8.24101439e-01 -1.19241910e-01 -5.53749208e-01  2.26918347e+02]
 [ 7.66156300e-02  9.92072770e-01 -9.96075479e-02 -1.32421762e+01]
 [ 5.61236905e-01  3.96608791e-02  8.26704392e-01  1.52625011e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 355.40327356
Centerline is valid?  [True, True]
Translation: X:226.97, Y:-13.24, Z:152.66
[[ 8.23096450e-01 -1.26016871e-01 -5.53743607e-01  2.26967172e+02]
 [ 8.47528962e-02  9.91407626e-01 -9.96386749e-02 -1.32384883e+01]
 [ 5.61541789e-01  3.50808651e-02  8.26704392e-01  1.52658144e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 355.46327356
Centerline is valid?  [True, True]
Translation: X:227.02, Y:-13.23, Z:152.69
[[ 8.22722327e-01 -1.28458431e-01 -5.53738571e-01  2.27015884e+02]
 [ 8.76752479e-02  9.91150649e-01 -9.96666587e-02 -1.32301097e+01]
 [ 5.61641366e-01  3.34488188e-02  8.26704393e-01  1.52691769e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 355.52327356
Centerline is valid?  [True, True]
Translation: X:227.06, Y:-13.22, Z:152.72
[[ 8.22418294e-01 -1.30403836e-01 -5.53735486e-01  2.27063270e+02]
 [ 9.00076078e-02  9.90939843e-01 -9.96837925e-02 -1.32243688e+01]
 [ 5.61717705e-01  3.21413682e-02  8.26704393e-01  1.52724192e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 355.58327356
Centerline is valid?  [True, True]
Translation: X:227.11, Y:-13.22, Z:152.76
[[ 8.22470443e-01 -1.30118662e-01 -5.53725117e-01  2.27111463e+02]
 [ 8.96253741e-02  9.90968694e-01 -9.97413658e-02 -1.32163578e+01]
 [ 5.61702469e-01  3.24065045e-02  8.26704394e-01  1.52757410e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 355.64327356
Centerline is valid?  [True, True]
Translation: X:227.16, Y:-13.21, Z:152.79
[[ 8.22620271e-01 -1.29203207e-01 -5.53716915e-01  2.27160153e+02]
 [ 8.84918835e-02  9.91065974e-01 -9.97868823e-02 -1.32089376e+01]
 [ 5.61662778e-01  3.30872594e-02  8.26704395e-01  1.52790896e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 355.70327356
Centerline is valid?  [True, True]
Translation: X:227.21, Y:-13.20, Z:152.82
[[ 8.23370071e-01 -1.24354386e-01 -5.53712663e-01  2.27209744e+02]
 [ 8.26355557e-02  9.91569077e-01 -9.98104682e-02 -1.32039746e+01]
 [ 5.61456224e-01  3.64245986e-02  8.26704395e-01  1.52824699e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 355.76327356
Centerline is valid?  [True, True]
Translation: X:227.26, Y:-13.20, Z:152.86
[[ 8.23581939e-01 -1.22953798e-01 -5.53710351e-01  2.27257473e+02]
 [ 8.09403693e-02  9.91707602e-01 -9.98232921e-02 -1.31971576e+01]
 [ 5.61392417e-01  3.73951402e-02  8.26704395e-01  1.52857483e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 355.82327356
Centerline is valid?  [True, True]
Translation: X:227.31, Y:-13.19, Z:152.89
[[ 8.23343852e-01 -1.24582019e-01 -5.53700481e-01  2.27305838e+02]
 [ 8.28644609e-02  9.91543172e-01 -9.98780172e-02 -1.31909806e+01]
 [ 5.61460936e-01  3.63518595e-02  8.26704397e-01  1.52890596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 355.88327356
Centerline is valid?  [True, True]
Translation: X:227.35, Y:-13.19, Z:152.92
[[ 8.23623421e-01 -1.22758163e-01 -5.53692056e-01  2.27353805e+02]
 [ 8.06369380e-02  9.91722107e-01 -9.99247017e-02 -1.31857216e+01]
 [ 5.61375226e-01  3.76522927e-02  8.26704397e-01  1.52923334e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 355.94327355999997
Centerline is valid?  [True, True]
Translation: X:227.40, Y:-13.18, Z:152.96
[[ 8.23358955e-01 -1.24553930e-01 -5.53684341e-01  2.27402758e+02]
 [ 8.27707601e-02  9.91541987e-01 -9.99674379e-02 -1.31803533e+01]
 [ 5.61452609e-01  3.64802114e-02  8.26704398e-01  1.52956748e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 356.00327355999997
Centerline is valid?  [True, True]
Translation: X:227.45, Y:-13.17, Z:152.99
[[ 8.23292503e-01 -1.25085277e-01 -5.53663371e-01  2.27452214e+02]
 [ 8.33329599e-02  9.91483191e-01 -1.00083464e-01 -1.31734648e+01]
 [ 5.61466894e-01  3.62595579e-02  8.26704404e-01  1.52990645e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 356.06327355999997
Centerline is valid?  [True, True]
Translation: X:227.50, Y:-13.17, Z:153.02
[[ 8.23852489e-01 -1.21412086e-01 -5.53648067e-01  2.27501680e+02]
 [ 7.88534648e-02  9.91840960e-01 -1.00168067e-01 -1.31710388e+01]
 [ 5.61292444e-01  3.88666427e-02  8.26704407e-01  1.53024022e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 356.12327356
Centerline is valid?  [True, True]
Translation: X:227.55, Y:-13.16, Z:153.06
[[ 8.23558965e-01 -1.23405423e-01 -5.53644049e-01  2.27549913e+02]
 [ 8.12385944e-02  9.91646207e-01 -1.00190270e-01 -1.31600620e+01]
 [ 5.61383044e-01  3.75353305e-02  8.26704407e-01  1.53057643e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 356.18327356
Centerline is valid?  [True, True]
Translation: X:227.60, Y:-13.16, Z:153.09
[[ 8.23969703e-01 -1.20656725e-01 -5.53638766e-01  2.27600054e+02]
 [ 7.79097554e-02  9.91910344e-01 -1.00219456e-01 -1.31585489e+01]
 [ 5.61252170e-01  3.94439342e-02  8.26704408e-01  1.53091390e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 356.24327356
Centerline is valid?  [True, True]
Translation: X:227.65, Y:-13.15, Z:153.12
[[ 8.23595500e-01 -1.23209416e-01 -5.53633355e-01  2.27648265e+02]
 [ 8.09630616e-02  9.91662772e-01 -1.00249339e-01 -1.31496084e+01]
 [ 5.61369250e-01  3.77410527e-02  8.26704408e-01  1.53124745e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 356.30327356
Centerline is valid?  [True, True]
Translation: X:227.70, Y:-13.14, Z:153.16
[[ 8.22897731e-01 -1.27805349e-01 -5.53629044e-01  2.27696743e+02]
 [ 8.64819612e-02  9.91194313e-01 -1.00273145e-01 -1.31406210e+01]
 [ 5.61569404e-01  3.46356181e-02  8.26704408e-01  1.53158287e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 356.36327356
Centerline is valid?  [True, True]
Translation: X:227.75, Y:-13.14, Z:153.19
[[ 8.22905656e-01 -1.27767762e-01 -5.53625939e-01  2.27745454e+02]
 [ 8.64252033e-02  9.91197530e-01 -1.00290281e-01 -1.31355512e+01]
 [ 5.61566528e-01  3.46822054e-02  8.26704408e-01  1.53191515e+02]
 [ 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 356.42327356
Centerline is valid?  [True, True]
Translation: X:227.79, Y:-13.13, Z:153.23
[[ 8.22777031e-01 -1.28719567e-01 -5.53596632e-01  2.27794771e+02]
 [ 8.74634129e-02  9.91090096e-01 -1.00451841e-01 -1.31293895e+01]
 [ 5.61594256e-01  3.42300167e-02  8.26704420e-01  1.53225202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 356.48327356
Centerline is valid?  [True, True]
Translation: X:227.84, Y:-13.12, Z:153.26
[[ 8.22420364e-01 -1.31050839e-01 -5.53579644e-01  2.27842672e+02]
 [ 9.02091102e-02  9.90834467e-01 -1.00545386e-01 -1.31181415e+01]
 [ 5.61682349e-01  3.27526461e-02  8.26704423e-01  1.53258596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 356.54327356
Centerline is valid?  [True, True]
Translation: X:227.89, Y:-13.11, Z:153.29
[[ 8.22900713e-01 -1.28119553e-01 -5.53551982e-01  2.27892085e+02]
 [ 8.65760784e-02  9.91143077e-01 -1.00697483e-01 -1.31133232e+01]
 [ 5.61550532e-01  3.49396708e-02  8.26704433e-01  1.53292188e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 356.60327356
Centerline is valid?  [True, True]
Translation: X:227.94, Y:-13.11, Z:153.33
[[ 8.22346181e-01 -1.31694200e-01 -5.53537168e-01  2.27940696e+02]
 [ 9.08276116e-02  9.90754241e-01 -1.00778865e-01 -1.31051606e+01]
 [ 5.61691288e-01  3.25986558e-02  8.26704436e-01  1.53325688e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 356.66327356
Centerline is valid?  [True, True]
Translation: X:227.99, Y:-13.09, Z:153.36
[[ 8.21784514e-01 -1.35172351e-01 -5.53532879e-01  2.27988885e+02]
 [ 9.50028413e-02  9.90360203e-01 -1.00802419e-01 -1.30948582e+01]
 [ 5.61822634e-01  3.02506706e-02  8.26704436e-01  1.53359197e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 356.72327356
Centerline is valid?  [True, True]
Translation: X:228.04, Y:-13.09, Z:153.39
[[ 8.21053802e-01 -1.39639641e-01 -5.53508288e-01  2.28038084e+02]
 [ 1.00296821e-01  9.89824333e-01 -1.00937293e-01 -1.30873822e+01]
 [ 5.61970820e-01  2.73598267e-02  8.26704444e-01  1.53392978e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 356.78327356
Centerline is valid?  [True, True]
Translation: X:228.09, Y:-13.08, Z:153.43
[[ 8.20602053e-01 -1.42295844e-01 -5.53501729e-01  2.28086727e+02]
 [ 1.03475170e-01  9.89493452e-01 -1.00973252e-01 -1.30805153e+01]
 [ 5.62054411e-01  2.55851725e-02  8.26704445e-01  1.53426365e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 356.84327356
Centerline is valid?  [True, True]
Translation: X:228.14, Y:-13.07, Z:153.46
[[ 8.20326758e-01 -1.43991295e-01 -5.53471334e-01  2.28135489e+02]
 [ 1.05407675e-01  9.89272459e-01 -1.01139630e-01 -1.30699831e+01]
 [ 5.62097173e-01  2.46274188e-02  8.26704456e-01  1.53460209e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 356.90327356
Centerline is valid?  [True, True]
Translation: X:228.18, Y:-13.06, Z:153.49
[[ 8.20216629e-01 -1.44677213e-01 -5.53455677e-01  2.28183104e+02]
 [ 1.06177220e-01  9.89181403e-01 -1.01225246e-01 -1.30613543e+01]
 [ 5.62113049e-01  2.42622449e-02  8.26704459e-01  1.53493097e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 356.96327356
Centerline is valid?  [True, True]
Translation: X:228.23, Y:-13.04, Z:153.53
[[ 8.20447510e-01 -1.43478912e-01 -5.53425411e-01  2.28228200e+02]
 [ 1.04620904e-01  9.89330296e-01 -1.01390490e-01 -1.30391500e+01]
 [ 5.62067923e-01  2.52857082e-02  8.26704471e-01  1.53525920e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 357.02327356
Centerline is valid?  [True, True]
Translation: X:228.28, Y:-13.04, Z:153.56
[[ 8.20290492e-01 -1.44415490e-01 -5.53414561e-01  2.28277392e+02]
 [ 1.05710455e-01  9.89208401e-01 -1.01449688e-01 -1.30397814e+01]
 [ 5.62093239e-01  2.47165095e-02  8.26704473e-01  1.53558742e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 357.08327356
Centerline is valid?  [True, True]
Translation: X:228.33, Y:-13.03, Z:153.59
[[ 8.20346565e-01 -1.44137945e-01 -5.53403800e-01  2.28325907e+02]
 [ 1.05336261e-01  9.89242298e-01 -1.01508360e-01 -1.30322318e+01]
 [ 5.62081653e-01  2.49785476e-02  8.26704474e-01  1.53592114e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 357.14327356
Centerline is valid?  [True, True]
Translation: X:228.37, Y:-13.02, Z:153.62
[[ 8.20084562e-01 -1.45645919e-01 -5.53397306e-01  2.28372549e+02]
 [ 1.07130980e-01  9.89045914e-01 -1.01543751e-01 -1.30223233e+01]
 [ 5.62124777e-01  2.39884670e-02  8.26704475e-01  1.53624534e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 357.20327356
Centerline is valid?  [True, True]
Translation: X:228.42, Y:-13.01, Z:153.66
[[ 8.18961473e-01 -1.51872699e-01 -5.53386654e-01  2.28420732e+02]
 [ 1.14603477e-01  9.88201964e-01 -1.01601776e-01 -1.30109760e+01]
 [ 5.62288314e-01  1.97879051e-02  8.26704476e-01  1.53658151e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 357.26327356
Centerline is valid?  [True, True]
Translation: X:228.47, Y:-13.00, Z:153.69
[[ 8.18231384e-01 -1.55771915e-01 -5.53382790e-01  2.28468171e+02]
 [ 1.19295039e-01  9.87644418e-01 -1.01622817e-01 -1.30009388e+01]
 [ 5.62375404e-01  1.71351568e-02  8.26704476e-01  1.53691129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 357.32327356
Centerline is valid?  [True, True]
Translation: X:228.51, Y:-12.97, Z:153.72
[[ 8.18810794e-01 -1.52719972e-01 -5.53376449e-01  2.28513113e+02]
 [ 1.15588374e-01  9.88081532e-01 -1.01657336e-01 -1.29747022e+01]
 [ 5.62306155e-01  1.92742404e-02  8.26704477e-01  1.53724420e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 357.38327356
Centerline is valid?  [True, True]
Translation: X:228.56, Y:-12.98, Z:153.76
[[ 8.18901641e-01 -1.52255830e-01 -5.53369917e-01  2.28564060e+02]
 [ 1.15004300e-01  9.88146026e-01 -1.01692884e-01 -1.29781455e+01]
 [ 5.62293618e-01  1.96365499e-02  8.26704477e-01  1.53758080e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 357.44327355999997
Centerline is valid?  [True, True]
Translation: X:228.61, Y:-12.96, Z:153.79
[[ 8.19963069e-01 -1.46445443e-01 -5.53366332e-01  2.28611954e+02]
 [ 1.07981655e-01  9.88936071e-01 -1.01712388e-01 -1.29633961e+01]
 [ 5.62139242e-01  2.36469898e-02  8.26704477e-01  1.53791944e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 357.50327355999997
Centerline is valid?  [True, True]
Translation: X:228.66, Y:-12.93, Z:153.83
[[ 8.21613414e-01 -1.36893590e-01 -5.53363843e-01  2.28657370e+02]
 [ 9.64569704e-02  9.90125188e-01 -1.01725928e-01 -1.29348588e+01]
 [ 5.61825106e-01  3.02035871e-02  8.26704478e-01  1.53825848e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 357.56327355999997
Centerline is valid?  [True, True]
Translation: X:228.71, Y:-12.92, Z:153.86
[[ 8.21989303e-01 -1.34633445e-01 -5.53360119e-01  2.28705645e+02]
 [ 9.37199441e-02  9.90385928e-01 -1.01746180e-01 -1.29227599e+01]
 [ 5.61738514e-01  3.17733921e-02  8.26704478e-01  1.53859640e+02]
 [ 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 357.62327356
Centerline is valid?  [True, True]
Translation: X:228.75, Y:-12.92, Z:153.89
[[ 8.22100884e-01 -1.33965175e-01 -5.53356547e-01  2.28754921e+02]
 [ 9.29017611e-02  9.90461016e-01 -1.01765605e-01 -1.29219551e+01]
 [ 5.61711135e-01  3.22537960e-02  8.26704478e-01  1.53892713e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 357.68327356
Centerline is valid?  [True, True]
Translation: X:228.80, Y:-12.91, Z:153.93
[[ 8.22515498e-01 -1.31423605e-01 -5.53349881e-01  2.28801341e+02]
 [ 8.98157394e-02  9.90741903e-01 -1.01801837e-01 -1.29098646e+01]
 [ 5.61606079e-01  3.40340601e-02  8.26704478e-01  1.53925255e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 357.74327356
Centerline is valid?  [True, True]
Translation: X:228.85, Y:-12.90, Z:153.96
[[ 8.22632997e-01 -1.30732366e-01 -5.53338956e-01  2.28849620e+02]
 [ 8.89433782e-02  9.90814500e-01 -1.01861193e-01 -1.28990699e+01]
 [ 5.61572816e-01  3.45785427e-02  8.26704480e-01  1.53958870e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 357.80327356
Centerline is valid?  [True, True]
Translation: X:228.90, Y:-12.89, Z:153.99
[[ 8.22763858e-01 -1.29924872e-01 -5.53334583e-01  2.28897591e+02]
 [ 8.79549229e-02  9.90900293e-01 -1.01884943e-01 -1.28896721e+01]
 [ 5.61536789e-01  3.51587478e-02  8.26704480e-01  1.53992125e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 357.86327356
Centerline is valid?  [True, True]
Translation: X:228.95, Y:-12.88, Z:154.03
[[ 8.22933319e-01 -1.28979429e-01 -5.53303767e-01  2.28945559e+02]
 [ 8.67044226e-02  9.90993299e-01 -1.02052065e-01 -1.28796270e+01]
 [ 5.61482943e-01  3.60081606e-02  8.26704492e-01  1.54025387e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 357.92327356
Centerline is valid?  [True, True]
Translation: X:228.99, Y:-12.87, Z:154.06
[[ 8.23359026e-01 -1.26257623e-01 -5.53298226e-01  2.28993888e+02]
 [ 8.34070529e-02  9.91273175e-01 -1.02082100e-01 -1.28687200e+01]
 [ 5.61358333e-01  3.79012442e-02  8.26704493e-01  1.54059065e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 357.98327356
Centerline is valid?  [True, True]
Translation: X:229.04, Y:-12.86, Z:154.09
[[ 8.23359731e-01 -1.26272343e-01 -5.53293818e-01  2.29042249e+02]
 [ 8.34087982e-02  9.91270568e-01 -1.02105987e-01 -1.28558057e+01]
 [ 5.61357040e-01  3.79203858e-02  8.26704493e-01  1.54093016e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 358.04327356
Centerline is valid?  [True, True]
Translation: X:229.09, Y:-12.84, Z:154.13
[[ 8.23881071e-01 -1.22852955e-01 -5.53287567e-01  2.29090465e+02]
 [ 7.92700524e-02  9.91606631e-01 -1.02139851e-01 -1.28443965e+01]
 [ 5.61191803e-01  4.02919553e-02  8.26704493e-01  1.54126678e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 358.10327356
Centerline is valid?  [True, True]
Translation: X:229.14, Y:-12.83, Z:154.16
[[ 8.23769757e-01 -1.23622786e-01 -5.53281840e-01  2.29139077e+02]
 [ 8.01759129e-02  9.91530604e-01 -1.02170863e-01 -1.28334018e+01]
 [ 5.61226524e-01  3.98053904e-02  8.26704494e-01  1.54160556e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 358.16327356
Centerline is valid?  [True, True]
Translation: X:229.19, Y:-12.82, Z:154.19
[[ 8.23322178e-01 -1.26582785e-01 -5.53278763e-01  2.29187850e+02]
 [ 8.37280135e-02  9.91235254e-01 -1.02187527e-01 -1.28230434e+01]
 [ 5.61364597e-01  3.78083255e-02  8.26704494e-01  1.54194470e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 358.22327356
Centerline is valid?  [True, True]
Translation: X:229.24, Y:-12.81, Z:154.23
[[ 8.22737116e-01 -1.30344910e-01 -5.53275558e-01  2.29236261e+02]
 [ 8.82465048e-02  9.90841419e-01 -1.02204877e-01 -1.28138145e+01]
 [ 5.61530224e-01  3.52631118e-02  8.26704494e-01  1.54228002e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 358.28327356
Centerline is valid?  [True, True]
Translation: X:229.28, Y:-12.81, Z:154.26
[[ 8.21730497e-01 -1.36569195e-01 -5.53270138e-01  2.29284920e+02]
 [ 9.57248380e-02  9.90143889e-01 -1.02234210e-01 -1.28055881e+01]
 [ 5.61779090e-01  3.10472742e-02  8.26704494e-01  1.54261571e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 358.34327356
Centerline is valid?  [True, True]
Translation: X:229.33, Y:-12.80, Z:154.30
[[ 8.20402133e-01 -1.44348093e-01 -5.53266633e-01  2.29334392e+02]
 [ 1.05088347e-01  9.89191957e-01 -1.02253172e-01 -1.28002600e+01]
 [ 5.62046954e-01  2.57468450e-02  8.26704494e-01  1.54295330e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 358.40327356
Centerline is valid?  [True, True]
Translation: X:229.38, Y:-12.79, Z:154.33
[[ 8.19315890e-01 -1.50410978e-01 -5.53261249e-01  2.29383877e+02]
 [ 1.12380858e-01  9.88387006e-01 -1.02282300e-01 -1.27948971e+01]
 [ 5.62220610e-01  2.16255399e-02  8.26704495e-01  1.54329096e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 358.46327356
Centerline is valid?  [True, True]
Translation: X:229.43, Y:-12.78, Z:154.36
[[ 8.18486227e-01 -1.54873179e-01 -5.53258162e-01  2.29431966e+02]
 [ 1.17753618e-01  9.87759587e-01 -1.02298994e-01 -1.27838923e+01]
 [ 5.62329424e-01  1.85821673e-02  8.26704495e-01  1.54362633e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 358.52327356
Centerline is valid?  [True, True]
Translation: X:229.48, Y:-12.77, Z:154.40
[[ 8.18593655e-01 -1.54318362e-01 -5.53254255e-01  2.29479231e+02]
 [ 1.17069811e-01  9.87838677e-01 -1.02320121e-01 -1.27739461e+01]
 [ 5.62315825e-01  1.89892308e-02  8.26704495e-01  1.54395485e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 358.58327356
Centerline is valid?  [True, True]
Translation: X:229.53, Y:-12.76, Z:154.43
[[ 8.18829867e-01 -1.53083591e-01 -5.53247742e-01  2.29527222e+02]
 [ 1.15556071e-01  9.88013250e-01 -1.02355327e-01 -1.27640649e+01]
 [ 5.62285020e-01  1.98804639e-02  8.26704496e-01  1.54428808e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 358.64327356
Centerline is valid?  [True, True]
Translation: X:229.57, Y:-12.75, Z:154.46
[[ 8.19909210e-01 -1.47229144e-01 -5.53238164e-01  2.29574297e+02]
 [ 1.08458916e-01  9.88812143e-01 -1.02407074e-01 -1.27528574e+01]
 [ 5.62125921e-01  2.39608915e-02  8.26704497e-01  1.54461674e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 358.70327356
Centerline is valid?  [True, True]
Translation: X:229.62, Y:-12.73, Z:154.50
[[ 8.23722482e-01 -1.24170882e-01 -5.53229487e-01  2.29620697e+02]
 [ 8.06464898e-02  9.91463229e-01 -1.02453934e-01 -1.27291416e+01]
 [ 5.61228489e-01  3.97775926e-02  8.26704498e-01  1.54495642e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 358.76327356
Centerline is valid?  [True, True]
Translation: X:229.67, Y:-12.72, Z:154.53
[[ 8.21274358e-01 -1.39465834e-01 -5.53224827e-01  2.29668298e+02]
 [ 9.90510670e-02  9.89791353e-01 -1.02479087e-01 -1.27205844e+01]
 [ 5.61869482e-01  2.93659373e-02  8.26704498e-01  1.54528545e+02]
 [ 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 358.82327356
Centerline is valid?  [True, True]
Translation: X:229.72, Y:-12.72, Z:154.56
[[ 8.22023615e-01 -1.35003518e-01 -5.53218968e-01  2.29718143e+02]
 [ 9.36529391e-02  9.90313426e-01 -1.02510709e-01 -1.27229778e+01]
 [ 5.61699478e-01  3.24556415e-02  8.26704498e-01  1.54561590e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 358.88327356
Centerline is valid?  [True, True]
Translation: X:229.77, Y:-12.72, Z:154.60
[[ 8.22238296e-01 -1.33717566e-01 -5.53212254e-01  2.29767375e+02]
 [ 9.20795190e-02  9.90457212e-01 -1.02546934e-01 -1.27154042e+01]
 [ 5.61645393e-01  3.33784980e-02  8.26704499e-01  1.54595457e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 358.94327355999997
Centerline is valid?  [True, True]
Translation: X:229.81, Y:-12.70, Z:154.63
[[ 8.24981134e-01 -1.15606123e-01 -5.53210044e-01  2.29814364e+02]
 [ 7.02714586e-02  9.92241706e-01 -1.02558856e-01 -1.26961677e+01]
 [ 5.60774509e-01  4.57342450e-02  8.26704499e-01  1.54629281e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.00327355999997
Centerline is valid?  [True, True]
Translation: X:229.87, Y:-12.70, Z:154.66
[[ 8.22274963e-01 -1.33524680e-01 -5.53204344e-01  2.29865507e+02]
 [ 9.18185775e-02  9.90477018e-01 -1.02589595e-01 -1.27017995e+01]
 [ 5.61634432e-01  3.35624195e-02  8.26704499e-01  1.54662791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.06327355999997
Centerline is valid?  [True, True]
Translation: X:229.91, Y:-12.70, Z:154.70
[[ 8.22092678e-01 -1.34663789e-01 -5.53199144e-01  2.29914317e+02]
 [ 9.31719699e-02  9.90347720e-01 -1.02617625e-01 -1.26959505e+01]
 [ 5.61678390e-01  3.28185439e-02  8.26704500e-01  1.54696166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.12327356
Centerline is valid?  [True, True]
Translation: X:229.96, Y:-12.68, Z:154.73
[[ 8.24845609e-01 -1.16769693e-01 -5.53167750e-01  2.29960970e+02]
 [ 7.15192633e-02  9.92128976e-01 -1.02786624e-01 -1.26757679e+01]
 [ 5.60816116e-01  4.52209458e-02  8.26704512e-01  1.54729810e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.18327356
Centerline is valid?  [True, True]
Translation: X:230.01, Y:-12.67, Z:154.76
[[ 8.25341495e-01 -1.13239032e-01 -5.53162127e-01  2.30010238e+02]
 [ 6.72530669e-02  9.92424160e-01 -1.02816881e-01 -1.26708350e+01]
 [ 5.60614343e-01  4.76571886e-02  8.26704512e-01  1.54763375e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.24327356
Centerline is valid?  [True, True]
Translation: X:230.06, Y:-12.68, Z:154.80
[[ 8.23451466e-01 -1.26265136e-01 -5.53158927e-01  2.30061232e+02]
 [ 8.29132808e-02  9.91236873e-01 -1.02834091e-01 -1.26774620e+01]
 [ 5.61295886e-01  3.88146617e-02  8.26704513e-01  1.54796664e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.30327356
Centerline is valid?  [True, True]
Translation: X:230.11, Y:-12.66, Z:154.83
[[ 8.26166860e-01 -1.07094019e-01 -5.53153857e-01  2.30107270e+02]
 [ 5.98364446e-02  9.92894325e-01 -1.02861357e-01 -1.26553369e+01]
 [ 5.60239162e-01  5.18818843e-02  8.26704513e-01  1.54830207e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.36327356
Centerline is valid?  [True, True]
Translation: X:230.16, Y:-12.65, Z:154.86
[[ 8.26465510e-01 -1.04793823e-01 -5.53148276e-01  2.30156722e+02]
 [ 5.70524193e-02  9.93055078e-01 -1.02891365e-01 -1.26499135e+01]
 [ 5.60089084e-01  5.34777172e-02  8.26704513e-01  1.54863957e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.42327356
Centerline is valid?  [True, True]
Translation: X:230.21, Y:-12.64, Z:154.90
[[ 8.26352417e-01 -1.05698616e-01 -5.53145085e-01  2.30205020e+02]
 [ 5.81282572e-02  9.92990908e-01 -1.02908513e-01 -1.26437134e+01]
 [ 5.60145328e-01  5.28853388e-02  8.26704513e-01  1.54897036e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.48327356
Centerline is valid?  [True, True]
Translation: X:230.25, Y:-12.64, Z:154.93
[[ 8.24295866e-01 -1.20724150e-01 -5.53138324e-01  2.30254360e+02]
 [ 7.61709515e-02  9.91766275e-01 -1.02944848e-01 -1.26369971e+01]
 [ 5.61011864e-01  4.27239398e-02  8.26704514e-01  1.54930867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.54327356
Centerline is valid?  [True, True]
Translation: X:230.30, Y:-12.64, Z:154.96
[[ 8.26012283e-01 -1.08384969e-01 -5.53133264e-01  2.30304275e+02]
 [ 6.13145219e-02  9.92792672e-01 -1.02972030e-01 -1.26361464e+01]
 [ 5.60307271e-01  5.11410598e-02  8.26704514e-01  1.54964357e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.60327356
Centerline is valid?  [True, True]
Translation: X:230.35, Y:-12.63, Z:155.00
[[ 8.25880194e-01 -1.09414548e-01 -5.53127799e-01  2.30352933e+02]
 [ 6.25325464e-02  9.92713653e-01 -1.03001376e-01 -1.26302595e+01]
 [ 5.60367367e-01  5.04783069e-02  8.26704515e-01  1.54997632e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.66327356
Centerline is valid?  [True, True]
Translation: X:230.40, Y:-12.62, Z:155.03
[[ 8.25927044e-01 -1.09220175e-01 -5.53096259e-01  2.30400943e+02]
 [ 6.21865956e-02  9.92717822e-01 -1.03170510e-01 -1.26233504e+01]
 [ 5.60336814e-01  5.08161410e-02  8.26704527e-01  1.55030530e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.72327356
Centerline is valid?  [True, True]
Translation: X:230.45, Y:-12.62, Z:155.06
[[ 8.26027877e-01 -1.08501808e-01 -5.53087067e-01  2.30448376e+02]
 [ 6.12904881e-02  9.92768430e-01 -1.03219767e-01 -1.26174464e+01]
 [ 5.60286910e-01  5.13634284e-02  8.26704528e-01  1.55062976e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.78327356
Centerline is valid?  [True, True]
Translation: X:230.50, Y:-12.61, Z:155.10
[[ 8.25647387e-01 -1.11416266e-01 -5.53075770e-01  2.30497050e+02]
 [ 6.47534795e-02  9.92542278e-01 -1.03280267e-01 -1.26099440e+01]
 [ 5.60458186e-01  4.94595024e-02  8.26704529e-01  1.55096446e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.84327356
Centerline is valid?  [True, True]
Translation: X:230.55, Y:-12.60, Z:155.13
[[ 8.25138888e-01 -1.15140274e-01 -5.53071906e-01  2.30546058e+02]
 [ 6.92171867e-02  9.92238829e-01 -1.03300959e-01 -1.26018568e+01]
 [ 5.60673520e-01  4.69555568e-02  8.26704530e-01  1.55130232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.90327356
Centerline is valid?  [True, True]
Translation: X:230.59, Y:-12.59, Z:155.16
[[ 8.24380157e-01 -1.20503258e-01 -5.53060866e-01  2.30594340e+02]
 [ 7.56283080e-02  9.91764620e-01 -1.03360037e-01 -1.25913623e+01]
 [ 5.60961420e-01  4.33809063e-02  8.26704531e-01  1.55163815e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 359.96327356
Centerline is valid?  [True, True]
Translation: X:230.64, Y:-12.59, Z:155.20
[[ 8.23983206e-01 -1.23202686e-01 -5.53057659e-01  2.30644187e+02]
 [ 7.88647587e-02  9.91510719e-01 -1.03377191e-01 -1.25864149e+01]
 [ 5.61098945e-01  4.15643107e-02  8.26704531e-01  1.55197771e+02]
 [ 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 360.02327356
Centerline is valid?  [True, True]
Translation: X:230.70, Y:-12.60, Z:155.23
[[ 8.22005884e-01 -1.35779439e-01 -5.53055395e-01  2.30695612e+02]
 [ 9.39985254e-02  9.90189340e-01 -1.03389304e-01 -1.25961847e+01]
 [ 5.61667698e-01  3.30002247e-02  8.26704531e-01  1.55230946e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 360.08327356
Centerline is valid?  [True, True]
Translation: X:230.74, Y:-12.59, Z:155.26
[[ 8.21625935e-01 -1.38081398e-01 -5.53050044e-01  2.30744354e+02]
 [ 9.67525406e-02  9.89921047e-01 -1.03417920e-01 -1.25917854e+01]
 [ 5.61755970e-01  3.14618486e-02  8.26704532e-01  1.55264089e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 360.14327356
Centerline is valid?  [True, True]
Translation: X:230.79, Y:-12.58, Z:155.30
[[ 8.21949419e-01 -1.36178851e-01 -5.53041114e-01  2.30791180e+02]
 [ 9.44284699e-02  9.90140455e-01 -1.03465659e-01 -1.25834019e+01]
 [ 5.61678215e-01  3.28207120e-02  8.26704533e-01  1.55296437e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 360.20327356
Centerline is valid?  [True, True]
Translation: X:230.84, Y:-12.56, Z:155.33
[[ 8.23053747e-01 -1.29384005e-01 -5.53030115e-01  2.30836090e+02]
 [ 8.62063069e-02  9.90884033e-01 -1.03524418e-01 -1.25561805e+01]
 [ 5.61383115e-01  3.75314767e-02  8.26704534e-01  1.55329856e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 360.26327356
Centerline is valid?  [True, True]
Translation: X:230.89, Y:-12.56, Z:155.36
[[ 8.20836243e-01 -1.42799420e-01 -5.53024581e-01  2.30886271e+02]
 [ 1.02346686e-01  9.89344091e-01 -1.03553974e-01 -1.25587453e+01]
 [ 5.61919049e-01  2.84006219e-02  8.26704534e-01  1.55363088e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 360.32327356
Centerline is valid?  [True, True]
Translation: X:230.94, Y:-12.55, Z:155.40
[[ 8.22398420e-01 -1.33531702e-01 -5.53019098e-01  2.30936169e+02]
 [ 9.11612485e-02  9.90434318e-01 -1.03583247e-01 -1.25546072e+01]
 [ 5.61560741e-01  3.47727870e-02  8.26704535e-01  1.55396970e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 360.38327356
Centerline is valid?  [True, True]
Translation: X:230.98, Y:-12.54, Z:155.43
[[ 8.21100412e-01 -1.41329618e-01 -5.53009994e-01  2.30983084e+02]
 [ 1.00522972e-01  9.89522903e-01 -1.03631836e-01 -1.25413808e+01]
 [ 5.61862302e-01  2.95019354e-02  8.26704536e-01  1.55429984e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 360.44327355999997
Centerline is valid?  [True, True]
Translation: X:231.03, Y:-12.53, Z:155.46
[[ 8.20891974e-01 -1.42560297e-01 -5.53003552e-01  2.31031336e+02]
 [ 1.01983073e-01  9.89369886e-01 -1.03666202e-01 -1.25305017e+01]
 [ 5.61903745e-01  2.87017513e-02  8.26704536e-01  1.55463607e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 360.50327355999997
Centerline is valid?  [True, True]
Translation: X:231.08, Y:-12.51, Z:155.50
[[ 8.22769166e-01 -1.31310191e-01 -5.52999579e-01  2.31077689e+02]
 [ 8.84163847e-02  9.90672230e-01 -1.03687393e-01 -1.25082567e+01]
 [ 5.61456537e-01  3.64165665e-02  8.26704537e-01  1.55497392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 360.56327355999997
Centerline is valid?  [True, True]
Translation: X:231.13, Y:-12.51, Z:155.53
[[ 8.20992047e-01 -1.42019968e-01 -5.52994021e-01  2.31128166e+02]
 [ 1.01297727e-01  9.89434965e-01 -1.03717024e-01 -1.25095109e+01]
 [ 5.61881508e-01  2.91338144e-02  8.26704537e-01  1.55530984e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 360.62327356
Centerline is valid?  [True, True]
Translation: X:231.18, Y:-12.50, Z:155.56
[[ 8.21669866e-01 -1.38067468e-01 -5.52988251e-01  2.31176444e+02]
 [ 9.65144681e-02  9.89909771e-01 -1.03747784e-01 -1.24985502e+01]
 [ 5.61732666e-01  3.18750610e-02  8.26704537e-01  1.55564636e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 360.68327356
Centerline is valid?  [True, True]
Translation: X:231.23, Y:-12.49, Z:155.60
[[ 8.23487821e-01 -1.26794053e-01 -5.52983794e-01  2.31225126e+02]
 [ 8.29234721e-02  9.91138319e-01 -1.03771531e-01 -1.24917693e+01]
 [ 5.61241041e-01  3.95992558e-02  8.26704538e-01  1.55598039e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 360.74327356
Centerline is valid?  [True, True]
Translation: X:231.27, Y:-12.46, Z:155.63
[[ 8.24293476e-01 -1.21475139e-01 -5.52977446e-01  2.31269509e+02]
 [ 7.65006060e-02  9.91651202e-01 -1.03805349e-01 -1.24601651e+01]
 [ 5.60970519e-01  4.32629626e-02  8.26704538e-01  1.55631676e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 360.80327356
Centerline is valid?  [True, True]
Translation: X:231.32, Y:-12.47, Z:155.67
[[ 8.23798937e-01 -1.24801260e-01 -5.52973739e-01  2.31321572e+02]
 [ 8.04894219e-02  9.91333346e-01 -1.03825094e-01 -1.24709870e+01]
 [ 5.61138810e-01  4.10224656e-02  8.26704538e-01  1.55665132e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 360.86327356
Centerline is valid?  [True, True]
Translation: X:231.37, Y:-12.46, Z:155.70
[[ 8.23160174e-01 -1.28964695e-01 -5.52969652e-01  2.31370333e+02]
 [ 8.54859060e-02  9.90912705e-01 -1.03846860e-01 -1.24608510e+01]
 [ 5.61337232e-01  3.82114874e-02  8.26704538e-01  1.55699009e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 360.92327356
Centerline is valid?  [True, True]
Translation: X:231.42, Y:-12.43, Z:155.73
[[ 8.25345318e-01 -1.14175264e-01 -5.52963937e-01  2.31415975e+02]
 [ 6.76735243e-02  9.92285142e-01 -1.03877284e-01 -1.24342092e+01]
 [ 5.60558115e-01  4.83136119e-02  8.26704539e-01  1.55732869e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 360.98327356
Centerline is valid?  [True, True]
Translation: X:231.47, Y:-12.44, Z:155.77
[[ 8.21789412e-01 -1.37475377e-01 -5.52958121e-01  2.31467143e+02]
 [ 9.56935641e-02  9.89972636e-01 -1.03908237e-01 -1.24427635e+01]
 [ 5.61698232e-01  3.24761559e-02  8.26704539e-01  1.55766003e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 361.04327356
Centerline is valid?  [True, True]
Translation: X:231.52, Y:-12.43, Z:155.80
[[ 8.20465586e-01 -1.45187901e-01 -5.52952706e-01  2.31516086e+02]
 [ 1.04968210e-01  9.89029204e-01 -1.03937044e-01 -1.24331371e+01]
 [ 5.61976776e-01  2.72343125e-02  8.26704540e-01  1.55799934e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 361.10327356
Centerline is valid?  [True, True]
Translation: X:231.56, Y:-12.42, Z:155.83
[[ 8.18780340e-01 -1.54417031e-01 -5.52950391e-01  2.31564461e+02]
 [ 1.16089590e-01  9.87784257e-01 -1.03949358e-01 -1.24231467e+01]
 [ 5.62247242e-01  2.09199064e-02  8.26704540e-01  1.55833540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 361.16327356
Centerline is valid?  [True, True]
Translation: X:231.61, Y:-12.42, Z:155.87
[[ 8.18535700e-01 -1.55722915e-01 -5.52946365e-01  2.31614633e+02]
 [ 1.17650663e-01  9.87597286e-01 -1.03970772e-01 -1.24211517e+01]
 [ 5.62278961e-01  2.00492820e-02  8.26704540e-01  1.55867338e+02]
 [ 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 361.22327356
Centerline is valid?  [True, True]
Translation: X:231.66, Y:-12.41, Z:155.90
[[ 8.17994752e-01 -1.58623742e-01 -5.52922322e-01  2.31661590e+02]
 [ 1.21064822e-01  9.87171115e-01 -1.04098504e-01 -1.24136554e+01]
 [ 5.62341439e-01  1.82125878e-02  8.26704547e-01  1.55899619e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 361.28327356
Centerline is valid?  [True, True]
Translation: X:231.71, Y:-12.40, Z:155.93
[[ 8.16796797e-01 -1.64718621e-01 -5.52911175e-01  2.31709243e+02]
 [ 1.28382159e-01  9.86239930e-01 -1.04157679e-01 -1.24031767e+01]
 [ 5.62459788e-01  1.40917282e-02  8.26704548e-01  1.55932778e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 361.34327356
Centerline is valid?  [True, True]
Translation: X:231.76, Y:-12.39, Z:155.97
[[ 8.16213105e-01 -1.67601441e-01 -5.52906795e-01  2.31757530e+02]
 [ 1.31847713e-01  9.85780155e-01 -1.04180928e-01 -1.23909446e+01]
 [ 5.62505420e-01  1.21343418e-02  8.26704549e-01  1.55966602e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 361.40327356
Centerline is valid?  [True, True]
Translation: X:231.80, Y:-12.38, Z:156.00
[[ 8.14139235e-01 -1.77476337e-01 -5.52882860e-01  2.31804098e+02]
 [ 1.43693115e-01  9.84109835e-01 -1.04307820e-01 -1.23750971e+01]
 [ 5.62609630e-01  5.47562877e-03  8.26704555e-01  1.55999677e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 361.46327356
Centerline is valid?  [True, True]
Translation: X:231.85, Y:-12.36, Z:156.03
[[ 8.17714599e-01 -1.60218889e-01 -5.52876788e-01  2.31851699e+02]
 [ 1.22826881e-01  9.86927922e-01 -1.04339995e-01 -1.23597725e+01]
 [ 5.62366777e-01  1.74122055e-02  8.26704556e-01  1.56033429e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 361.52327356
Centerline is valid?  [True, True]
Translation: X:231.90, Y:-12.35, Z:156.07
[[ 8.15173867e-01 -1.72701711e-01 -5.52870406e-01  2.31898533e+02]
 [ 1.37878151e-01  9.84934376e-01 -1.04373802e-01 -1.23457348e+01]
 [ 5.62566603e-01  8.85404653e-03  8.26704556e-01  1.56066505e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 361.58327356
Centerline is valid?  [True, True]
Translation: X:231.95, Y:-12.33, Z:156.10
[[ 8.14960316e-01 -1.73725412e-01 -5.52864509e-01  2.31946077e+02]
 [ 1.39093912e-01  9.84760109e-01 -1.04405033e-01 -1.23337316e+01]
 [ 5.62576721e-01  8.18587180e-03  8.26704557e-01  1.56099800e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 361.64327356
Centerline is valid?  [True, True]
Translation: X:231.99, Y:-12.32, Z:156.13
[[ 8.15517693e-01 -1.71111572e-01 -5.52857778e-01  2.31992371e+02]
 [ 1.35911687e-01  9.85200569e-01 -1.04440663e-01 -1.23175479e+01]
 [ 5.62546804e-01  1.00333751e-02  8.26704557e-01  1.56132785e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 361.70327356
Centerline is valid?  [True, True]
Translation: X:232.04, Y:-12.32, Z:156.17
[[ 8.16245138e-01 -1.67711128e-01 -5.52826240e-01  2.32042157e+02]
 [ 1.31691477e-01  9.85755878e-01 -1.04607376e-01 -1.23203908e+01]
 [ 5.62495537e-01  1.25827578e-02  8.26704569e-01  1.56165634e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 361.76327356
Centerline is valid?  [True, True]
Translation: X:232.09, Y:-12.30, Z:156.20
[[ 8.17286855e-01 -1.62596946e-01 -5.52815005e-01  2.32088039e+02]
 [ 1.25476504e-01  9.86559944e-01 -1.04666725e-01 -1.22997579e+01]
 [ 5.62403630e-01  1.61774446e-02  8.26704571e-01  1.56198898e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 361.82327356
Centerline is valid?  [True, True]
Translation: X:232.14, Y:-12.29, Z:156.23
[[ 8.18637383e-01 -1.55679092e-01 -5.52808155e-01  2.32135630e+02]
 [ 1.17103997e-01  9.87584912e-01 -1.04702892e-01 -1.22898710e+01]
 [ 5.62245044e-01  2.09776566e-02  8.26704571e-01  1.56231955e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 361.88327356
Centerline is valid?  [True, True]
Translation: X:232.18, Y:-12.27, Z:156.27
[[ 8.19438416e-01 -1.51426975e-01 -5.52802454e-01  2.32182067e+02]
 [ 1.11955034e-01  9.88178664e-01 -1.04732982e-01 -1.22708274e+01]
 [ 5.62126990e-01  2.39332114e-02  8.26704572e-01  1.56265404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 361.94327355999997
Centerline is valid?  [True, True]
Translation: X:232.23, Y:-12.26, Z:156.30
[[ 8.20355290e-01 -1.46404416e-01 -5.52795572e-01  2.32229714e+02]
 [ 1.05875137e-01  9.88844705e-01 -1.04769297e-01 -1.22564763e+01]
 [ 5.61967662e-01  2.74207401e-02  8.26704572e-01  1.56299066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 362.00327355999997
Centerline is valid?  [True, True]
Translation: X:232.28, Y:-12.24, Z:156.33
[[ 8.20349744e-01 -1.46451414e-01 -5.52791353e-01  2.32277293e+02]
 [ 1.05916828e-01  9.88837882e-01 -1.04791552e-01 -1.22418474e+01]
 [ 5.61967902e-01  2.74158167e-02  8.26704572e-01  1.56332724e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 362.06327355999997
Centerline is valid?  [True, True]
Translation: X:232.32, Y:-12.23, Z:156.37
[[ 8.19999268e-01 -1.48417604e-01 -5.52786953e-01  2.32324165e+02]
 [ 1.08271436e-01  9.88580377e-01 -1.04814763e-01 -1.22298794e+01]
 [ 5.62030690e-01  2.60969917e-02  8.26704573e-01  1.56365572e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 362.12327356
Centerline is valid?  [True, True]
Translation: X:232.37, Y:-12.22, Z:156.40
[[ 8.18994226e-01 -1.53887800e-01 -5.52781153e-01  2.32372262e+02]
 [ 1.14847199e-01  9.87834791e-01 -1.04845344e-01 -1.22168994e+01]
 [ 5.62190874e-01  2.23823649e-02  8.26704573e-01  1.56399364e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 362.18327356
Centerline is valid?  [True, True]
Translation: X:232.42, Y:-12.20, Z:156.43
[[ 8.17912084e-01 -1.59592736e-01 -5.52765756e-01  2.32419014e+02]
 [ 1.21675197e-01  9.87008401e-01 -1.04926466e-01 -1.22017351e+01]
 [ 5.62329947e-01  1.85627424e-02  8.26704576e-01  1.56432511e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 362.24327356
Centerline is valid?  [True, True]
Translation: X:232.47, Y:-12.19, Z:156.47
[[ 8.17468588e-01 -1.61866454e-01 -5.52760670e-01  2.32466214e+02]
 [ 1.24401166e-01  9.86665680e-01 -1.04953251e-01 -1.21875371e+01]
 [ 5.62378394e-01  1.70319141e-02  8.26704576e-01  1.56465861e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 362.30327356
Centerline is valid?  [True, True]
Translation: X:232.51, Y:-12.17, Z:156.50
[[ 8.18097723e-01 -1.58757237e-01 -5.52731631e-01  2.32513082e+02]
 [ 1.20545846e-01  9.87127868e-01 -1.05106000e-01 -1.21691172e+01]
 [ 5.62303135e-01  1.93574770e-02  8.26704586e-01  1.56499470e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 362.36327356
Centerline is valid?  [True, True]
Translation: X:232.56, Y:-12.15, Z:156.53
[[ 8.18404970e-01 -1.57180692e-01 -5.52727360e-01  2.32559446e+02]
 [ 1.18628552e-01  9.87357724e-01 -1.05128455e-01 -1.21524273e+01]
 [ 5.62263792e-01  2.04684038e-02  8.26704586e-01  1.56532581e+02]
 [ 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 362.42327356
Centerline is valid?  [True, True]
Translation: X:232.61, Y:-12.14, Z:156.57
[[ 8.20401758e-01 -1.46521316e-01 -5.52695630e-01  2.32606833e+02]
 [ 1.05662693e-01  9.88811583e-01 -1.05295052e-01 -1.21352264e+01]
 [ 5.61939810e-01  2.79849374e-02  8.26704598e-01  1.56566380e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 362.48327356
Centerline is valid?  [True, True]
Translation: X:232.65, Y:-12.12, Z:156.60
[[ 8.22067171e-01 -1.36884106e-01 -5.52691874e-01  2.32653487e+02]
 [ 9.40388685e-02  9.89982572e-01 -1.05314761e-01 -1.21169068e+01]
 [ 5.61571240e-01  3.46012890e-02  8.26704598e-01  1.56599896e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 362.54327356
Centerline is valid?  [True, True]
Translation: X:232.70, Y:-12.11, Z:156.63
[[ 8.22141764e-01 -1.36458720e-01 -5.52686111e-01  2.32700424e+02]
 [ 9.35063562e-02  9.90029794e-01 -1.05344998e-01 -1.21059647e+01]
 [ 5.61550960e-01  3.49288582e-02  8.26704599e-01  1.56632657e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 362.60327356
Centerline is valid?  [True, True]
Translation: X:232.75, Y:-12.10, Z:156.67
[[ 8.21710049e-01 -1.39070481e-01 -5.52677117e-01  2.32748468e+02]
 [ 9.66202076e-02  9.89725733e-01 -1.05392166e-01 -1.20952793e+01]
 [ 5.61655704e-01  3.32020241e-02  8.26704600e-01  1.56666119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 362.66327356
Centerline is valid?  [True, True]
Translation: X:232.80, Y:-12.09, Z:156.70
[[ 8.21583352e-01 -1.39836129e-01 -5.52672284e-01  2.32796451e+02]
 [ 9.75254518e-02  9.89634243e-01 -1.05417507e-01 -1.20863063e+01]
 [ 5.61684594e-01  3.27096542e-02  8.26704600e-01  1.56699331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 362.72327356
Centerline is valid?  [True, True]
Translation: X:232.84, Y:-12.08, Z:156.73
[[ 8.21240160e-01 -1.41958513e-01 -5.52641276e-01  2.32843940e+02]
 [ 9.99732931e-02  9.89372647e-01 -1.05579856e-01 -1.20764165e+01]
 [ 5.61756121e-01  3.14570498e-02  8.26704611e-01  1.56732274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 362.78327356
Centerline is valid?  [True, True]
Translation: X:232.89, Y:-12.07, Z:156.77
[[ 8.20600811e-01 -1.45628452e-01 -5.52636104e-01  2.32893353e+02]
 [ 1.04377113e-01  9.88914858e-01 -1.05606920e-01 -1.20695663e+01]
 [ 5.61889427e-01  2.89785634e-02  8.26704612e-01  1.56766170e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 362.84327356
Centerline is valid?  [True, True]
Translation: X:232.94, Y:-12.07, Z:156.80
[[ 8.20097250e-01 -1.48459222e-01 -5.52630401e-01  2.32941730e+02]
 [ 1.07768870e-01  9.88547797e-01 -1.05636757e-01 -1.20650974e+01]
 [ 5.61984316e-01  2.70760600e-02  8.26704612e-01  1.56799068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 362.90327356
Centerline is valid?  [True, True]
Translation: X:232.99, Y:-12.06, Z:156.83
[[ 8.18814721e-01 -1.55492658e-01 -5.52597943e-01  2.32991073e+02]
 [ 1.16135365e-01  9.87581692e-01 -1.05806322e-01 -1.20594210e+01]
 [ 5.62187718e-01  2.24596102e-02  8.26704624e-01  1.56832707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 362.96327356
Centerline is valid?  [True, True]
Translation: X:233.04, Y:-12.05, Z:156.87
[[ 8.18208986e-01 -1.58660663e-01 -5.52594651e-01  2.33039076e+02]
 [ 1.19945274e-01  9.87124367e-01 -1.05823509e-01 -1.20542101e+01]
 [ 5.62269674e-01  2.03046297e-02  8.26704625e-01  1.56865453e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 363.02327356
Centerline is valid?  [True, True]
Translation: X:233.09, Y:-12.05, Z:156.90
[[ 8.18917331e-01 -1.55023013e-01 -5.52577841e-01  2.33087576e+02]
 [ 1.15498265e-01  9.87645160e-01 -1.05911227e-01 -1.20497697e+01]
 [ 5.62169508e-01  2.29107576e-02  8.26704628e-01  1.56898403e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 363.08327356
Centerline is valid?  [True, True]
Translation: X:233.14, Y:-12.04, Z:156.93
[[ 8.19560428e-01 -1.51701282e-01 -5.52546311e-01  2.33136507e+02]
 [ 1.11382190e-01  9.88100194e-01 -1.06075509e-01 -1.20412655e+01]
 [ 5.62062908e-01  2.53914712e-02  8.26704639e-01  1.56932128e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 363.14327356
Centerline is valid?  [True, True]
Translation: X:233.19, Y:-12.03, Z:156.97
[[ 8.21065394e-01 -1.43346232e-01 -5.52542737e-01  2.33185410e+02]
 [ 1.01300178e-01  9.89182648e-01 -1.06094120e-01 -1.20345443e+01]
 [ 5.61773881e-01  3.11375330e-02  8.26704640e-01  1.56965667e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 363.20327356
Centerline is valid?  [True, True]
Translation: X:233.23, Y:-12.03, Z:157.00
[[ 8.21998616e-01 -1.37907455e-01 -5.52539418e-01  2.33233237e+02]
 [ 9.47377771e-02  9.89830856e-01 -1.06111403e-01 -1.20259710e+01]
 [ 5.61554119e-01  3.48770701e-02  8.26704640e-01  1.56998726e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 363.26327356
Centerline is valid?  [True, True]
Translation: X:233.28, Y:-12.02, Z:157.03
[[ 8.22313466e-01 -1.36040901e-01 -5.52533652e-01  2.33280277e+02]
 [ 9.24702173e-02  9.90042048e-01 -1.06141422e-01 -1.20183727e+01]
 [ 5.61471123e-01  3.61886140e-02  8.26704640e-01  1.57031128e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 363.32327356
Centerline is valid?  [True, True]
Translation: X:233.33, Y:-12.01, Z:157.06
[[ 8.22736162e-01 -1.33611216e-01 -5.52497286e-01  2.33329167e+02]
 [ 8.94189215e-02  9.90302022e-01 -1.06330436e-01 -1.20119536e+01]
 [ 5.61346119e-01  3.80781833e-02  8.26704655e-01  1.57064545e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 363.38327356
Centerline is valid?  [True, True]
Translation: X:233.38, Y:-12.00, Z:157.10
[[ 8.22560543e-01 -1.34709878e-01 -5.52491992e-01  2.33378091e+02]
 [ 9.07230236e-02  9.90180449e-01 -1.06357936e-01 -1.20043251e+01]
 [ 5.61394234e-01  3.73620976e-02  8.26704656e-01  1.57098211e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 363.44327355999997
Centerline is valid?  [True, True]
Translation: X:233.43, Y:-12.00, Z:157.13
[[ 8.22057561e-01 -1.37764670e-01 -5.52487340e-01  2.33427948e+02]
 [ 9.43846368e-02  9.89835537e-01 -1.06382097e-01 -1.20011947e+01]
 [ 5.61527298e-01  3.53058906e-02  8.26704656e-01  1.57131922e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 363.50327355999997
Centerline is valid?  [True, True]
Translation: X:233.48, Y:-12.00, Z:157.17
[[ 8.21125717e-01 -1.43226898e-01 -5.52484038e-01  2.33477456e+02]
 [ 1.00951759e-01  9.89185495e-01 -1.06399245e-01 -1.19974910e+01]
 [ 5.61748430e-01  3.15929212e-02  8.26704656e-01  1.57165477e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 363.56327355999997
Centerline is valid?  [True, True]
Translation: X:233.52, Y:-11.98, Z:157.20
[[ 8.20554643e-01 -1.46480411e-01 -5.52479472e-01  2.33524081e+02]
 [ 1.04855815e-01  9.88776726e-01 -1.06422949e-01 -1.19779583e+01]
 [ 5.61867721e-01  2.93951595e-02  8.26704656e-01  1.57199140e+02]
 [ 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 363.62327356
Centerline is valid?  [True, True]
Translation: X:233.58, Y:-11.98, Z:157.23
[[ 8.20354051e-01 -1.47616650e-01 -5.52474937e-01  2.33575727e+02]
 [ 1.06209252e-01  9.88629728e-01 -1.06446490e-01 -1.19845354e+01]
 [ 5.61906421e-01  2.86458590e-02  8.26704657e-01  1.57232797e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 363.68327356
Centerline is valid?  [True, True]
Translation: X:233.62, Y:-11.98, Z:157.27
[[ 8.20300748e-01 -1.47972566e-01 -5.52458870e-01  2.33624536e+02]
 [ 1.06582207e-01  9.88580614e-01 -1.06529824e-01 -1.19777205e+01]
 [ 5.61913620e-01  2.85042087e-02  8.26704660e-01  1.57266254e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 363.74327356
Centerline is valid?  [True, True]
Translation: X:233.67, Y:-11.97, Z:157.30
[[ 8.21084707e-01 -1.43576783e-01 -5.52454171e-01  2.33672215e+02]
 [ 1.01269346e-01  9.89136353e-01 -1.06554186e-01 -1.19701390e+01]
 [ 5.61751211e-01  3.15433395e-02  8.26704660e-01  1.57299082e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 363.80327356
Centerline is valid?  [True, True]
Translation: X:233.72, Y:-11.96, Z:157.33
[[ 8.21690854e-01 -1.40097121e-01 -5.52446320e-01  2.33721042e+02]
 [ 9.70508896e-02  9.89554777e-01 -1.06594876e-01 -1.19608337e+01]
 [ 5.61609531e-01  3.39726276e-02  8.26704661e-01  1.57332891e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 363.86327356
Centerline is valid?  [True, True]
Translation: X:233.77, Y:-11.95, Z:157.37
[[ 8.22283996e-01 -1.36588910e-01 -5.52442304e-01  2.33768864e+02]
 [ 9.28127155e-02  9.89959037e-01 -1.06615687e-01 -1.19530847e+01]
 [ 5.61457772e-01  3.63947026e-02  8.26704661e-01  1.57365837e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 363.92327356
Centerline is valid?  [True, True]
Translation: X:233.82, Y:-11.95, Z:157.40
[[ 8.22042961e-01 -1.38054923e-01 -5.52436611e-01  2.33816898e+02]
 [ 9.45580442e-02  9.89790676e-01 -1.06645179e-01 -1.19450407e+01]
 [ 5.61519499e-01  3.54295933e-02  8.26704661e-01  1.57398960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 363.98327356
Centerline is valid?  [True, True]
Translation: X:233.86, Y:-11.94, Z:157.43
[[ 8.21890727e-01 -1.39087809e-01 -5.52404031e-01  2.33864669e+02]
 [ 9.56889308e-02  9.89663811e-01 -1.06813713e-01 -1.19369852e+01]
 [ 5.61550764e-01  3.49302492e-02  8.26704673e-01  1.57431841e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 364.04327356
Centerline is valid?  [True, True]
Translation: X:233.91, Y:-11.93, Z:157.47
[[ 8.21953098e-01 -1.38846370e-01 -5.52371968e-01  2.33913799e+02]
 [ 9.52873716e-02  9.89684669e-01 -1.06979312e-01 -1.19299346e+01]
 [ 5.61527757e-01  3.52979040e-02  8.26704685e-01  1.57465502e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 364.10327356
Centerline is valid?  [True, True]
Translation: X:233.96, Y:-11.90, Z:157.50
[[ 8.21447662e-01 -1.41864367e-01 -5.52356986e-01  2.33958636e+02]
 [ 9.88699272e-02  9.89324830e-01 -1.07056616e-01 -1.19024991e+01]
 [ 5.61648001e-01  3.33299122e-02  8.26704688e-01  1.57498975e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 364.16327356
Centerline is valid?  [True, True]
Translation: X:234.01, Y:-11.89, Z:157.53
[[ 8.22088899e-01 -1.38118740e-01 -5.52352293e-01  2.34006073e+02]
 [ 9.43433662e-02  9.89764126e-01 -1.07080826e-01 -1.18915288e+01]
 [ 5.61488354e-01  3.59191836e-02  8.26704688e-01  1.57532080e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 364.22327356
Centerline is valid?  [True, True]
Translation: X:234.05, Y:-11.88, Z:157.57
[[ 8.22640635e-01 -1.34818274e-01 -5.52346286e-01  2.34054207e+02]
 [ 9.03496067e-02  9.90133329e-01 -1.07111806e-01 -1.18806299e+01]
 [ 5.61337096e-01  3.82102546e-02  8.26704688e-01  1.57565637e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 364.28327356
Centerline is valid?  [True, True]
Translation: X:234.10, Y:-11.87, Z:157.60
[[ 8.22749799e-01 -1.34169889e-01 -5.52341569e-01  2.34101018e+02]
 [ 8.95529853e-02  9.90203067e-01 -1.07136124e-01 -1.18701415e+01]
 [ 5.61304758e-01  3.86823878e-02  8.26704688e-01  1.57598261e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 364.34327356
Centerline is valid?  [True, True]
Translation: X:234.15, Y:-11.86, Z:157.63
[[ 8.23994731e-01 -1.26349284e-01 -5.52330103e-01  2.34148501e+02]
 [ 8.01045515e-02  9.91005776e-01 -1.07195211e-01 -1.18565376e+01]
 [ 5.60906360e-01  4.40841342e-02  8.26704690e-01  1.57631723e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 364.40327356
Centerline is valid?  [True, True]
Translation: X:234.20, Y:-11.85, Z:157.66
[[ 8.23988585e-01 -1.26412613e-01 -5.52324781e-01  2.34195705e+02]
 [ 8.01624565e-02  9.90998128e-01 -1.07222627e-01 -1.18483625e+01]
 [ 5.60907116e-01  4.40745096e-02  8.26704690e-01  1.57664308e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 364.46327356
Centerline is valid?  [True, True]
Translation: X:234.25, Y:-11.86, Z:157.70
[[ 8.23111376e-01 -1.32069563e-01 -5.52309055e-01  2.34248352e+02]
 [ 8.69136463e-02  9.90420093e-01 -1.07303579e-01 -1.18601795e+01]
 [ 5.61189522e-01  4.03196026e-02  8.26704693e-01  1.57697911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 364.52327356
Centerline is valid?  [True, True]
Translation: X:234.29, Y:-11.83, Z:157.73
[[ 8.23877380e-01 -1.27229095e-01 -5.52303195e-01  2.34291870e+02]
 [ 8.10704416e-02  9.90912233e-01 -1.07333733e-01 -1.18312079e+01]
 [ 5.60939966e-01  4.36543711e-02  8.26704694e-01  1.57730732e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 364.58327356
Centerline is valid?  [True, True]
Translation: X:234.34, Y:-11.82, Z:157.76
[[ 8.23850957e-01 -1.27433080e-01 -5.52295584e-01  2.34340520e+02]
 [ 8.12896985e-02  9.90890028e-01 -1.07372888e-01 -1.18219711e+01]
 [ 5.60947044e-01  4.35633153e-02  8.26704694e-01  1.57764415e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 364.64327356
Centerline is valid?  [True, True]
Translation: X:234.39, Y:-11.81, Z:157.80
[[ 8.23960085e-01 -1.26742298e-01 -5.52291743e-01  2.34389002e+02]
 [ 8.04457269e-02  9.90956763e-01 -1.07392641e-01 -1.18131982e+01]
 [ 5.60908427e-01  4.40577391e-02  8.26704694e-01  1.57797935e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 364.70327356
Centerline is valid?  [True, True]
Translation: X:234.44, Y:-11.80, Z:157.83
[[ 8.24009760e-01 -1.26550274e-01 -5.52261663e-01  2.34436822e+02]
 [ 8.01119016e-02  9.90967051e-01 -1.07547141e-01 -1.18034811e+01]
 [ 5.60883231e-01  4.43771618e-02  8.26704705e-01  1.57831075e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 364.76327356
Centerline is valid?  [True, True]
Translation: X:234.49, Y:-11.82, Z:157.86
[[ 8.23490296e-01 -1.30024605e-01 -5.52229423e-01  2.34489359e+02]
 [ 8.41805980e-02  9.90611755e-01 -1.07712473e-01 -1.18151403e+01]
 [ 5.61050230e-01  4.22131736e-02  8.26704716e-01  1.57864576e+02]
 [ 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 364.82327356
Centerline is valid?  [True, True]
Translation: X:234.54, Y:-11.81, Z:157.90
[[ 8.22955845e-01 -1.33386191e-01 -5.52224411e-01  2.34538256e+02]
 [ 8.82078494e-02  9.90258484e-01 -1.07738160e-01 -1.18058205e+01]
 [ 5.61215691e-01  3.99532206e-02  8.26704717e-01  1.57898441e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 364.88327356
Centerline is valid?  [True, True]
Translation: X:234.59, Y:-11.80, Z:157.93
[[ 8.22278705e-01 -1.37526298e-01 -5.52217573e-01  2.34586267e+02]
 [ 9.31671082e-02  9.89800398e-01 -1.07773201e-01 -1.17964942e+01]
 [ 5.61406823e-01  3.71710936e-02  8.26704717e-01  1.57931710e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 364.94327355999997
Centerline is valid?  [True, True]
Translation: X:234.63, Y:-11.79, Z:157.97
[[ 8.21088007e-01 -1.44486350e-01 -5.52212079e-01  2.34634847e+02]
 [ 1.01528855e-01  9.88974601e-01 -1.07801346e-01 -1.17885246e+01]
 [ 5.61699543e-01  3.24489327e-02  8.26704717e-01  1.57965186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.00327355999997
Centerline is valid?  [True, True]
Translation: X:234.68, Y:-11.78, Z:158.00
[[ 8.20053815e-01 -1.50260785e-01 -5.52207785e-01  2.34683827e+02]
 [ 1.08471004e-01  9.88234875e-01 -1.07823340e-01 -1.17801336e+01]
 [ 5.61912611e-01  2.85224080e-02  8.26704718e-01  1.57998987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.06327355999997
Centerline is valid?  [True, True]
Translation: X:234.73, Y:-11.77, Z:158.03
[[ 8.19624347e-01 -1.52594485e-01 -5.52205444e-01  2.34731612e+02]
 [ 1.11275551e-01  9.87921705e-01 -1.07835324e-01 -1.17690023e+01]
 [ 5.61990820e-01  2.69374919e-02  8.26704718e-01  1.58032351e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.12327356
Centerline is valid?  [True, True]
Translation: X:234.78, Y:-11.76, Z:158.07
[[ 8.19487678e-01 -1.53443233e-01 -5.52173089e-01  2.34779512e+02]
 [ 1.12187376e-01  9.87800497e-01 -1.08000789e-01 -1.17601999e+01]
 [ 5.62008842e-01  2.65584656e-02  8.26704729e-01  1.58065416e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.18327356
Centerline is valid?  [True, True]
Translation: X:234.83, Y:-11.75, Z:158.10
[[ 8.19284393e-01 -1.54557657e-01 -5.52163938e-01  2.34827178e+02]
 [ 1.13499307e-01  9.87645500e-01 -1.08047555e-01 -1.17518416e+01]
 [ 5.62041806e-01  2.58514513e-02  8.26704730e-01  1.58098322e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.24327356
Centerline is valid?  [True, True]
Translation: X:234.88, Y:-11.74, Z:158.13
[[ 8.18737630e-01 -1.57556099e-01 -5.52127494e-01  2.34876161e+02]
 [ 1.16989232e-01  9.87217820e-01 -1.08233521e-01 -1.17425271e+01]
 [ 5.62122952e-01  2.40218846e-02  8.26704745e-01  1.58132167e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.30327356
Centerline is valid?  [True, True]
Translation: X:234.92, Y:-11.73, Z:158.17
[[ 8.18703996e-01 -1.57738610e-01 -5.52125255e-01  2.34924744e+02]
 [ 1.17201615e-01  9.87191377e-01 -1.08244939e-01 -1.17345822e+01]
 [ 5.62127697e-01  2.39105925e-02  8.26704745e-01  1.58165649e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.36327356
Centerline is valid?  [True, True]
Translation: X:234.97, Y:-11.72, Z:158.20
[[ 8.17756719e-01 -1.62593511e-01 -5.52120729e-01  2.34973490e+02]
 [ 1.23041365e-01  9.86478007e-01 -1.08268023e-01 -1.17241288e+01]
 [ 5.62258634e-01  2.06032148e-02  8.26704746e-01  1.58199562e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.42327356
Centerline is valid?  [True, True]
Translation: X:235.02, Y:-11.71, Z:158.23
[[ 8.17691353e-01 -1.62928119e-01 -5.52118900e-01  2.35021255e+02]
 [ 1.23438727e-01  9.86427340e-01 -1.08277349e-01 -1.17129936e+01]
 [ 5.62266602e-01  2.03845983e-02  8.26704746e-01  1.58232916e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.48327356
Centerline is valid?  [True, True]
Translation: X:235.07, Y:-11.70, Z:158.27
[[ 8.16772765e-01 -1.67577331e-01 -5.52087030e-01  2.35068562e+02]
 [ 1.28938920e-01  9.85705635e-01 -1.08439644e-01 -1.17015100e+01]
 [ 5.62367322e-01  1.73850426e-02  8.26704757e-01  1.58265938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.54327356
Centerline is valid?  [True, True]
Translation: X:235.12, Y:-11.69, Z:158.30
[[ 8.16345843e-01 -1.69666708e-01 -5.52080314e-01  2.35116812e+02]
 [ 1.31437583e-01  9.85371803e-01 -1.08473829e-01 -1.16897085e+01]
 [ 5.62408771e-01  1.59880576e-02  8.26704757e-01  1.58299692e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.60327356
Centerline is valid?  [True, True]
Translation: X:235.16, Y:-11.68, Z:158.33
[[ 8.15036032e-01 -1.75871904e-01 -5.52073672e-01  2.35164980e+02]
 [ 1.38906820e-01  9.84342924e-01 -1.08507621e-01 -1.16779640e+01]
 [ 5.62513255e-01  1.17508226e-02  8.26704758e-01  1.58333384e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.66327356
Centerline is valid?  [True, True]
Translation: X:235.21, Y:-11.67, Z:158.37
[[ 8.14169655e-01 -1.79919080e-01 -5.52047913e-01  2.35213132e+02]
 [ 1.43706869e-01  9.83639163e-01 -1.08638543e-01 -1.16658415e+01]
 [ 5.62562094e-01  9.11712771e-03  8.26704765e-01  1.58367070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.72327356
Centerline is valid?  [True, True]
Translation: X:235.26, Y:-11.65, Z:158.40
[[ 8.14212438e-01 -1.79738857e-01 -5.52043521e-01  2.35260685e+02]
 [ 1.43474010e-01  9.83670690e-01 -1.08660857e-01 -1.16538880e+01]
 [ 5.62559609e-01  9.26912371e-03  8.26704765e-01  1.58400385e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.78327356
Centerline is valid?  [True, True]
Translation: X:235.31, Y:-11.64, Z:158.43
[[ 8.14734057e-01 -1.77461520e-01 -5.52010711e-01  2.35308396e+02]
 [ 1.40610242e-01  9.84065736e-01 -1.08827324e-01 -1.16392177e+01]
 [ 5.62527489e-01  1.10469677e-02  8.26704777e-01  1.58434096e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.84327356
Centerline is valid?  [True, True]
Translation: X:235.36, Y:-11.62, Z:158.47
[[ 8.15662072e-01 -1.73160792e-01 -5.52006091e-01  2.35355241e+02]
 [ 1.35400846e-01  9.84793443e-01 -1.08850750e-01 -1.16242961e+01]
 [ 5.62460661e-01  1.40433365e-02  8.26704778e-01  1.58467330e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.90327356
Centerline is valid?  [True, True]
Translation: X:235.40, Y:-11.61, Z:158.50
[[ 8.16809148e-01 -1.67772859e-01 -5.51973807e-01  2.35402929e+02]
 [ 1.28786925e-01  9.85662123e-01 -1.09014256e-01 -1.16099891e+01]
 [ 5.62349308e-01  1.79568321e-02  8.26704789e-01  1.58500983e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 365.96327356
Centerline is valid?  [True, True]
Translation: X:235.45, Y:-11.60, Z:158.53
[[ 8.17561521e-01 -1.64078798e-01 -5.51970386e-01  2.35449804e+02]
 [ 1.24318292e-01  9.86233784e-01 -1.09031576e-01 -1.15980374e+01]
 [ 5.62261613e-01  2.05200058e-02  8.26704789e-01  1.58533849e+02]
 [ 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 366.02327356
Centerline is valid?  [True, True]
Translation: X:235.50, Y:-11.58, Z:158.57
[[ 8.17155611e-01 -1.66118785e-01 -5.51961281e-01  2.35496258e+02]
 [ 1.26748296e-01  9.85919335e-01 -1.09077652e-01 -1.15844515e+01]
 [ 5.62309146e-01  1.91732630e-02  8.26704790e-01  1.58566637e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 366.08327356
Centerline is valid?  [True, True]
Translation: X:235.54, Y:-11.57, Z:158.60
[[ 8.16926106e-01 -1.67270958e-01 -5.51953045e-01  2.35543629e+02]
 [ 1.28110376e-01  9.85738660e-01 -1.09119316e-01 -1.15713517e+01]
 [ 5.62333947e-01  1.84315059e-02  8.26704791e-01  1.58599975e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 366.14327356
Centerline is valid?  [True, True]
Translation: X:235.59, Y:-11.56, Z:158.63
[[ 8.15681566e-01 -1.73253925e-01 -5.51948060e-01  2.35590801e+02]
 [ 1.35314618e-01  9.84772779e-01 -1.09144526e-01 -1.15587009e+01]
 [ 5.62453142e-01  1.43405374e-02  8.26704791e-01  1.58633129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 366.20327356
Centerline is valid?  [True, True]
Translation: X:235.64, Y:-11.55, Z:158.67
[[ 8.14434226e-01 -1.79045258e-01 -5.51941742e-01  2.35638571e+02]
 [ 1.42286724e-01  9.83786048e-01 -1.09176466e-01 -1.15464941e+01]
 [ 5.62540114e-01  1.03830683e-02  8.26704792e-01  1.58666621e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 366.26327356
Centerline is valid?  [True, True]
Translation: X:235.69, Y:-11.54, Z:158.70
[[ 8.14647942e-01 -1.78082642e-01 -5.51937771e-01  2.35686285e+02]
 [ 1.41110400e-01  9.83953236e-01 -1.09196540e-01 -1.15356340e+01]
 [ 5.62526964e-01  1.10725769e-02  8.26704792e-01  1.58699902e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 366.32327356
Centerline is valid?  [True, True]
Translation: X:235.73, Y:-11.52, Z:158.73
[[ 8.15117948e-01 -1.75942571e-01 -5.51930197e-01  2.35732464e+02]
 [ 1.38499920e-01  9.84319830e-01 -1.09234812e-01 -1.15192222e+01]
 [ 5.62494891e-01  1.25969671e-02  8.26704792e-01  1.58732885e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 366.38327356
Centerline is valid?  [True, True]
Translation: X:235.78, Y:-11.50, Z:158.77
[[ 8.14571899e-01 -1.78554732e-01 -5.51897481e-01  2.35777619e+02]
 [ 1.41542881e-01  9.83868525e-01 -1.09399897e-01 -1.15013402e+01]
 [ 5.62528430e-01  1.09969223e-02  8.26704804e-01  1.58765327e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 366.44327355999997
Centerline is valid?  [True, True]
Translation: X:235.82, Y:-11.49, Z:158.80
[[ 8.15934159e-01 -1.72259387e-01 -5.51885996e-01  2.35824859e+02]
 [ 1.33902210e-01  9.84931056e-01 -1.09457811e-01 -1.14888177e+01]
 [ 5.62424792e-01  1.54116127e-02  8.26704806e-01  1.58798499e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 366.50327355999997
Centerline is valid?  [True, True]
Translation: X:235.87, Y:-11.47, Z:158.83
[[ 8.16401950e-01 -1.70135079e-01 -5.51853161e-01  2.35871338e+02]
 [ 1.31226508e-01  9.85272739e-01 -1.09623144e-01 -1.14736275e+01]
 [ 5.62376618e-01  1.70787851e-02  8.26704817e-01  1.58831473e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 366.56327355999997
Centerline is valid?  [True, True]
Translation: X:235.92, Y:-11.46, Z:158.86
[[ 8.16595671e-01 -1.69229202e-01 -5.51845076e-01  2.35918522e+02]
 [ 1.30105828e-01  9.85416824e-01 -1.09663834e-01 -1.14623895e+01]
 [ 5.62355745e-01  1.77527518e-02  8.26704818e-01  1.58864444e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 366.62327356
Centerline is valid?  [True, True]
Translation: X:235.96, Y:-11.45, Z:158.90
[[ 8.16968111e-01 -1.67533380e-01 -5.51811264e-01  2.35964933e+02]
 [ 1.27944942e-01  9.85680800e-01 -1.09833747e-01 -1.14474320e+01]
 [ 5.62310588e-01  1.91292082e-02  8.26704830e-01  1.58897344e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 366.68327356
Centerline is valid?  [True, True]
Translation: X:236.01, Y:-11.43, Z:158.93
[[ 8.17746390e-01 -1.63807055e-01 -5.51777211e-01  2.36011286e+02]
 [ 1.23334754e-01  9.86249222e-01 -1.10004598e-01 -1.14310618e+01]
 [ 5.62209374e-01  2.19025566e-02  8.26704843e-01  1.58930395e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 366.74327356
Centerline is valid?  [True, True]
Translation: X:236.06, Y:-11.41, Z:158.96
[[ 8.18173175e-01 -1.61683430e-01 -5.51770898e-01  2.36057610e+02]
 [ 1.20752479e-01  9.86565183e-01 -1.10036257e-01 -1.14143963e+01]
 [ 5.62148997e-01  2.34010099e-02  8.26704843e-01  1.58963519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 366.80327356
Centerline is valid?  [True, True]
Translation: X:236.11, Y:-11.40, Z:159.00
[[ 8.18333372e-01 -1.60983192e-01 -5.51738076e-01  2.36105744e+02]
 [ 1.19797530e-01  9.86663252e-01 -1.10200629e-01 -1.14022565e+01]
 [ 5.62120133e-01  2.40839934e-02  8.26704855e-01  1.58997202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 366.86327356
Centerline is valid?  [True, True]
Translation: X:236.15, Y:-11.39, Z:159.03
[[ 8.18149365e-01 -1.61930254e-01 -5.51733821e-01  2.36153078e+02]
 [ 1.20925114e-01  9.86523311e-01 -1.10221928e-01 -1.13894713e+01]
 [ 5.62146541e-01  2.34595254e-02  8.26704855e-01  1.59030489e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 366.92327356
Centerline is valid?  [True, True]
Translation: X:236.20, Y:-11.38, Z:159.06
[[ 8.17723180e-01 -1.64085797e-01 -5.51728786e-01  2.36200345e+02]
 [ 1.23507547e-01  9.86200515e-01 -1.10247128e-01 -1.13771260e+01]
 [ 5.62205201e-01  2.20089633e-02  8.26704855e-01  1.59063671e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 366.98327356
Centerline is valid?  [True, True]
Translation: X:236.25, Y:-11.37, Z:159.10
[[ 8.17223558e-01 -1.66660231e-01 -5.51697403e-01  2.36248689e+02]
 [ 1.26507012e-01  9.85802686e-01 -1.10403988e-01 -1.13659335e+01]
 [ 5.62264735e-01  2.04311498e-02  8.26704866e-01  1.59097372e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 367.04327356
Centerline is valid?  [True, True]
Translation: X:236.30, Y:-11.35, Z:159.13
[[ 8.17411045e-01 -1.65795069e-01 -5.51680322e-01  2.36295405e+02]
 [ 1.25405940e-01  9.85933805e-01 -1.10489282e-01 -1.13542808e+01]
 [ 5.62238858e-01  2.11311703e-02  8.26704869e-01  1.59130075e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 367.10327356
Centerline is valid?  [True, True]
Translation: X:236.34, Y:-11.34, Z:159.16
[[ 8.17280749e-01 -1.66473644e-01 -5.51669015e-01  2.36342133e+02]
 [ 1.26186402e-01  9.85827894e-01 -1.10545712e-01 -1.13420925e+01]
 [ 5.62253651e-01  2.07337544e-02  8.26704871e-01  1.59162867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 367.16327356
Centerline is valid?  [True, True]
Translation: X:236.39, Y:-11.33, Z:159.20
[[ 8.17249894e-01 -1.66664433e-01 -5.51657120e-01  2.36389214e+02]
 [ 1.26376542e-01  9.85796882e-01 -1.10605049e-01 -1.13313327e+01]
 [ 5.62255796e-01  2.06754453e-02  8.26704872e-01  1.59195703e+02]
 [ 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 367.22327356
Centerline is valid?  [True, True]
Translation: X:236.44, Y:-11.32, Z:159.23
[[ 8.17132072e-01 -1.67367339e-01 -5.51618846e-01  2.36437166e+02]
 [ 1.27095936e-01  9.85682984e-01 -1.10795658e-01 -1.13194664e+01]
 [ 5.62264884e-01  2.04261724e-02  8.26704888e-01  1.59229223e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 367.28327356
Centerline is valid?  [True, True]
Translation: X:236.49, Y:-11.31, Z:159.26
[[ 8.16912225e-01 -1.68454138e-01 -5.51613651e-01  2.36485275e+02]
 [ 1.28389539e-01  9.85512414e-01 -1.10821515e-01 -1.13080039e+01]
 [ 5.62290444e-01  1.97100280e-02  8.26704888e-01  1.59262851e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 367.34327356
Centerline is valid?  [True, True]
Translation: X:236.53, Y:-11.30, Z:159.30
[[ 8.16815025e-01 -1.68942150e-01 -5.51608344e-01  2.36533674e+02]
 [ 1.28960470e-01  9.85434896e-01 -1.10847926e-01 -1.12984525e+01]
 [ 5.62300998e-01  1.94065800e-02  8.26704888e-01  1.59296417e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 367.40327356
Centerline is valid?  [True, True]
Translation: X:236.58, Y:-11.29, Z:159.33
[[ 8.16240543e-01 -1.71708214e-01 -5.51604628e-01  2.36580644e+02]
 [ 1.32285495e-01  9.84991972e-01 -1.10866417e-01 -1.12883350e+01]
 [ 5.62362805e-01  1.75243730e-02  8.26704888e-01  1.59329107e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 367.46327356
Centerline is valid?  [True, True]
Translation: X:236.63, Y:-11.28, Z:159.36
[[ 8.15907742e-01 -1.73339195e-01 -5.51586874e-01  2.36629650e+02]
 [ 1.34194195e-01  9.84723807e-01 -1.10954687e-01 -1.12790268e+01]
 [ 5.62393522e-01  1.65090319e-02  8.26704892e-01  1.59363024e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 367.52327356
Centerline is valid?  [True, True]
Translation: X:236.68, Y:-11.27, Z:159.40
[[ 8.16578836e-01 -1.70172933e-01 -5.51579711e-01  2.36677212e+02]
 [ 1.30349360e-01  9.85236114e-01 -1.10990286e-01 -1.12674476e+01]
 [ 5.62323794e-01  1.87342564e-02  8.26704892e-01  1.59396300e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 367.58327356
Centerline is valid?  [True, True]
Translation: X:236.72, Y:-11.25, Z:159.43
[[ 8.18037087e-01 -1.63039946e-01 -5.51573476e-01  2.36724608e+02]
 [ 1.21725124e-01  9.86335274e-01 -1.11021263e-01 -1.12534842e+01]
 [ 5.62137277e-01  2.36791610e-02  8.26704893e-01  1.59429787e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 367.64327356
Centerline is valid?  [True, True]
Translation: X:236.77, Y:-11.24, Z:159.46
[[ 8.18875313e-01 -1.58796823e-01 -5.51567576e-01  2.36771603e+02]
 [ 1.16590356e-01  9.86952106e-01 -1.11050571e-01 -1.12419873e+01]
 [ 5.62005258e-01  2.66291111e-02  8.26704893e-01  1.59462676e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 367.70327356
Centerline is valid?  [True, True]
Translation: X:236.82, Y:-11.23, Z:159.50
[[ 8.20240223e-01 -1.51630536e-01 -5.51556123e-01  2.36819727e+02]
 [ 1.07917917e-01  9.87931608e-01 -1.11107429e-01 -1.12307694e+01]
 [ 5.61747007e-01  3.16119944e-02  8.26704894e-01  1.59496272e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 367.76327356
Centerline is valid?  [True, True]
Translation: X:236.87, Y:-11.22, Z:159.53
[[ 8.20542769e-01 -1.49998087e-01 -5.51552480e-01  2.36867874e+02]
 [ 1.05939763e-01  9.88143657e-01 -1.11125512e-01 -1.12203431e+01]
 [ 5.61681699e-01  3.27518969e-02  8.26704895e-01  1.59529789e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 367.82327356
Centerline is valid?  [True, True]
Translation: X:236.92, Y:-11.21, Z:159.56
[[ 8.20404493e-01 -1.50770329e-01 -5.51547619e-01  2.36916338e+02]
 [ 1.06853613e-01  9.88042542e-01 -1.11149633e-01 -1.12122310e+01]
 [ 5.61710578e-01  3.22528020e-02  8.26704895e-01  1.59563206e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 367.88327356
Centerline is valid?  [True, True]
Translation: X:236.96, Y:-11.20, Z:159.60
[[ 8.20331907e-01 -1.51282983e-01 -5.51515205e-01  2.36964530e+02]
 [ 1.07363393e-01  9.87969192e-01 -1.11310276e-01 -1.12045858e+01]
 [ 5.61719382e-01  3.20988277e-02  8.26704906e-01  1.59596332e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 367.94327355999997
Centerline is valid?  [True, True]
Translation: X:237.01, Y:-11.20, Z:159.63
[[ 8.20412191e-01 -1.50973142e-01 -5.51480687e-01  2.37013111e+02]
 [ 1.06875821e-01  9.88002798e-01 -1.11481076e-01 -1.11984825e+01]
 [ 5.61695110e-01  3.25204820e-02  8.26704918e-01  1.59629506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 368.00327355999997
Centerline is valid?  [True, True]
Translation: X:237.06, Y:-11.19, Z:159.66
[[ 8.20432024e-01 -1.50990127e-01 -5.51446530e-01  2.37060986e+02]
 [ 1.06783248e-01  9.87993753e-01 -1.11649820e-01 -1.11909578e+01]
 [ 5.61683747e-01  3.27158364e-02  8.26704931e-01  1.59662400e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 368.06327355999997
Centerline is valid?  [True, True]
Translation: X:237.11, Y:-11.18, Z:159.70
[[ 8.20334647e-01 -1.51641488e-01 -5.51412664e-01  2.37108678e+02]
 [ 1.07455763e-01  9.87901942e-01 -1.11816864e-01 -1.11823983e+01]
 [ 5.61697718e-01  3.24747791e-02  8.26704943e-01  1.59695311e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 368.12327356
Centerline is valid?  [True, True]
Translation: X:237.16, Y:-11.18, Z:159.73
[[ 8.20485307e-01 -1.50950220e-01 -5.51378174e-01  2.37156631e+02]
 [ 1.06509578e-01  9.87985164e-01 -1.11986722e-01 -1.11751820e+01]
 [ 5.61657876e-01  3.31564033e-02  8.26704955e-01  1.59728213e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 368.18327356
Centerline is valid?  [True, True]
Translation: X:237.20, Y:-11.17, Z:159.76
[[ 8.20273948e-01 -1.52218507e-01 -5.51343973e-01  2.37204990e+02]
 [ 1.07924222e-01  9.87812554e-01 -1.12154894e-01 -1.11672010e+01]
 [ 5.61696549e-01  3.24943685e-02  8.26704967e-01  1.59761490e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 368.24327356
Centerline is valid?  [True, True]
Translation: X:237.25, Y:-11.16, Z:159.79
[[ 8.19674008e-01 -1.55531313e-01 -5.51311647e-01  2.37253684e+02]
 [ 1.11807839e-01  9.87362476e-01 -1.12313612e-01 -1.11612433e+01]
 [ 5.61812716e-01  3.04195845e-02  8.26704978e-01  1.59794717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 368.30327356
Centerline is valid?  [True, True]
Translation: X:237.30, Y:-11.15, Z:159.83
[[ 8.19026995e-01 -1.58920214e-01 -5.51306763e-01  2.37302302e+02]
 [ 1.15874595e-01  9.86890747e-01 -1.12337579e-01 -1.11535042e+01]
 [ 5.61932255e-01  2.81250617e-02  8.26704978e-01  1.59828182e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 368.36327356
Centerline is valid?  [True, True]
Translation: X:237.35, Y:-11.15, Z:159.86
[[ 8.18305095e-01 -1.62612526e-01 -5.51302039e-01  2.37351497e+02]
 [ 1.20308851e-01  9.86357359e-01 -1.12360760e-01 -1.11498692e+01]
 [ 5.62052090e-01  2.56188678e-02  8.26704979e-01  1.59861474e+02]
 [ 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 368.42327356
Centerline is valid?  [True, True]
Translation: X:237.40, Y:-11.14, Z:159.90
[[ 8.17874444e-01 -1.64785084e-01 -5.51295992e-01  2.37401122e+02]
 [ 1.22907890e-01  9.86033490e-01 -1.12390424e-01 -1.11441210e+01]
 [ 5.62116576e-01  2.41626283e-02  8.26704979e-01  1.59895338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 368.48327356
Centerline is valid?  [True, True]
Translation: X:237.45, Y:-11.14, Z:159.93
[[ 8.17687695e-01 -1.65762161e-01 -5.51280092e-01  2.37449371e+02]
 [ 1.24033459e-01  9.85883648e-01 -1.12468365e-01 -1.11379475e+01]
 [ 5.62141028e-01  2.35868213e-02  8.26704982e-01  1.59928324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 368.54327356
Centerline is valid?  [True, True]
Translation: X:237.50, Y:-11.13, Z:159.96
[[ 8.17446661e-01 -1.67060806e-01 -5.51245538e-01  2.37498184e+02]
 [ 1.25485451e-01  9.85680573e-01 -1.12637515e-01 -1.11323729e+01]
 [ 5.62169332e-01  2.29018660e-02  8.26704994e-01  1.59961569e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 368.60327356
Centerline is valid?  [True, True]
Translation: X:237.55, Y:-11.13, Z:159.99
[[ 8.17801747e-01 -1.65348913e-01 -5.51235013e-01  2.37546062e+02]
 [ 1.23386770e-01  9.85939599e-01 -1.12689006e-01 -1.11258538e+01]
 [ 5.62117432e-01  2.41421585e-02  8.26704995e-01  1.59994363e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 368.66327356
Centerline is valid?  [True, True]
Translation: X:237.59, Y:-11.12, Z:160.03
[[ 8.18267964e-01 -1.63058719e-01 -5.51225357e-01  2.37594766e+02]
 [ 1.20594278e-01  9.86279658e-01 -1.12736221e-01 -1.11183169e+01]
 [ 5.62044980e-01  2.57738142e-02  8.26704996e-01  1.60027847e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 368.72327356
Centerline is valid?  [True, True]
Translation: X:237.64, Y:-11.11, Z:160.06
[[ 8.19020176e-01 -1.59254461e-01 -5.51220435e-01  2.37643343e+02]
 [ 1.15993576e-01  9.86828561e-01 -1.12760281e-01 -1.11102113e+01]
 [ 5.61917647e-01  2.84149158e-02  8.26704996e-01  1.60061332e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 368.78327356
Centerline is valid?  [True, True]
Translation: X:237.69, Y:-11.10, Z:160.09
[[ 8.19595610e-01 -1.56283329e-01 -5.51215527e-01  2.37691850e+02]
 [ 1.12398105e-01  9.87241801e-01 -1.12784271e-01 -1.11013613e+01]
 [ 5.61809311e-01  3.04819129e-02  8.26704997e-01  1.60094873e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 368.84327356
Centerline is valid?  [True, True]
Translation: X:237.74, Y:-11.09, Z:160.13
[[ 8.19928913e-01 -1.54542250e-01 -5.51210731e-01  2.37739419e+02]
 [ 1.10285363e-01  9.87477372e-01 -1.12807705e-01 -1.10912805e+01]
 [ 5.61741681e-01  3.17038231e-02  8.26704997e-01  1.60127957e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 368.90327356
Centerline is valid?  [True, True]
Translation: X:237.79, Y:-11.08, Z:160.16
[[ 8.20531223e-01 -1.51339392e-01 -5.51203139e-01  2.37787966e+02]
 [ 1.06403776e-01  9.87898927e-01 -1.12844790e-01 -1.10808642e+01]
 [ 5.61610852e-01  3.39425779e-02  8.26704997e-01  1.60161733e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 368.96327356
Centerline is valid?  [True, True]
Translation: X:237.84, Y:-11.07, Z:160.20
[[ 8.20398989e-01 -1.52069211e-01 -5.51199106e-01  2.37836460e+02]
 [ 1.07269303e-01  9.87803069e-01 -1.12864489e-01 -1.10722368e+01]
 [ 5.61639382e-01  3.34671687e-02  8.26704998e-01  1.60195236e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 369.02327356
Centerline is valid?  [True, True]
Translation: X:237.88, Y:-11.06, Z:160.23
[[ 8.19933629e-01 -1.54575482e-01 -5.51194397e-01  2.37883928e+02]
 [ 1.10271935e-01  9.87469755e-01 -1.12887479e-01 -1.10630889e+01]
 [ 5.61737433e-01  3.17789680e-02  8.26704998e-01  1.60228125e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 369.08327356
Centerline is valid?  [True, True]
Translation: X:237.93, Y:-11.06, Z:160.26
[[ 8.19778848e-01 -1.55424186e-01 -5.51185959e-01  2.37932767e+02]
 [ 1.11266491e-01  9.87353475e-01 -1.12928666e-01 -1.10559885e+01]
 [ 5.61767218e-01  3.12480042e-02  8.26704999e-01  1.60261641e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 369.14327356
Centerline is valid?  [True, True]
Translation: X:237.98, Y:-11.05, Z:160.30
[[ 8.18824917e-01 -1.60391089e-01 -5.51180963e-01  2.37981277e+02]
 [ 1.17233726e-01  9.86659953e-01 -1.12953046e-01 -1.10473334e+01]
 [ 5.61944846e-01  2.78717700e-02  8.26704999e-01  1.60295156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 369.20327356
Centerline is valid?  [True, True]
Translation: X:238.03, Y:-11.04, Z:160.33
[[ 8.18552629e-01 -1.61786071e-01 -5.51177704e-01  2.38029420e+02]
 [ 1.18904065e-01  9.86458230e-01 -1.12968950e-01 -1.10390654e+01]
 [ 5.61990585e-01  2.69337614e-02  8.26704999e-01  1.60328377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 369.26327356
Centerline is valid?  [True, True]
Translation: X:238.08, Y:-11.03, Z:160.36
[[ 8.18623127e-01 -1.61544791e-01 -5.51143772e-01  2.38077403e+02]
 [ 1.18502244e-01  9.86487633e-01 -1.13134293e-01 -1.10302302e+01]
 [ 5.61972771e-01  2.73025745e-02  8.26705011e-01  1.60361510e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 369.32327356
Centerline is valid?  [True, True]
Translation: X:238.13, Y:-11.02, Z:160.39
[[ 8.18872994e-01 -1.60391813e-01 -5.51109323e-01  2.38125138e+02]
 [ 1.17000409e-01  9.86647650e-01 -1.13301894e-01 -1.10222404e+01]
 [ 5.61923415e-01  2.82998447e-02  8.26705023e-01  1.60394361e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 369.38327356
Centerline is valid?  [True, True]
Translation: X:238.17, Y:-11.01, Z:160.43
[[ 8.19240266e-01 -1.58529228e-01 -5.51102414e-01  2.38172878e+02]
 [ 1.14733867e-01  9.86909928e-01 -1.13335494e-01 -1.10140320e+01]
 [ 5.61855432e-01  2.96188894e-02  8.26705023e-01  1.60427297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 369.44327355999997
Centerline is valid?  [True, True]
Translation: X:238.22, Y:-11.00, Z:160.46
[[ 8.19334193e-01 -1.58181677e-01 -5.51062643e-01  2.38220681e+02]
 [ 1.14185698e-01  9.86951308e-01 -1.13528594e-01 -1.10042290e+01]
 [ 5.61830140e-01  3.00943866e-02  8.26705039e-01  1.60460430e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 369.50327355999997
Centerline is valid?  [True, True]
Translation: X:238.27, Y:-10.99, Z:160.49
[[ 8.19237666e-01 -1.58800325e-01 -5.51028224e-01  2.38268479e+02]
 [ 1.14819025e-01  9.86858621e-01 -1.13695446e-01 -1.09942788e+01]
 [ 5.61841827e-01  2.98750682e-02  8.26705051e-01  1.60493590e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 369.56327355999997
Centerline is valid?  [True, True]
Translation: X:238.32, Y:-10.99, Z:160.53
[[ 8.19252853e-01 -1.58747239e-01 -5.51020941e-01  2.38316751e+02]
 [ 1.14731414e-01  9.86864744e-01 -1.13730732e-01 -1.09858986e+01]
 [ 5.61837580e-01  2.99548152e-02  8.26705052e-01  1.60526903e+02]
 [ 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 369.62327356
Centerline is valid?  [True, True]
Translation: X:238.36, Y:-10.98, Z:160.56
[[ 8.19298401e-01 -1.58533870e-01 -5.51014648e-01  2.38363851e+02]
 [ 1.14453953e-01  9.86893448e-01 -1.13761218e-01 -1.09754046e+01]
 [ 5.61827752e-01  3.01385792e-02  8.26705052e-01  1.60559728e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 369.68327356
Centerline is valid?  [True, True]
Translation: X:238.41, Y:-10.97, Z:160.59
[[ 8.19724572e-01 -1.56357863e-01 -5.51002582e-01  2.38412250e+02]
 [ 1.11793955e-01  9.87191573e-01 -1.13819635e-01 -1.09672229e+01]
 [ 5.61741700e-01  3.17019939e-02  8.26705054e-01  1.60593089e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 369.74327356
Centerline is valid?  [True, True]
Translation: X:238.46, Y:-10.96, Z:160.63
[[ 8.19899485e-01 -1.55459670e-01 -5.50996484e-01  2.38460047e+02]
 [ 1.10692545e-01  9.87312277e-01 -1.13849147e-01 -1.09588143e+01]
 [ 5.61704544e-01  3.23536540e-02  8.26705054e-01  1.60626092e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 369.80327356
Centerline is valid?  [True, True]
Translation: X:238.51, Y:-10.95, Z:160.66
[[ 8.19698820e-01 -1.56630901e-01 -5.50963343e-01  2.38507816e+02]
 [ 1.11995681e-01  9.87146817e-01 -1.14009341e-01 -1.09485316e+01]
 [ 5.61739096e-01  3.17478070e-02  8.26705065e-01  1.60659281e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 369.86327356
Centerline is valid?  [True, True]
Translation: X:238.56, Y:-10.94, Z:160.69
[[ 8.19538395e-01 -1.57587901e-01 -5.50929099e-01  2.38555469e+02]
 [ 1.13037474e-01  9.87008959e-01 -1.14174619e-01 -1.09396067e+01]
 [ 5.61764495e-01  3.12948504e-02  8.26705077e-01  1.60692202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 369.92327356
Centerline is valid?  [True, True]
Translation: X:238.60, Y:-10.93, Z:160.73
[[ 8.19324320e-01 -1.58819158e-01 -5.50893940e-01  2.38603631e+02]
 [ 1.14406845e-01  9.86831552e-01 -1.14344053e-01 -1.09330066e+01]
 [ 5.61799548e-01  3.06588262e-02  8.26705089e-01  1.60725140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 369.98327356
Centerline is valid?  [True, True]
Translation: X:238.65, Y:-10.92, Z:160.76
[[ 8.19569748e-01 -1.57570179e-01 -5.50887526e-01  2.38650998e+02]
 [ 1.12881910e-01  9.87003569e-01 -1.14374946e-01 -1.09173122e+01]
 [ 5.61750035e-01  3.15530091e-02  8.26705090e-01  1.60758862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 370.04327356
Centerline is valid?  [True, True]
Translation: X:238.70, Y:-10.92, Z:160.79
[[ 8.19262350e-01 -1.59175864e-01 -5.50883152e-01  2.38701160e+02]
 [ 1.14801653e-01  9.86779678e-01 -1.14396012e-01 -1.09220137e+01]
 [ 5.61809383e-01  3.04780487e-02  8.26705090e-01  1.60791629e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 370.10327356
Centerline is valid?  [True, True]
Translation: X:238.75, Y:-10.91, Z:160.83
[[ 8.18056813e-01 -1.65292055e-01 -5.50873477e-01  2.38749683e+02]
 [ 1.22139300e-01  9.85892939e-01 -1.14442582e-01 -1.09138078e+01]
 [ 5.62018721e-01  2.63372336e-02  8.26705091e-01  1.60825078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 370.16327356
Centerline is valid?  [True, True]
Translation: X:238.80, Y:-10.90, Z:160.86
[[ 8.16731939e-01 -1.71734416e-01 -5.50868614e-01  2.38797221e+02]
 [ 1.29890035e-01  9.84899039e-01 -1.14465989e-01 -1.09002389e+01]
 [ 5.62207718e-01  2.19356857e-02  8.26705091e-01  1.60858624e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 370.22327356
Centerline is valid?  [True, True]
Translation: X:238.85, Y:-10.90, Z:160.89
[[ 8.16596665e-01 -1.72388688e-01 -5.50864800e-01  2.38846059e+02]
 [ 1.30666687e-01  9.84794168e-01 -1.14484341e-01 -1.08950868e+01]
 [ 5.62224247e-01  2.15078530e-02  8.26705091e-01  1.60891872e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 370.28327356
Centerline is valid?  [True, True]
Translation: X:238.89, Y:-10.89, Z:160.93
[[ 8.16424755e-01 -1.73224496e-01 -5.50857417e-01  2.38894141e+02]
 [ 1.31650761e-01  9.84658966e-01 -1.14519857e-01 -1.08863790e+01]
 [ 5.62244339e-01  2.09760478e-02  8.26705092e-01  1.60925102e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 370.34327356
Centerline is valid?  [True, True]
Translation: X:238.94, Y:-10.88, Z:160.96
[[ 8.16395728e-01 -1.73382074e-01 -5.50850862e-01  2.38941016e+02]
 [ 1.31819574e-01  9.84632714e-01 -1.14551377e-01 -1.08767362e+01]
 [ 5.62246935e-01  2.09063289e-02  8.26705092e-01  1.60957658e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 370.40327356
Centerline is valid?  [True, True]
Translation: X:238.99, Y:-10.86, Z:160.99
[[ 8.16379472e-01 -1.73585606e-01 -5.50810852e-01  2.38988988e+02]
 [ 1.31935610e-01  9.84594803e-01 -1.14743494e-01 -1.08649374e+01]
 [ 5.62243321e-01  2.10026671e-02  8.26705108e-01  1.60991175e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 370.46327356
Centerline is valid?  [True, True]
Translation: X:239.04, Y:-10.86, Z:161.02
[[ 8.16687557e-01 -1.72146275e-01 -5.50805859e-01  2.39037647e+02]
 [ 1.30183687e-01  9.84825181e-01 -1.14767460e-01 -1.08580369e+01]
 [ 5.62204270e-01  2.20232188e-02  8.26705108e-01  1.61024543e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 370.52327356
Centerline is valid?  [True, True]
Translation: X:239.09, Y:-10.85, Z:161.06
[[ 8.17033435e-01 -1.70601786e-01 -5.50773454e-01  2.39086644e+02]
 [ 1.28216827e-01  9.85065072e-01 -1.14922797e-01 -1.08500209e+01]
 [ 5.62153726e-01  2.32773427e-02  8.26705119e-01  1.61058234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 370.58327356
Centerline is valid?  [True, True]
Translation: X:239.13, Y:-10.84, Z:161.09
[[ 8.16539564e-01 -1.72972199e-01 -5.50766520e-01  2.39134645e+02]
 [ 1.31052692e-01  9.84687923e-01 -1.14956020e-01 -1.08394694e+01]
 [ 5.62217336e-01  2.16867034e-02  8.26705119e-01  1.61091666e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 370.64327356
Centerline is valid?  [True, True]
Translation: X:239.18, Y:-10.82, Z:161.13
[[ 8.15408501e-01 -1.78247917e-01 -5.50760071e-01  2.39179863e+02]
 [ 1.37395608e-01  9.83819322e-01 -1.14986909e-01 -1.08157929e+01]
 [ 5.62344577e-01  1.80892882e-02  8.26705120e-01  1.61125070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 370.70327356
Centerline is valid?  [True, True]
Translation: X:239.23, Y:-10.80, Z:161.16
[[ 8.14818823e-01 -1.81023565e-01 -5.50727477e-01  2.39226233e+02]
 [ 1.40639671e-01  9.83342570e-01 -1.15142841e-01 -1.08043332e+01]
 [ 5.62397340e-01  1.63664230e-02  8.26705130e-01  1.61157491e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 370.76327356
Centerline is valid?  [True, True]
Translation: X:239.27, Y:-10.79, Z:161.19
[[ 8.15032235e-01 -1.80097923e-01 -5.50715165e-01  2.39273869e+02]
 [ 1.39482900e-01  9.83500426e-01 -1.15201701e-01 -1.07922121e+01]
 [ 5.62376187e-01  1.70777514e-02  8.26705132e-01  1.61190890e+02]
 [ 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 370.82327356
Centerline is valid?  [True, True]
Translation: X:239.32, Y:-10.78, Z:161.22
[[ 8.14430451e-01 -1.82832571e-01 -5.50704360e-01  2.39322966e+02]
 [ 1.42748353e-01  9.83025725e-01 -1.15253336e-01 -1.07843075e+01]
 [ 5.62428616e-01  1.52536863e-02  8.26705133e-01  1.61224676e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 370.88327356
Centerline is valid?  [True, True]
Translation: X:239.37, Y:-10.78, Z:161.26
[[ 8.14841252e-01 -1.81047918e-01 -5.50686286e-01  2.39371032e+02]
 [ 1.40536173e-01  9.83334303e-01 -1.15339640e-01 -1.07771018e+01]
 [ 5.62390717e-01  1.65921533e-02  8.26705136e-01  1.61257663e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 370.94327355999997
Centerline is valid?  [True, True]
Translation: X:239.42, Y:-10.76, Z:161.29
[[ 8.13992480e-01 -1.84930238e-01 -5.50651478e-01  2.39416127e+02]
 [ 1.45109950e-01  9.82650270e-01 -1.15505621e-01 -1.07552465e+01]
 [ 5.62458306e-01  1.41156981e-02  8.26705148e-01  1.61290684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.00327355999997
Centerline is valid?  [True, True]
Translation: X:239.46, Y:-10.74, Z:161.32
[[ 8.13615768e-01 -1.86683874e-01 -5.50616485e-01  2.39463278e+02]
 [ 1.47114420e-01  9.82332572e-01 -1.15672233e-01 -1.07431974e+01]
 [ 5.62482648e-01  1.31091280e-02  8.26705160e-01  1.61323707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.06327355999997
Centerline is valid?  [True, True]
Translation: X:239.51, Y:-10.73, Z:161.36
[[ 8.13576856e-01 -1.86956032e-01 -5.50581639e-01  2.39510211e+02]
 [ 1.47330968e-01  9.82280596e-01 -1.15837893e-01 -1.07292640e+01]
 [ 5.62482253e-01  1.31253034e-02  8.26705172e-01  1.61356850e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.12327356
Centerline is valid?  [True, True]
Translation: X:239.56, Y:-10.72, Z:161.39
[[ 8.13896138e-01 -1.85591149e-01 -5.50571523e-01  2.39558177e+02]
 [ 1.45650678e-01  9.82525483e-01 -1.15885959e-01 -1.07206381e+01]
 [ 5.62457960e-01  1.41280185e-02  8.26705173e-01  1.61389985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.18327356
Centerline is valid?  [True, True]
Translation: X:239.61, Y:-10.71, Z:161.42
[[ 8.15066997e-01 -1.80489265e-01 -5.50535571e-01  2.39606342e+02]
 [ 1.39378178e-01  9.83414766e-01 -1.16056544e-01 -1.07110171e+01]
 [ 5.62351770e-01  1.78612145e-02  8.26705185e-01  1.61423342e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.24327356
Centerline is valid?  [True, True]
Translation: X:239.65, Y:-10.70, Z:161.46
[[ 8.14863014e-01 -1.81421270e-01 -5.50531191e-01  2.39653263e+02]
 [ 1.40488711e-01  9.83254279e-01 -1.16077321e-01 -1.06966305e+01]
 [ 5.62371044e-01  1.72436984e-02  8.26705185e-01  1.61456600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.30327356
Centerline is valid?  [True, True]
Translation: X:239.70, Y:-10.68, Z:161.49
[[ 8.16042242e-01 -1.76153490e-01 -5.50495238e-01  2.39700495e+02]
 [ 1.34019264e-01  9.84136844e-01 -1.16247616e-01 -1.06848196e+01]
 [ 5.62240070e-01  2.10859991e-02  8.26705198e-01  1.61489646e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.36327356
Centerline is valid?  [True, True]
Translation: X:239.75, Y:-10.67, Z:161.52
[[ 8.17147146e-01 -1.70980306e-01 -5.50487308e-01  2.39747839e+02]
 [ 1.27756801e-01  9.84964954e-01 -1.16285159e-01 -1.06706047e+01]
 [ 5.62093179e-01  2.46935880e-02  8.26705199e-01  1.61523156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.42327356
Centerline is valid?  [True, True]
Translation: X:239.79, Y:-10.64, Z:161.56
[[ 8.18360672e-01 -1.65089096e-01 -5.50482879e-01  2.39792032e+02]
 [ 1.20643681e-01  9.85859010e-01 -1.16306121e-01 -1.06428211e+01]
 [ 5.61899379e-01  2.87680745e-02  8.26705199e-01  1.61556483e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.48327356
Centerline is valid?  [True, True]
Translation: X:239.84, Y:-10.63, Z:161.59
[[ 8.18455913e-01 -1.64635374e-01 -5.50477167e-01  2.39839913e+02]
 [ 1.20078976e-01  9.85924763e-01 -1.16333152e-01 -1.06309543e+01]
 [ 5.61881622e-01  2.91128213e-02  8.26705199e-01  1.61590026e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.54327356
Centerline is valid?  [True, True]
Translation: X:239.89, Y:-10.62, Z:161.62
[[ 8.18184517e-01 -1.65995407e-01 -5.50472180e-01  2.39886479e+02]
 [ 1.21701568e-01  9.85723002e-01 -1.16356746e-01 -1.06196113e+01]
 [ 5.61927775e-01  2.82079604e-02  8.26705199e-01  1.61622621e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.60327356
Centerline is valid?  [True, True]
Translation: X:239.94, Y:-10.63, Z:161.66
[[ 8.17934819e-01 -1.67261864e-01 -5.50459899e-01  2.39937542e+02]
 [ 1.23188464e-01  9.85531426e-01 -1.16414819e-01 -1.06259150e+01]
 [ 5.61967289e-01  2.74094240e-02  8.26705201e-01  1.61655712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.66327356
Centerline is valid?  [True, True]
Translation: X:239.98, Y:-10.60, Z:161.69
[[ 8.20829066e-01 -1.52461956e-01 -5.50449812e-01  2.39982284e+02]
 [ 1.05336977e-01  9.87593341e-01 -1.16462499e-01 -1.05991986e+01]
 [ 5.61376670e-01  3.76130858e-02  8.26705202e-01  1.61689249e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.72327356
Centerline is valid?  [True, True]
Translation: X:240.03, Y:-10.59, Z:161.72
[[ 8.20801946e-01 -1.52620690e-01 -5.50446265e-01  2.40029466e+02]
 [ 1.05516772e-01  9.87572171e-01 -1.16479261e-01 -1.05885925e+01]
 [ 5.61382558e-01  3.75250911e-02  8.26705202e-01  1.61722152e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.78327356
Centerline is valid?  [True, True]
Translation: X:240.08, Y:-10.58, Z:161.76
[[ 8.21588826e-01 -1.48457107e-01 -5.50411017e-01  2.40077859e+02]
 [ 1.00397385e-01  9.88086112e-01 -1.16645622e-01 -1.05784886e+01]
 [ 5.61170354e-01  4.05749132e-02  8.26705214e-01  1.61755737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.84327356
Centerline is valid?  [True, True]
Translation: X:240.13, Y:-10.57, Z:161.79
[[ 8.19416969e-01 -1.60032711e-01 -5.50404727e-01  2.40127152e+02]
 [ 1.14306730e-01  9.86570244e-01 -1.16675300e-01 -1.05714431e+01]
 [ 5.61684790e-01  3.26907568e-02  8.26705214e-01  1.61789540e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.90327356
Centerline is valid?  [True, True]
Translation: X:240.18, Y:-10.56, Z:161.82
[[ 8.20197298e-01 -1.56005072e-01 -5.50398774e-01  2.40175890e+02]
 [ 1.09439675e-01  9.87118676e-01 -1.16703374e-01 -1.05619000e+01]
 [ 5.61515227e-01  3.54843286e-02  8.26705215e-01  1.61823325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 371.96327356
Centerline is valid?  [True, True]
Translation: X:240.23, Y:-10.57, Z:161.86
[[ 8.21369649e-01 -1.49724543e-01 -5.50394823e-01  2.40226302e+02]
 [ 1.01870845e-01  9.87926265e-01 -1.16722006e-01 -1.05669109e+01]
 [ 5.61225651e-01  3.98027274e-02  8.26705215e-01  1.61856174e+02]
 [ 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 372.02327356
Centerline is valid?  [True, True]
Translation: X:240.27, Y:-10.54, Z:161.89
[[ 8.24260004e-01 -1.32919303e-01 -5.50388866e-01  2.40272022e+02]
 [ 8.16555756e-02  9.89798860e-01 -1.16750089e-01 -1.05423637e+01]
 [ 5.60292613e-01  5.12901096e-02  8.26705215e-01  1.61890068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 372.08327356
Centerline is valid?  [True, True]
Translation: X:240.32, Y:-10.55, Z:161.92
[[ 8.22499131e-01 -1.43437384e-01 -5.50382499e-01  2.40324845e+02]
 [ 9.42724470e-02  9.88673412e-01 -1.16780097e-01 -1.05545774e+01]
 [ 5.60899175e-01  4.41656235e-02  8.26705215e-01  1.61923499e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 372.14327356
Centerline is valid?  [True, True]
Translation: X:240.37, Y:-10.55, Z:161.96
[[ 8.23022151e-01 -1.40428494e-01 -5.50376578e-01  2.40373675e+02]
 [ 9.06376499e-02  9.89009963e-01 -1.16807999e-01 -1.05493554e+01]
 [ 5.60731091e-01  4.62507307e-02  8.26705216e-01  1.61956734e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 372.20327356
Centerline is valid?  [True, True]
Translation: X:240.42, Y:-10.54, Z:161.99
[[ 8.22702792e-01 -1.42310129e-01 -5.50370733e-01  2.40422040e+02]
 [ 9.28806814e-02  9.88798583e-01 -1.16835532e-01 -1.05439896e+01]
 [ 5.60832681e-01  4.50021100e-02  8.26705216e-01  1.61989680e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 372.26327356
Centerline is valid?  [True, True]
Translation: X:240.47, Y:-10.54, Z:162.02
[[ 8.22671998e-01 -1.42526924e-01 -5.50360663e-01  2.40470493e+02]
 [ 9.31097365e-02  9.88771436e-01 -1.16882951e-01 -1.05408746e+01]
 [ 5.60839871e-01  4.49123943e-02  8.26705217e-01  1.62022358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 372.32327356
Centerline is valid?  [True, True]
Translation: X:240.52, Y:-10.53, Z:162.06
[[ 8.23551293e-01 -1.37514518e-01 -5.50320839e-01  2.40519624e+02]
 [ 8.69625971e-02  9.89308887e-01 -1.17070208e-01 -1.05327436e+01]
 [ 5.60536149e-01  4.85559921e-02  8.26705232e-01  1.62056137e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 372.38327356
Centerline is valid?  [True, True]
Translation: X:240.57, Y:-10.53, Z:162.09
[[ 8.24123121e-01 -1.34061230e-01 -5.50316880e-01  2.40569205e+02]
 [ 8.28026290e-02  9.89663546e-01 -1.17088815e-01 -1.05287771e+01]
 [ 5.60325625e-01  5.09279153e-02  8.26705232e-01  1.62089696e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 372.44327355999997
Centerline is valid?  [True, True]
Translation: X:240.62, Y:-10.52, Z:162.12
[[ 8.24456082e-01 -1.32020447e-01 -5.50311521e-01  2.40619060e+02]
 [ 8.03355006e-02  9.89863889e-01 -1.17113996e-01 -1.05238670e+01]
 [ 5.60194945e-01  5.23457949e-02  8.26705233e-01  1.62123568e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 372.50327355999997
Centerline is valid?  [True, True]
Translation: X:240.67, Y:-10.52, Z:162.16
[[ 8.24916403e-01 -1.29140956e-01 -5.50304953e-01  2.40668405e+02]
 [ 7.68584003e-02  9.90136289e-01 -1.17144851e-01 -1.05196510e+01]
 [ 5.60005102e-01  5.43391511e-02  8.26705233e-01  1.62156998e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 372.56327355999997
Centerline is valid?  [True, True]
Translation: X:240.72, Y:-10.51, Z:162.19
[[ 8.24849405e-01 -1.29585891e-01 -5.50300787e-01  2.40717513e+02]
 [ 7.73795308e-02  9.90093383e-01 -1.17164422e-01 -1.05145255e+01]
 [ 5.60032023e-01  5.40609868e-02  8.26705233e-01  1.62190405e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 372.62327356
Centerline is valid?  [True, True]
Translation: X:240.77, Y:-10.51, Z:162.22
[[ 8.24901481e-01 -1.29276175e-01 -5.50295573e-01  2.40765973e+02]
 [ 7.69916011e-02  9.90120727e-01 -1.17188903e-01 -1.05090369e+01]
 [ 5.60008786e-01  5.43011625e-02  8.26705234e-01  1.62223430e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 372.68327356
Centerline is valid?  [True, True]
Translation: X:240.81, Y:-10.50, Z:162.26
[[ 8.25116949e-01 -1.27921329e-01 -5.50289154e-01  2.40814571e+02]
 [ 7.53456041e-02  9.90243777e-01 -1.17219037e-01 -1.05024993e+01]
 [ 5.59915226e-01  5.52575458e-02  8.26705234e-01  1.62256692e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 372.74327356
Centerline is valid?  [True, True]
Translation: X:240.86, Y:-10.50, Z:162.29
[[ 8.24866597e-01 -1.29558898e-01 -5.50281373e-01  2.40863572e+02]
 [ 7.72869190e-02  9.90089828e-01 -1.17255557e-01 -1.04988759e+01]
 [ 5.60019491e-01  5.41906403e-02  8.26705234e-01  1.62289806e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 372.80327356
Centerline is valid?  [True, True]
Translation: X:240.91, Y:-10.49, Z:162.32
[[ 8.24469338e-01 -1.32106839e-01 -5.50270927e-01  2.40913277e+02]
 [ 8.03131830e-02  9.89843135e-01 -1.17304563e-01 -1.04943414e+01]
 [ 5.60178635e-01  5.25200055e-02  8.26705236e-01  1.62323511e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 372.86327356
Centerline is valid?  [True, True]
Translation: X:240.96, Y:-10.49, Z:162.36
[[ 8.23388486e-01 -1.38697005e-01 -5.50267700e-01  2.40963028e+02]
 [ 8.82176857e-02  9.89168200e-01 -1.17319698e-01 -1.04885667e+01]
 [ 5.60579201e-01  4.80563452e-02  8.26705236e-01  1.62357438e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 372.92327356
Centerline is valid?  [True, True]
Translation: X:241.01, Y:-10.48, Z:162.39
[[ 8.23794799e-01 -1.36290070e-01 -5.50260980e-01  2.41010720e+02]
 [ 8.53056000e-02  9.89419854e-01 -1.17351209e-01 -1.04782409e+01]
 [ 5.60432943e-01  4.97329729e-02  8.26705236e-01  1.62390633e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 372.98327356
Centerline is valid?  [True, True]
Translation: X:241.06, Y:-10.47, Z:162.42
[[ 8.23424156e-01 -1.38537971e-01 -5.50254387e-01  2.41059042e+02]
 [ 8.79852413e-02  9.89181498e-01 -1.17382117e-01 -1.04702466e+01]
 [ 5.60563339e-01  4.82410055e-02  8.26705236e-01  1.62423917e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 373.04327356
Centerline is valid?  [True, True]
Translation: X:241.11, Y:-10.47, Z:162.46
[[ 8.22990980e-01 -1.41217053e-01 -5.50221402e-01  2.41109892e+02]
 [ 9.11015203e-02  9.88881019e-01 -1.17536565e-01 -1.04703698e+01]
 [ 5.60701667e-01  4.66055262e-02  8.26705247e-01  1.62457668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 373.10327356
Centerline is valid?  [True, True]
Translation: X:241.16, Y:-10.46, Z:162.49
[[ 8.23270173e-01 -1.39598556e-01 -5.50216745e-01  2.41157928e+02]
 [ 8.91424774e-02  9.89056950e-01 -1.17558361e-01 -1.04577747e+01]
 [ 5.60606673e-01  4.77346085e-02  8.26705247e-01  1.62491419e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 373.16327356
Centerline is valid?  [True, True]
Translation: X:241.21, Y:-10.45, Z:162.53
[[ 8.22172649e-01 -1.45938263e-01 -5.50212830e-01  2.41207755e+02]
 [ 9.67489985e-02  9.88339696e-01 -1.17576681e-01 -1.04531558e+01]
 [ 5.60956118e-01  4.34357911e-02  8.26705247e-01  1.62525229e+02]
 [ 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 373.22327356
Centerline is valid?  [True, True]
Translation: X:241.26, Y:-10.45, Z:162.56
[[ 8.21556200e-01 -1.49382791e-01 -5.50209225e-01  2.41256619e+02]
 [ 1.00879147e-01  9.87924671e-01 -1.17593549e-01 -1.04463001e+01]
 [ 5.61131720e-01  4.11050720e-02  8.26705247e-01  1.62558717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 373.28327356
Centerline is valid?  [True, True]
Translation: X:241.30, Y:-10.44, Z:162.59
[[ 8.21016833e-01 -1.52336188e-01 -5.50204549e-01  2.41304473e+02]
 [ 1.04416544e-01  9.87554453e-01 -1.17615424e-01 -1.04370324e+01]
 [ 5.61274038e-01  3.91137857e-02  8.26705247e-01  1.62591873e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 373.34327356
Centerline is valid?  [True, True]
Translation: X:241.35, Y:-10.43, Z:162.63
[[ 8.20944469e-01 -1.52762489e-01 -5.50194330e-01  2.41353020e+02]
 [ 1.04897458e-01  9.87497793e-01 -1.17663213e-01 -1.04270329e+01]
 [ 5.61290212e-01  3.88809778e-02  8.26705248e-01  1.62625582e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 373.40327356
Centerline is valid?  [True, True]
Translation: X:241.40, Y:-10.41, Z:162.66
[[ 8.19195145e-01 -1.61978022e-01 -5.50165825e-01  2.41399874e+02]
 [ 1.15898503e-01  9.86251262e-01 -1.17796370e-01 -1.04073620e+01]
 [ 5.61682162e-01  3.27348192e-02  8.26705256e-01  1.62659498e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 373.46327356
Centerline is valid?  [True, True]
Translation: X:241.45, Y:-10.40, Z:162.69
[[ 8.17253552e-01 -1.71528674e-01 -5.50158655e-01  2.41448998e+02]
 [ 1.27379696e-01  9.84830209e-01 -1.17829847e-01 -1.04030213e+01]
 [ 5.62024061e-01  2.62178186e-02  8.26705257e-01  1.62692792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 373.52327356
Centerline is valid?  [True, True]
Translation: X:241.50, Y:-10.40, Z:162.73
[[ 8.15906570e-01 -1.77846758e-01 -5.50151797e-01  2.41497136e+02]
 [ 1.34974118e-01  9.83814296e-01 -1.17861859e-01 -1.03957516e+01]
 [ 5.62208553e-01  2.19080118e-02  8.26705257e-01  1.62725847e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 373.58327356
Centerline is valid?  [True, True]
Translation: X:241.55, Y:-10.39, Z:162.76
[[ 8.15105508e-01 -1.81505757e-01 -5.50144228e-01  2.41545117e+02]
 [ 1.39363102e-01  9.83197936e-01 -1.17897182e-01 -1.03855636e+01]
 [ 5.62299687e-01  1.94288365e-02  8.26705258e-01  1.62759212e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 373.64327356
Centerline is valid?  [True, True]
Translation: X:241.60, Y:-10.39, Z:162.79
[[ 8.15210038e-01 -1.81102665e-01 -5.50122185e-01  2.41595207e+02]
 [ 1.38807622e-01  9.83264183e-01 -1.17999961e-01 -1.03884486e+01]
 [ 5.62285548e-01  1.98336007e-02  8.26705262e-01  1.62792080e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 373.70327356
Centerline is valid?  [True, True]
Translation: X:241.64, Y:-10.38, Z:162.83
[[ 8.15534762e-01 -1.79664553e-01 -5.50112444e-01  2.41642930e+02]
 [ 1.37042590e-01  9.83506289e-01 -1.18045360e-01 -1.03778851e+01]
 [ 5.62247615e-01  2.08812606e-02  8.26705263e-01  1.62825321e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 373.76327356
Centerline is valid?  [True, True]
Translation: X:241.69, Y:-10.37, Z:162.86
[[ 8.16580079e-01 -1.74874369e-01 -5.50105381e-01  2.41690624e+02]
 [ 1.31245044e-01  9.84292772e-01 -1.18078267e-01 -1.03689389e+01]
 [ 5.62113613e-01  2.42217555e-02  8.26705264e-01  1.62858318e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 373.82327356
Centerline is valid?  [True, True]
Translation: X:241.74, Y:-10.36, Z:162.89
[[ 8.17436127e-01 -1.70934552e-01 -5.50072320e-01  2.41738715e+02]
 [ 1.26393693e-01  9.84909032e-01 -1.18232113e-01 -1.03583258e+01]
 [ 5.61981150e-01  2.71215288e-02  8.26705274e-01  1.62891753e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 373.88327356
Centerline is valid?  [True, True]
Translation: X:241.79, Y:-10.35, Z:162.93
[[ 8.18444229e-01 -1.66060412e-01 -5.50066345e-01  2.41786967e+02]
 [ 1.20503748e-01  9.85643668e-01 -1.18259909e-01 -1.03478629e+01]
 [ 5.61807699e-01  3.05040840e-02  8.26705274e-01  1.62925341e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 373.94327355999997
Centerline is valid?  [True, True]
Translation: X:241.83, Y:-10.34, Z:162.96
[[ 8.18984383e-01 -1.63406836e-01 -5.50057076e-01  2.41834694e+02]
 [ 1.17279646e-01  9.86027324e-01 -1.18303008e-01 -1.03360055e+01]
 [ 5.61702827e-01  3.23778165e-02  8.26705275e-01  1.62958771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 374.00327355999997
Centerline is valid?  [True, True]
Translation: X:241.88, Y:-10.32, Z:162.99
[[ 8.19276521e-01 -1.61961806e-01 -5.50049412e-01  2.41882607e+02]
 [ 1.15516177e-01  9.86231201e-01 -1.18338631e-01 -1.03235500e+01]
 [ 5.61642231e-01  3.34124566e-02  8.26705275e-01  1.62992414e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 374.06327355999997
Centerline is valid?  [True, True]
Translation: X:241.93, Y:-10.31, Z:163.03
[[ 8.20219963e-01 -1.57137359e-01 -5.50042783e-01  2.41930745e+02]
 [ 1.09689399e-01  9.86892554e-01 -1.18369437e-01 -1.03136404e+01]
 [ 5.61433388e-01  3.67551125e-02  8.26705276e-01  1.63025846e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 374.12327356
Centerline is valid?  [True, True]
Translation: X:241.98, Y:-10.30, Z:163.06
[[ 8.20284257e-01 -1.56821667e-01 -5.50037001e-01  2.41978766e+02]
 [ 1.09291630e-01  9.86933460e-01 -1.18396303e-01 -1.03033405e+01]
 [ 5.61417026e-01  3.70041829e-02  8.26705276e-01  1.63059257e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 374.18327356
Centerline is valid?  [True, True]
Translation: X:242.03, Y:-10.29, Z:163.09
[[ 8.20405642e-01 -1.56303055e-01 -5.50003579e-01  2.42026317e+02]
 [ 1.08564179e-01  9.86995130e-01 -1.18551390e-01 -1.02938686e+01]
 [ 5.61380799e-01  3.75495423e-02  8.26705287e-01  1.63092170e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 374.24327356
Centerline is valid?  [True, True]
Translation: X:242.08, Y:-10.29, Z:163.13
[[ 8.19945493e-01 -1.58822182e-01 -5.49968093e-01  2.42075043e+02]
 [ 1.11485383e-01  9.86649666e-01 -1.18715824e-01 -1.02870193e+01]
 [ 5.61480541e-01  3.60271010e-02  8.26705298e-01  1.63125483e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 374.30327356
Centerline is valid?  [True, True]
Translation: X:242.12, Y:-10.28, Z:163.16
[[ 8.20296927e-01 -1.57123942e-01 -5.49931831e-01  2.42121975e+02]
 [ 1.09330075e-01  9.86870622e-01 -1.18883603e-01 -1.02763841e+01]
 [ 5.61391028e-01  3.73957664e-02  8.26705310e-01  1.63158144e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 374.36327356
Centerline is valid?  [True, True]
Translation: X:242.17, Y:-10.27, Z:163.19
[[ 8.20776854e-01 -1.54642568e-01 -5.49919114e-01  2.42170711e+02]
 [ 1.06305988e-01  9.87193872e-01 -1.18942403e-01 -1.02665265e+01]
 [ 5.61270338e-01  3.91654761e-02  8.26705312e-01  1.63191950e+02]
 [ 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 374.42327356
Centerline is valid?  [True, True]
Translation: X:242.22, Y:-10.25, Z:163.23
[[ 8.21321947e-01 -1.51777252e-01 -5.49903559e-01  2.42218787e+02]
 [ 1.02812343e-01  9.87555175e-01 -1.19014281e-01 -1.02543704e+01]
 [ 5.61123766e-01  4.12121676e-02  8.26705314e-01  1.63225641e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 374.48327356
Centerline is valid?  [True, True]
Translation: X:242.26, Y:-10.24, Z:163.26
[[ 8.21215562e-01 -1.52370755e-01 -5.49898313e-01  2.42264995e+02]
 [ 1.03509850e-01  9.87479388e-01 -1.19038519e-01 -1.02426104e+01]
 [ 5.61151238e-01  4.08363923e-02  8.26705314e-01  1.63258058e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 374.54327356
Centerline is valid?  [True, True]
Translation: X:242.31, Y:-10.23, Z:163.29
[[ 8.20841584e-01 -1.54417434e-01 -5.49885761e-01  2.42314249e+02]
 [ 1.05932521e-01  9.87215443e-01 -1.19096477e-01 -1.02345594e+01]
 [ 5.61246287e-01  3.95085562e-02  8.26705316e-01  1.63291949e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 374.60327356
Centerline is valid?  [True, True]
Translation: X:242.36, Y:-10.23, Z:163.33
[[ 8.20824511e-01 -1.54574104e-01 -5.49867227e-01  2.42362899e+02]
 [ 1.06063954e-01  9.87191010e-01 -1.19181995e-01 -1.02281584e+01]
 [ 5.61246433e-01  3.95064102e-02  8.26705319e-01  1.63325186e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 374.66327356
Centerline is valid?  [True, True]
Translation: X:242.41, Y:-10.22, Z:163.36
[[ 8.20143647e-01 -1.58270965e-01 -5.49831520e-01  2.42410450e+02]
 [ 1.10401101e-01  9.86695496e-01 -1.19346536e-01 -1.02187302e+01]
 [ 5.61405376e-01  3.71792980e-02  8.26705331e-01  1.63358085e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 374.72327356
Centerline is valid?  [True, True]
Translation: X:242.46, Y:-10.21, Z:163.39
[[ 8.20095145e-01 -1.58547424e-01 -5.49824216e-01  2.42458724e+02]
 [ 1.10711252e-01  9.86656674e-01 -1.19380179e-01 -1.02124894e+01]
 [ 5.61415152e-01  3.70313784e-02  8.26705331e-01  1.63391074e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 374.78327356
Centerline is valid?  [True, True]
Translation: X:242.51, Y:-10.20, Z:163.42
[[ 8.20037260e-01 -1.58971672e-01 -5.49788050e-01  2.42506349e+02]
 [ 1.11110636e-01  9.86591633e-01 -1.19546542e-01 -1.02046952e+01]
 [ 5.61420804e-01  3.69453184e-02  8.26705343e-01  1.63423785e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 374.84327356
Centerline is valid?  [True, True]
Translation: X:242.55, Y:-10.20, Z:163.46
[[ 8.20442135e-01 -1.57013013e-01 -5.49746866e-01  2.42554534e+02]
 [ 1.08628267e-01  9.86845107e-01 -1.19735683e-01 -1.01978983e+01]
 [ 5.61315065e-01  3.85181500e-02  8.26705359e-01  1.63456709e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 374.90327356
Centerline is valid?  [True, True]
Translation: X:242.60, Y:-10.18, Z:163.49
[[ 8.20306652e-01 -1.57745501e-01 -5.49739351e-01  2.42601911e+02]
 [ 1.09486344e-01  9.86746090e-01 -1.19770177e-01 -1.01835443e+01]
 [ 5.61346361e-01  3.80593208e-02  8.26705359e-01  1.63490275e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 374.96327356
Centerline is valid?  [True, True]
Translation: X:242.65, Y:-10.17, Z:163.52
[[ 8.20698687e-01 -1.55796440e-01 -5.49710046e-01  2.42650760e+02]
 [ 1.07052505e-01  9.86996788e-01 -1.19904550e-01 -1.01742685e+01]
 [ 5.61242752e-01  3.95576692e-02  8.26705367e-01  1.63524029e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 375.02327356
Centerline is valid?  [True, True]
Translation: X:242.70, Y:-10.17, Z:163.56
[[ 8.21019237e-01 -1.54183378e-01 -5.49686182e-01  2.42699916e+02]
 [ 1.05039952e-01  9.87199716e-01 -1.20013869e-01 -1.01697273e+01]
 [ 5.61154187e-01  4.07946847e-02  8.26705372e-01  1.63557314e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 375.08327356
Centerline is valid?  [True, True]
Translation: X:242.75, Y:-10.16, Z:163.59
[[ 8.20882308e-01 -1.54929881e-01 -5.49680788e-01  2.42748223e+02]
 [ 1.05921134e-01  9.87102555e-01 -1.20038570e-01 -1.01629105e+01]
 [ 5.61188872e-01  4.03147260e-02  8.26705372e-01  1.63590410e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 375.14327356
Centerline is valid?  [True, True]
Translation: X:242.80, Y:-10.17, Z:163.62
[[ 8.21731656e-01 -1.50490871e-01 -5.49644962e-01  2.42799696e+02]
 [ 1.00475523e-01  9.87651784e-01 -1.20202429e-01 -1.01652809e+01]
 [ 5.60947195e-01  4.35482757e-02  8.26705384e-01  1.63624197e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 375.20327356
Centerline is valid?  [True, True]
Translation: X:242.85, Y:-10.15, Z:163.66
[[ 8.20250470e-01 -1.58378639e-01 -5.49641132e-01  2.42847074e+02]
 [ 1.09947984e-01  9.86640059e-01 -1.20219940e-01 -1.01486439e+01]
 [ 5.61338229e-01  3.81785275e-02  8.26705384e-01  1.63658106e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 375.26327356
Centerline is valid?  [True, True]
Translation: X:242.90, Y:-10.14, Z:163.69
[[ 8.19911495e-01 -1.60131107e-01 -5.49639126e-01  2.42896087e+02]
 [ 1.12050010e-01  9.86402432e-01 -1.20229108e-01 -1.01448050e+01]
 [ 5.61417791e-01  3.69901578e-02  8.26705384e-01  1.63691246e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 375.32327356
Centerline is valid?  [True, True]
Translation: X:242.94, Y:-10.14, Z:163.72
[[ 8.19489629e-01 -1.62311224e-01 -5.49628797e-01  2.42944339e+02]
 [ 1.14641577e-01  9.86098837e-01 -1.20276314e-01 -1.01375114e+01]
 [ 5.61510513e-01  3.55548804e-02  8.26705385e-01  1.63724360e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 375.38327356
Centerline is valid?  [True, True]
Translation: X:242.99, Y:-10.12, Z:163.76
[[ 8.18931846e-01 -1.65125649e-01 -5.49621825e-01  2.42991354e+02]
 [ 1.18007379e-01  9.85697826e-01 -1.20308164e-01 -1.01248916e+01]
 [ 5.61627002e-01  3.36647561e-02  8.26705386e-01  1.63757436e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 375.44327355999997
Centerline is valid?  [True, True]
Translation: X:243.04, Y:-10.12, Z:163.79
[[ 8.19072624e-01 -1.64544285e-01 -5.49586404e-01  2.43039646e+02]
 [ 1.17199609e-01  9.85774457e-01 -1.20469795e-01 -1.01168336e+01]
 [ 5.61590855e-01  3.42621992e-02  8.26705397e-01  1.63790621e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 375.50327355999997
Centerline is valid?  [True, True]
Translation: X:243.09, Y:-10.10, Z:163.82
[[ 8.19203031e-01 -1.64010961e-01 -5.49551453e-01  2.43087232e+02]
 [ 1.16451342e-01  9.85843657e-01 -1.20629056e-01 -1.01027566e+01]
 [ 5.61556301e-01  3.48236842e-02  8.26705408e-01  1.63824217e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 375.56327355999997
Centerline is valid?  [True, True]
Translation: X:243.13, Y:-10.09, Z:163.86
[[ 8.19036506e-01 -1.64855814e-01 -5.49546870e-01  2.43134758e+02]
 [ 1.17454144e-01  9.85722130e-01 -1.20649931e-01 -1.00932827e+01]
 [ 5.61590354e-01  3.42701410e-02  8.26705408e-01  1.63857180e+02]
 [ 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 375.62327356
Centerline is valid?  [True, True]
Translation: X:243.18, Y:-10.08, Z:163.89
[[ 8.18947232e-01 -1.65322053e-01 -5.49539852e-01  2.43180974e+02]
 [ 1.17993920e-01  9.85653751e-01 -1.20681889e-01 -1.00796705e+01]
 [ 5.61607394e-01  3.39897373e-02  8.26705409e-01  1.63889870e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 375.68327356
Centerline is valid?  [True, True]
Translation: X:243.23, Y:-10.07, Z:163.92
[[ 8.18456070e-01 -1.67769978e-01 -5.49529705e-01  2.43228905e+02]
 [ 1.20909605e-01  9.85294676e-01 -1.20728080e-01 -1.00689414e+01]
 [ 5.61703240e-01  3.23672102e-02  8.26705410e-01  1.63923271e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 375.74327356
Centerline is valid?  [True, True]
Translation: X:243.28, Y:-10.06, Z:163.96
[[ 8.17907856e-01 -1.70530758e-01 -5.49496133e-01  2.43276770e+02]
 [ 1.24131381e-01  9.84875246e-01 -1.20880724e-01 -1.00581509e+01]
 [ 5.61799020e-01  3.06595799e-02  8.26705420e-01  1.63956578e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 375.80327356
Centerline is valid?  [True, True]
Translation: X:243.32, Y:-10.05, Z:163.99
[[ 8.17626102e-01 -1.71893031e-01 -5.49490986e-01  2.43323094e+02]
 [ 1.25756185e-01  9.84666226e-01 -1.20904117e-01 -1.00459974e+01]
 [ 5.61847790e-01  2.97524720e-02  8.26705420e-01  1.63989132e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 375.86327356
Centerline is valid?  [True, True]
Translation: X:243.37, Y:-10.03, Z:164.02
[[ 8.17017569e-01 -1.74895882e-01 -5.49448563e-01  2.43369691e+02]
 [ 1.29243909e-01  9.84190842e-01 -1.21096651e-01 -1.00329900e+01]
 [ 5.61941549e-01  2.79252118e-02  8.26705436e-01  1.64021898e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 375.92327356
Centerline is valid?  [True, True]
Translation: X:243.42, Y:-10.02, Z:164.05
[[ 8.17006102e-01 -1.74973805e-01 -5.49440804e-01  2.43416401e+02]
 [ 1.29314168e-01  9.84177282e-01 -1.21131848e-01 -1.00201734e+01]
 [ 5.61942057e-01  2.79149786e-02  8.26705436e-01  1.64054800e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 375.98327356
Centerline is valid?  [True, True]
Translation: X:243.46, Y:-10.00, Z:164.09
[[ 8.17391192e-01 -1.73281356e-01 -5.49404415e-01  2.43463248e+02]
 [ 1.27165093e-01  9.84436970e-01 -1.21296706e-01 -1.00027288e+01]
 [ 5.61872475e-01  2.92817960e-02  8.26705448e-01  1.64088401e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 376.04327356
Centerline is valid?  [True, True]
Translation: X:243.51, Y:-9.99, Z:164.12
[[ 8.17914848e-01 -1.70809015e-01 -5.49399291e-01  2.43510792e+02]
 [ 1.24172330e-01  9.84816080e-01 -1.21319909e-01 -9.99039338e+00]
 [ 5.61779791e-01  3.10091652e-02  8.26705449e-01  1.64121794e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 376.10327356
Centerline is valid?  [True, True]
Translation: X:243.56, Y:-9.98, Z:164.15
[[ 8.18110994e-01 -1.69884054e-01 -5.49394039e-01  2.43556408e+02]
 [ 1.23042760e-01  9.84954917e-01 -1.21343690e-01 -9.97578902e+00]
 [ 5.61742718e-01  3.16736483e-02  8.26705449e-01  1.64154240e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 376.16327356
Centerline is valid?  [True, True]
Translation: X:243.60, Y:-9.96, Z:164.19
[[ 8.20879231e-01 -1.56005251e-01 -5.49381152e-01  2.43603238e+02]
 [ 1.06306412e-01  9.86894370e-01 -1.21402014e-01 -9.96072734e+00]
 [ 5.61120517e-01  4.12536525e-02  8.26705450e-01  1.64187541e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 376.22327356
Centerline is valid?  [True, True]
Translation: X:243.65, Y:-9.95, Z:164.22
[[ 8.18233223e-01 -1.69364705e-01 -5.49372360e-01  2.43650763e+02]
 [ 1.22351872e-01  9.85028889e-01 -1.21441787e-01 -9.94810906e+00]
 [ 5.61715598e-01  3.21509678e-02  8.26705451e-01  1.64220955e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 376.28327356
Centerline is valid?  [True, True]
Translation: X:243.70, Y:-9.94, Z:164.25
[[ 8.17559194e-01 -1.72607061e-01 -5.49366697e-01  2.43698567e+02]
 [ 1.26238657e-01  9.84535155e-01 -1.21467402e-01 -9.93542428e+00]
 [ 5.61836957e-01  2.99554773e-02  8.26705451e-01  1.64254572e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 376.34327356
Centerline is valid?  [True, True]
Translation: X:243.75, Y:-9.92, Z:164.29
[[ 8.16194417e-01 -1.78964154e-01 -5.49361908e-01  2.43746266e+02]
 [ 1.33882032e-01  9.83522247e-01 -1.21489057e-01 -9.92177488e+00]
 [ 5.62051844e-01  2.56090017e-02  8.26705451e-01  1.64288263e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 376.40327356
Centerline is valid?  [True, True]
Translation: X:243.79, Y:-9.91, Z:164.32
[[ 8.15737998e-01 -1.81083844e-01 -5.49345210e-01  2.43793211e+02]
 [ 1.36385831e-01  9.83168842e-01 -1.21564523e-01 -9.90704922e+00]
 [ 5.62112465e-01  2.42418977e-02  8.26705454e-01  1.64321583e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 376.46327356
Centerline is valid?  [True, True]
Translation: X:243.84, Y:-9.90, Z:164.36
[[ 8.14975586e-01 -1.84586790e-01 -5.49310942e-01  2.43841518e+02]
 [ 1.40504419e-01  9.82569562e-01 -1.21719204e-01 -9.89686760e+00]
 [ 5.62203969e-01  2.20175643e-02  8.26705464e-01  1.64355100e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 376.52327356
Centerline is valid?  [True, True]
Translation: X:243.89, Y:-9.88, Z:164.39
[[ 8.15242851e-01 -1.83427014e-01 -5.49302853e-01  2.43888297e+02]
 [ 1.39081678e-01  9.82767438e-01 -1.21755699e-01 -9.88485008e+00]
 [ 5.62170242e-01  2.28625003e-02  8.26705465e-01  1.64387933e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 376.58327356
Centerline is valid?  [True, True]
Translation: X:243.94, Y:-9.87, Z:164.42
[[ 8.16467044e-01 -1.77937091e-01 -5.49290413e-01  2.43935689e+02]
 [ 1.32427832e-01  9.83679193e-01 -1.21811800e-01 -9.87181983e+00]
 [ 5.62000387e-01  2.67139813e-02  8.26705466e-01  1.64421312e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 376.64327356
Centerline is valid?  [True, True]
Translation: X:243.98, Y:-9.86, Z:164.46
[[ 8.16842023e-01 -1.76232039e-01 -5.49282603e-01  2.43984048e+02]
 [ 1.30350150e-01  9.83952308e-01 -1.21847008e-01 -9.86015013e+00]
 [ 5.61941232e-01  2.79306866e-02  8.26705467e-01  1.64455145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 376.70327356
Centerline is valid?  [True, True]
Translation: X:244.03, Y:-9.85, Z:164.49
[[ 8.17682694e-01 -1.72298333e-01 -5.49279799e-01  2.44030439e+02]
 [ 1.25604166e-01  9.84567834e-01 -1.21859649e-01 -9.84686965e+00]
 [ 5.61799436e-01  3.06506945e-02  8.26705467e-01  1.64487919e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 376.76327356
Centerline is valid?  [True, True]
Translation: X:244.08, Y:-9.83, Z:164.52
[[ 8.18371291e-01 -1.69024382e-01 -5.49271507e-01  2.44076922e+02]
 [ 1.21637685e-01  9.85061111e-01 -1.21897013e-01 -9.83320164e+00]
 [ 5.61669568e-01  3.29449011e-02  8.26705467e-01  1.64520798e+02]
 [ 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 376.82327356
Centerline is valid?  [True, True]
Translation: X:244.12, Y:-9.82, Z:164.55
[[ 8.19001432e-01 -1.65986573e-01 -5.49258693e-01  2.44124066e+02]
 [ 1.17943134e-01  9.85503151e-01 -1.21954728e-01 -9.82139770e+00]
 [ 5.61539020e-01  3.50998051e-02  8.26705469e-01  1.64553832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 376.88327356
Centerline is valid?  [True, True]
Translation: X:244.17, Y:-9.81, Z:164.59
[[ 8.19470371e-01 -1.63680791e-01 -5.49251227e-01  2.44172139e+02]
 [ 1.15146481e-01  9.85829666e-01 -1.21988347e-01 -9.80815845e+00]
 [ 5.61435303e-01  3.67214901e-02  8.26705469e-01  1.64587708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 376.94327355999997
Centerline is valid?  [True, True]
Translation: X:244.22, Y:-9.80, Z:164.62
[[ 8.18900101e-01 -1.66518443e-01 -5.49248790e-01  2.44220244e+02]
 [ 1.18553362e-01  9.85424409e-01 -1.21999320e-01 -9.79572151e+00]
 [ 5.61558301e-01  3.47899648e-02  8.26705469e-01  1.64621498e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.00327355999997
Centerline is valid?  [True, True]
Translation: X:244.27, Y:-9.79, Z:164.65
[[ 8.18392881e-01 -1.69007932e-01 -5.49244400e-01  2.44266831e+02]
 [ 1.21536255e-01  9.85058517e-01 -1.22019081e-01 -9.78565260e+00]
 [ 5.61660067e-01  3.31064396e-02  8.26705470e-01  1.64653926e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.06327355999997
Centerline is valid?  [True, True]
Translation: X:244.31, Y:-9.77, Z:164.69
[[ 8.17592648e-01 -1.72879686e-01 -5.49231169e-01  2.44314514e+02]
 [ 1.26157541e-01  9.84469953e-01 -1.22078611e-01 -9.77248589e+00]
 [ 5.61806495e-01  3.05209206e-02  8.26705471e-01  1.64687518e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.12327356
Centerline is valid?  [True, True]
Translation: X:244.36, Y:-9.76, Z:164.72
[[ 8.17057551e-01 -1.75405313e-01 -5.49226669e-01  2.44362557e+02]
 [ 1.29185493e-01  9.84074682e-01 -1.22098851e-01 -9.76095721e+00]
 [ 5.61896847e-01  2.88096704e-02  8.26705471e-01  1.64721129e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.18327356
Centerline is valid?  [True, True]
Translation: X:244.41, Y:-9.75, Z:164.75
[[ 8.17287058e-01 -1.74349421e-01 -5.49221398e-01  2.44410451e+02]
 [ 1.27897945e-01  9.84239908e-01 -1.22122560e-01 -9.75196012e+00]
 [ 5.61857616e-01  2.95648995e-02  8.26705472e-01  1.64754264e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.24327356
Centerline is valid?  [True, True]
Translation: X:244.46, Y:-9.74, Z:164.79
[[ 8.17597752e-01 -1.73004161e-01 -5.49184374e-01  2.44457522e+02]
 [ 1.26166623e-01  9.84442693e-01 -1.22288866e-01 -9.73881406e+00]
 [ 5.61797027e-01  3.06943644e-02  8.26705484e-01  1.64787395e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.30327356
Centerline is valid?  [True, True]
Translation: X:244.51, Y:-9.73, Z:164.82
[[ 8.18425821e-01 -1.69077857e-01 -5.49173791e-01  2.44505929e+02]
 [ 1.21408274e-01  9.85034945e-01 -1.22336375e-01 -9.72905129e+00]
 [ 5.61639747e-01  3.34490065e-02  8.26705484e-01  1.64820973e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.36327356
Centerline is valid?  [True, True]
Translation: X:244.55, Y:-9.72, Z:164.85
[[ 8.18571143e-01 -1.68400848e-01 -5.49165220e-01  2.44553072e+02]
 [ 1.20567764e-01  9.85133398e-01 -1.22374842e-01 -9.71826351e+00]
 [ 5.61609027e-01  3.39608920e-02  8.26705485e-01  1.64853867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.42327356
Centerline is valid?  [True, True]
Translation: X:244.60, Y:-9.71, Z:164.89
[[ 8.18926868e-01 -1.66802659e-01 -5.49122625e-01  2.44600500e+02]
 [ 1.18517057e-01  9.85358488e-01 -1.22565726e-01 -9.70580550e+00]
 [ 5.61526929e-01  3.52919689e-02  8.26705501e-01  1.64887121e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.48327356
Centerline is valid?  [True, True]
Translation: X:244.65, Y:-9.69, Z:164.92
[[ 8.19409629e-01 -1.64540140e-01 -5.49085059e-01  2.44648044e+02]
 [ 1.15682899e-01  9.85674325e-01 -1.22733827e-01 -9.69496100e+00]
 [ 5.61413686e-01  3.70495280e-02  8.26705513e-01  1.64920226e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.54327356
Centerline is valid?  [True, True]
Translation: X:244.70, Y:-9.68, Z:164.95
[[ 8.19983465e-01 -1.61682337e-01 -5.49077353e-01  2.44696095e+02]
 [ 1.12222760e-01  9.86069976e-01 -1.22768295e-01 -9.68201957e+00]
 [ 5.61278157e-01  3.90489959e-02  8.26705514e-01  1.64954045e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.60327356
Centerline is valid?  [True, True]
Translation: X:244.74, Y:-9.67, Z:164.99
[[ 8.20416321e-01 -1.59488472e-01 -5.49072389e-01  2.44743692e+02]
 [ 1.09570050e-01  9.86365500e-01 -1.22790492e-01 -9.67069323e+00]
 [ 5.61169729e-01  4.05774343e-02  8.26705514e-01  1.64987328e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.66327356
Centerline is valid?  [True, True]
Translation: X:244.79, Y:-9.66, Z:165.02
[[ 8.20545675e-01 -1.58851282e-01 -5.49063809e-01  2.44791974e+02]
 [ 1.08778475e-01  9.86448335e-01 -1.22828848e-01 -9.66210234e+00]
 [ 5.61134600e-01  4.10603562e-02  8.26705515e-01  1.65020653e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.72327356
Centerline is valid?  [True, True]
Translation: X:244.84, Y:-9.65, Z:165.05
[[ 8.20439805e-01 -1.59421402e-01 -5.49056776e-01  2.44838771e+02]
 [ 1.09442967e-01  9.86370919e-01 -1.22860278e-01 -9.65178102e+00]
 [ 5.61160195e-01  4.07090596e-02  8.26705515e-01  1.65053251e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.78327356
Centerline is valid?  [True, True]
Translation: X:244.89, Y:-9.64, Z:165.09
[[ 8.20598493e-01 -1.58647079e-01 -5.49043913e-01  2.44887645e+02]
 [ 1.08473845e-01  9.86470807e-01 -1.22917742e-01 -9.64246004e+00]
 [ 5.61116332e-01  4.13092092e-02  8.26705516e-01  1.65087067e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.84327356
Centerline is valid?  [True, True]
Translation: X:244.94, Y:-9.63, Z:165.12
[[ 8.20528610e-01 -1.59111270e-01 -5.49014030e-01  2.44935654e+02]
 [ 1.08943150e-01  9.86402463e-01 -1.23051094e-01 -9.63172603e+00]
 [ 5.61127607e-01  4.11556255e-02  8.26705524e-01  1.65120481e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.90327356
Centerline is valid?  [True, True]
Translation: X:244.98, Y:-9.62, Z:165.15
[[ 8.19807369e-01 -1.62810674e-01 -5.49006886e-01  2.44983697e+02]
 [ 1.13370012e-01  9.85899501e-01 -1.23082957e-01 -9.62348095e+00]
 [ 5.61304835e-01  3.86633978e-02  8.26705525e-01  1.65153598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 377.96327356
Centerline is valid?  [True, True]
Translation: X:245.03, Y:-9.61, Z:165.19
[[ 8.19360234e-01 -1.65071792e-01 -5.48999190e-01  2.45032543e+02]
 [ 1.16066653e-01  9.85581386e-01 -1.23117278e-01 -9.61426986e+00]
 [ 5.61406572e-01  3.71569028e-02  8.26705525e-01  1.65187390e+02]
 [ 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 378.02327356
Centerline is valid?  [True, True]
Translation: X:245.08, Y:-9.61, Z:165.22
[[ 8.19087354e-01 -1.66518967e-01 -5.48969344e-01  2.45081527e+02]
 [ 1.17718812e-01  9.85368794e-01 -1.23250239e-01 -9.60984128e+00]
 [ 5.61460763e-01  3.63286935e-02  8.26705533e-01  1.65220511e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 378.08327356
Centerline is valid?  [True, True]
Translation: X:245.13, Y:-9.60, Z:165.25
[[ 8.17922708e-01 -1.72181465e-01 -5.48959003e-01  2.45131190e+02]
 [ 1.24502024e-01  9.84528960e-01 -1.23296284e-01 -9.60462972e+00]
 [ 5.61695371e-01  3.25003235e-02  8.26705534e-01  1.65254242e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 378.14327356
Centerline is valid?  [True, True]
Translation: X:245.18, Y:-9.58, Z:165.29
[[ 8.15548394e-01 -1.83121198e-01 -5.48951222e-01  2.45177188e+02]
 [ 1.37654279e-01  9.82771990e-01 -1.23330919e-01 -9.58441199e+00]
 [ 5.62078390e-01  2.50168484e-02  8.26705534e-01  1.65287784e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 378.20327356
Centerline is valid?  [True, True]
Translation: X:245.23, Y:-9.59, Z:165.32
[[ 8.14245065e-01 -1.88906533e-01 -5.48925583e-01  2.45228237e+02]
 [ 1.44551195e-01  9.81766926e-01 -1.23444945e-01 -9.58912125e+00]
 [ 5.62236539e-01  2.11665878e-02  8.26705540e-01  1.65320919e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 378.26327356
Centerline is valid?  [True, True]
Translation: X:245.28, Y:-9.58, Z:165.35
[[ 8.13093128e-01 -1.93826830e-01 -5.48917776e-01  2.45277184e+02]
 [ 1.50461903e-01  9.80874095e-01 -1.23479653e-01 -9.58265575e+00]
 [ 5.62352897e-01  1.78092441e-02  8.26705540e-01  1.65354366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 378.32327356
Centerline is valid?  [True, True]
Translation: X:245.32, Y:-9.57, Z:165.39
[[ 8.12412340e-01 -1.96744544e-01 -5.48887761e-01  2.45324481e+02]
 [ 1.53892233e-01  9.80324956e-01 -1.23612954e-01 -9.56846739e+00]
 [ 5.62408544e-01  1.59551258e-02  8.26705548e-01  1.65387819e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 378.38327356
Centerline is valid?  [True, True]
Translation: X:245.37, Y:-9.56, Z:165.42
[[ 8.12442096e-01 -1.96708530e-01 -5.48856626e-01  2.45371233e+02]
 [ 1.53755544e-01  9.80328978e-01 -1.23751071e-01 -9.55902430e+00]
 [ 5.62402946e-01  1.61508303e-02  8.26705556e-01  1.65420199e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 378.44327355999997
Centerline is valid?  [True, True]
Translation: X:245.42, Y:-9.55, Z:165.45
[[ 8.12577002e-01 -1.96183542e-01 -5.48844818e-01  2.45418509e+02]
 [ 1.53086762e-01  9.80427028e-01 -1.23803419e-01 -9.54691528e+00]
 [ 5.62390487e-01  1.65789350e-02  8.26705558e-01  1.65453371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 378.50327355999997
Centerline is valid?  [True, True]
Translation: X:245.47, Y:-9.54, Z:165.49
[[ 8.13492465e-01 -1.92457704e-01 -5.48807836e-01  2.45466691e+02]
 [ 1.48481830e-01  9.81114308e-01 -1.23967175e-01 -9.53615744e+00]
 [ 5.62301659e-01  1.93583706e-02  8.26705569e-01  1.65486883e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 378.56327355999997
Centerline is valid?  [True, True]
Translation: X:245.51, Y:-9.52, Z:165.52
[[ 8.14018764e-01 -1.90232644e-01 -5.48803237e-01  2.45512318e+02]
 [ 1.45784897e-01  9.81516100e-01 -1.23987536e-01 -9.51670317e+00]
 [ 5.62245689e-01  2.09209574e-02  8.26705569e-01  1.65520079e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 378.62327356
Centerline is valid?  [True, True]
Translation: X:245.56, Y:-9.49, Z:165.55
[[ 8.13574003e-01 -1.92233596e-01 -5.48765511e-01  2.45557777e+02]
 [ 1.48085470e-01  9.81150548e-01 -1.24154322e-01 -9.49304219e+00]
 [ 5.62288214e-01  1.97445306e-02  8.26705582e-01  1.65553722e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 378.68327356
Centerline is valid?  [True, True]
Translation: X:245.61, Y:-9.48, Z:165.59
[[ 8.15298493e-01 -1.84798885e-01 -5.48760183e-01  2.45605895e+02]
 [ 1.39107064e-01  9.82460728e-01 -1.24177865e-01 -9.48355479e+00]
 [ 5.62083261e-01  2.49056087e-02  8.26705582e-01  1.65587076e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 378.74327356
Centerline is valid?  [True, True]
Translation: X:245.65, Y:-9.46, Z:165.62
[[ 8.17220026e-01 -1.76124737e-01 -5.48754505e-01  2.45651136e+02]
 [ 1.28642362e-01  9.83882497e-01 -1.24202956e-01 -9.46113859e+00]
 [ 5.61785165e-01  3.09080675e-02  8.26705582e-01  1.65620461e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 378.80327356
Centerline is valid?  [True, True]
Translation: X:245.70, Y:-9.45, Z:165.65
[[ 8.16497383e-01 -1.79463908e-01 -5.48748330e-01  2.45699644e+02]
 [ 1.32644933e-01  9.83347432e-01 -1.24230233e-01 -9.45113893e+00]
 [ 5.61905104e-01  2.86449745e-02  8.26705582e-01  1.65654149e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 378.86327356
Centerline is valid?  [True, True]
Translation: X:245.75, Y:-9.44, Z:165.69
[[ 8.18128134e-01 -1.71901096e-01 -5.48740712e-01  2.45746761e+02]
 [ 1.23517767e-01  9.84531285e-01 -1.24263873e-01 -9.43606664e+00]
 [ 5.61613494e-01  3.38845432e-02  8.26705583e-01  1.65687673e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 378.92327356
Centerline is valid?  [True, True]
Translation: X:245.80, Y:-9.43, Z:165.72
[[ 8.17487272e-01 -1.74936574e-01 -5.48736508e-01  2.45795336e+02]
 [ 1.27158801e-01  9.84065300e-01 -1.24282437e-01 -9.42608793e+00]
 [ 5.61734100e-01  3.18226335e-02  8.26705583e-01  1.65721406e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 378.98327356
Centerline is valid?  [True, True]
Translation: X:245.84, Y:-9.42, Z:165.76
[[ 8.16364811e-01 -1.80131506e-01 -5.48726832e-01  2.45844146e+02]
 [ 1.33385351e-01  9.83235275e-01 -1.24325147e-01 -9.41752039e+00]
 [ 5.61922453e-01  2.83025539e-02  8.26705584e-01  1.65755072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 379.04327356
Centerline is valid?  [True, True]
Translation: X:245.89, Y:-9.41, Z:165.79
[[ 8.15170617e-01 -1.85483215e-01 -5.48719274e-01  2.45893023e+02]
 [ 1.39810381e-01  9.82338039e-01 -1.24358494e-01 -9.40792732e+00]
 [ 5.62094229e-01  2.46567389e-02  8.26705584e-01  1.65788940e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 379.10327356
Centerline is valid?  [True, True]
Translation: X:245.94, Y:-9.40, Z:165.82
[[ 8.15005528e-01 -1.86214766e-01 -5.48716730e-01  2.45941236e+02]
 [ 1.40684442e-01  9.82211821e-01 -1.24369719e-01 -9.39798140e+00]
 [ 5.62115537e-01  2.41661017e-02  8.26705584e-01  1.65822431e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 379.16327356
Centerline is valid?  [True, True]
Translation: X:245.99, Y:-9.39, Z:165.86
[[ 8.14441683e-01 -1.88692861e-01 -5.48707344e-01  2.45988509e+02]
 [ 1.43643487e-01  9.81778194e-01 -1.24411117e-01 -9.38694186e+00]
 [ 5.62184395e-01  2.25073628e-02  8.26705585e-01  1.65855449e+02]
 [ 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 : 0.999493 with order 1
SLAMing on frame at distance 379.22327356
Centerline is valid?  [True, True]
Translation: X:246.04, Y:-9.37, Z:165.89
[[ 8.13843007e-01 -1.91364814e-01 -5.48670273e-01  2.46036697e+02]
 [ 1.46754928e-01  9.81297204e-01 -1.24574428e-01 -9.37418258e+00]
 [ 5.62247767e-01  2.08639610e-02  8.26705597e-01  1.65889272e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 379.28327356
Centerline is valid?  [True, True]
Translation: X:246.08, Y:-9.36, Z:165.92
[[ 8.12399323e-01 -1.97479782e-01 -5.48642940e-01  2.46083198e+02]
 [ 1.54049311e-01  9.80163272e-01 -1.24694711e-01 -9.35974767e+00]
 [ 5.62384343e-01  1.67838319e-02  8.26705603e-01  1.65922252e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 379.34327356
Centerline is valid?  [True, True]
Translation: X:246.13, Y:-9.35, Z:165.96
[[ 8.11300588e-01 -2.02046432e-01 -5.48606048e-01  2.46131637e+02]
 [ 1.59450755e-01  9.79278421e-01 -1.24856845e-01 -9.34954888e+00]
 [ 5.62464944e-01  1.38207836e-02  8.26705614e-01  1.65955858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 379.40327356
Centerline is valid?  [True, True]
Translation: X:246.18, Y:-9.36, Z:165.99
[[ 8.11293000e-01 -2.02162820e-01 -5.48574392e-01  2.46183517e+02]
 [ 1.59497338e-01  9.79253108e-01 -1.24995801e-01 -9.36195684e+00]
 [ 5.62462681e-01  1.39120629e-02  8.26705623e-01  1.65988339e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 379.46327356
Centerline is valid?  [True, True]
Translation: X:246.23, Y:-9.33, Z:166.02
[[ 8.10232681e-01 -2.06407239e-01 -5.48560894e-01  2.46225166e+02]
 [ 1.64581554e-01  9.78403882e-01 -1.25055015e-01 -9.32576742e+00]
 [ 5.62526368e-01  1.10406556e-02  8.26705624e-01  1.66021420e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 379.52327356
Centerline is valid?  [True, True]
Translation: X:246.27, Y:-9.31, Z:166.05
[[ 8.10682897e-01 -2.04660130e-01 -5.48550336e-01  2.46272571e+02]
 [ 1.62440701e-01  9.78755680e-01 -1.25101311e-01 -9.31194929e+00]
 [ 5.62500008e-01  1.23105925e-02  8.26705625e-01  1.66054943e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 379.58327356
Centerline is valid?  [True, True]
Translation: X:246.32, Y:-9.29, Z:166.09
[[ 8.12282205e-01 -1.98232621e-01 -5.48544846e-01  2.46319042e+02]
 [ 1.54667042e-01  9.80011095e-01 -1.25125381e-01 -9.29499536e+00]
 [ 5.62383967e-01  1.67953114e-02  8.26705625e-01  1.66088333e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 379.64327356
Centerline is valid?  [True, True]
Translation: X:246.37, Y:-9.28, Z:166.12
[[ 8.13537241e-01 -1.93040414e-01 -5.48536740e-01  2.46365562e+02]
 [ 1.48380494e-01  9.80978071e-01 -1.25160906e-01 -9.27720206e+00]
 [ 5.62263627e-01  2.04309060e-02  8.26705626e-01  1.66121877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 379.70327356
Centerline is valid?  [True, True]
Translation: X:246.41, Y:-9.26, Z:166.16
[[ 8.14910912e-01 -1.87172657e-01 -5.48531314e-01  2.46412030e+02]
 [ 1.41291263e-01  9.82021168e-01 -1.25184685e-01 -9.26009799e+00]
 [ 5.62100511e-01  2.45116835e-02  8.26705626e-01  1.66155288e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 379.76327356
Centerline is valid?  [True, True]
Translation: X:246.46, Y:-9.27, Z:166.19
[[ 8.17364602e-01 -1.76170185e-01 -5.48524542e-01  2.46463961e+02]
 [ 1.28020377e-01  9.83835428e-01 -1.25214352e-01 -9.26661109e+00]
 [ 5.61716913e-01  3.21234608e-02  8.26705627e-01  1.66188744e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 379.82327356
Centerline is valid?  [True, True]
Translation: X:246.51, Y:-9.23, Z:166.22
[[ 8.17684046e-01 -1.74703094e-01 -5.48517666e-01  2.46506354e+02]
 [ 1.26234494e-01  9.84062333e-01 -1.25244467e-01 -9.23012833e+00]
 [ 5.61656170e-01  3.31685520e-02  8.26705627e-01  1.66222385e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 379.88327356
Centerline is valid?  [True, True]
Translation: X:246.56, Y:-9.24, Z:166.26
[[ 8.18595626e-01 -1.70407616e-01 -5.48509293e-01  2.46557546e+02]
 [ 1.21041695e-01  9.84709880e-01 -1.25281125e-01 -9.23712273e+00]
 [ 5.61471378e-01  3.61620868e-02  8.26705628e-01  1.66255274e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 379.94327355999997
Centerline is valid?  [True, True]
Translation: X:246.60, Y:-9.22, Z:166.29
[[ 8.18941235e-01 -1.68773627e-01 -5.48498602e-01  2.46604397e+02]
 [ 1.19045099e-01  9.84947297e-01 -1.25327917e-01 -9.22007275e+00]
 [ 5.61394263e-01  3.73401289e-02  8.26705629e-01  1.66288921e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 380.00327355999997
Centerline is valid?  [True, True]
Translation: X:246.65, Y:-9.21, Z:166.32
[[ 8.19436603e-01 -1.66366005e-01 -5.48494309e-01  2.46653438e+02]
 [ 1.16137282e-01  9.85292005e-01 -1.25346707e-01 -9.21320690e+00]
 [ 5.61280488e-01  3.90130412e-02  8.26705629e-01  1.66322491e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 380.06327355999997
Centerline is valid?  [True, True]
Translation: X:246.70, Y:-9.18, Z:166.36
[[ 8.18731392e-01 -1.69831033e-01 -5.48485486e-01  2.46696469e+02]
 [ 1.20278647e-01  9.84790116e-01 -1.25385303e-01 -9.18018905e+00]
 [ 5.61437401e-01  3.66857916e-02  8.26705629e-01  1.66356030e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 380.12327356
Centerline is valid?  [True, True]
Translation: X:246.75, Y:-9.19, Z:166.39
[[ 8.19003524e-01 -1.68533167e-01 -5.48479534e-01  2.46747697e+02]
 [ 1.18700297e-01  9.84978293e-01 -1.25411332e-01 -9.18611954e+00]
 [ 5.61376404e-01  3.76076393e-02  8.26705630e-01  1.66389106e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 380.18327356
Centerline is valid?  [True, True]
Translation: X:246.79, Y:-9.16, Z:166.42
[[ 8.18395447e-01 -1.71496204e-01 -5.48468727e-01  2.46792127e+02]
 [ 1.22232825e-01  9.84540137e-01 -1.25458583e-01 -9.15705934e+00]
 [ 5.61505146e-01  3.56338514e-02  8.26705631e-01  1.66422972e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 380.24327356
Centerline is valid?  [True, True]
Translation: X:246.84, Y:-9.17, Z:166.46
[[ 8.18744966e-01 -1.69846272e-01 -5.48460504e-01  2.46843736e+02]
 [ 1.20224139e-01  9.84782860e-01 -1.25494522e-01 -9.16603405e+00]
 [ 5.61429280e-01  3.68098164e-02  8.26705631e-01  1.66455832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 380.30327356
Centerline is valid?  [True, True]
Translation: X:246.89, Y:-9.16, Z:166.49
[[ 8.18758081e-01 -1.69808238e-01 -5.48452702e-01  2.46891504e+02]
 [ 1.20155660e-01  9.84786873e-01 -1.25528611e-01 -9.15662284e+00]
 [ 5.61424814e-01  3.68778680e-02  8.26705632e-01  1.66488936e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 380.36327356
Centerline is valid?  [True, True]
Translation: X:246.94, Y:-9.13, Z:166.52
[[ 8.18167451e-01 -1.72753683e-01 -5.48414247e-01  2.46935175e+02]
 [ 1.23586897e-01  9.84340737e-01 -1.25696428e-01 -9.12928800e+00]
 [ 5.61541005e-01  3.50639112e-02  8.26705644e-01  1.66521984e+02]
 [ 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 : 0.997563 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.994741 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 380.42327356
Centerline is valid?  [True, True]
Translation: X:246.99, Y:-9.14, Z:166.55
[[ 8.18319342e-01 -1.72055824e-01 -5.48407009e-01  2.46986337e+02]
 [ 1.22726260e-01  9.84444379e-01 -1.25728001e-01 -9.13947436e+00]
 [ 5.61508432e-01  3.55817143e-02  8.26705644e-01  1.66554360e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 380.48327356
Centerline is valid?  [True, True]
Translation: X:247.04, Y:-9.13, Z:166.59
[[ 8.17936175e-01 -1.73910002e-01 -5.48393768e-01  2.47035367e+02]
 [ 1.24918511e-01  9.84161224e-01 -1.25785732e-01 -9.13190576e+00]
 [ 5.61583279e-01  3.43801671e-02  8.26705646e-01  1.66588009e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 380.54327356
Centerline is valid?  [True, True]
Translation: X:247.08, Y:-9.11, Z:166.62
[[ 8.17814374e-01 -1.74576004e-01 -5.48363811e-01  2.47080238e+02]
 [ 1.25632728e-01  9.84053618e-01 -1.25916219e-01 -9.10751055e+00]
 [ 5.61601342e-01  3.40836520e-02  8.26705653e-01  1.66621426e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 380.60327356
Centerline is valid?  [True, True]
Translation: X:247.13, Y:-9.12, Z:166.65
[[ 8.18268813e-01 -1.72459978e-01 -5.48355455e-01  2.47132469e+02]
 [ 1.23062578e-01  9.84373682e-01 -1.25952598e-01 -9.11621588e+00]
 [ 5.61508460e-01  3.55810471e-02  8.26705654e-01  1.66654728e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 380.66327356
Centerline is valid?  [True, True]
Translation: X:247.18, Y:-9.11, Z:166.69
[[ 8.18435017e-01 -1.71791637e-01 -5.48317205e-01  2.47180855e+02]
 [ 1.22147638e-01  9.84466338e-01 -1.26118932e-01 -9.10651245e+00]
 [ 5.61466008e-01  3.62444986e-02  8.26705666e-01  1.66688220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 380.72327356
Centerline is valid?  [True, True]
Translation: X:247.23, Y:-9.10, Z:166.72
[[ 8.18010076e-01 -1.73820872e-01 -5.48311791e-01  2.47230439e+02]
 [ 1.24573081e-01  9.84159350e-01 -1.26142465e-01 -9.10092199e+00]
 [ 5.61552369e-01  3.48809184e-02  8.26705666e-01  1.66721949e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 380.78327356
Centerline is valid?  [True, True]
Translation: X:247.28, Y:-9.08, Z:166.76
[[ 8.23036553e-01 -1.48303938e-01 -5.48285304e-01  2.47275360e+02]
 [ 9.38382411e-02  9.87549202e-01 -1.26257504e-01 -9.07718708e+00]
 [ 5.60183200e-01  5.24644119e-02  8.26705672e-01  1.66755309e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 380.84327356
Centerline is valid?  [True, True]
Translation: X:247.33, Y:-9.09, Z:166.79
[[ 8.18131914e-01 -1.73356372e-01 -5.48277064e-01  2.47328383e+02]
 [ 1.23913594e-01  9.84223262e-01 -1.26293279e-01 -9.08543287e+00]
 [ 5.61520785e-01  3.53855811e-02  8.26705672e-01  1.66789197e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 380.90327356
Centerline is valid?  [True, True]
Translation: X:247.37, Y:-9.06, Z:166.82
[[ 8.19716167e-01 -1.65728659e-01 -5.48269475e-01  2.47374087e+02]
 [ 1.14719118e-01  9.85333046e-01 -1.26326217e-01 -9.06273417e+00]
 [ 5.61163906e-01  4.06546518e-02  8.26705673e-01  1.66822961e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 380.96327356
Centerline is valid?  [True, True]
Translation: X:247.43, Y:-9.07, Z:166.86
[[ 8.18018754e-01 -1.73925907e-01 -5.48265534e-01  2.47427510e+02]
 [ 1.24565371e-01  9.84134561e-01 -1.26343318e-01 -9.07452762e+00]
 [ 5.61541437e-01  3.50563040e-02  8.26705673e-01  1.66856580e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 381.02327356
Centerline is valid?  [True, True]
Translation: X:247.48, Y:-9.07, Z:166.89
[[ 8.18240719e-01 -1.72896784e-01 -5.48259819e-01  2.47476799e+02]
 [ 1.23310783e-01  9.84289363e-01 -1.26368118e-01 -9.06821429e+00]
 [ 5.61494949e-01  3.57931917e-02  8.26705673e-01  1.66890220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 381.08327356
Centerline is valid?  [True, True]
Translation: X:247.52, Y:-9.06, Z:166.92
[[ 8.18327314e-01 -1.72577698e-01 -5.48231105e-01  2.47524785e+02]
 [ 1.22843925e-01  9.84331751e-01 -1.26492584e-01 -9.05762074e+00]
 [ 5.61471083e-01  3.61654758e-02  8.26705680e-01  1.66923598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 381.14327356
Centerline is valid?  [True, True]
Translation: X:247.57, Y:-9.05, Z:166.96
[[ 8.18782812e-01 -1.70429430e-01 -5.48223053e-01  2.47574607e+02]
 [ 1.20236902e-01  9.84649118e-01 -1.26527477e-01 -9.05380803e+00]
 [ 5.61371351e-01  3.76818817e-02  8.26705681e-01  1.66957202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 381.20327356
Centerline is valid?  [True, True]
Translation: X:247.62, Y:-9.05, Z:166.99
[[ 8.19149224e-01 -1.68742722e-01 -5.48197449e-01  2.47621710e+02]
 [ 1.18134873e-01  9.84889276e-01 -1.26638328e-01 -9.04656760e+00]
 [ 5.61283085e-01  3.89744518e-02  8.26705686e-01  1.66989487e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 381.26327356
Centerline is valid?  [True, True]
Translation: X:247.67, Y:-9.04, Z:167.02
[[ 8.19313758e-01 -1.68036443e-01 -5.48168514e-01  2.47671102e+02]
 [ 1.17202426e-01  9.84984575e-01 -1.26763473e-01 -9.03989028e+00]
 [ 5.61238414e-01  3.96123779e-02  8.26705693e-01  1.67023195e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 381.32327356
Centerline is valid?  [True, True]
Translation: X:247.72, Y:-9.04, Z:167.06
[[ 8.18678281e-01 -1.71122894e-01 -5.48163140e-01  2.47720831e+02]
 [ 1.20898096e-01  9.84534805e-01 -1.26786707e-01 -9.03577338e+00]
 [ 5.61381798e-01  3.75256435e-02  8.26705693e-01  1.67056788e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 381.38327356
Centerline is valid?  [True, True]
Translation: X:247.77, Y:-9.02, Z:167.09
[[ 8.16966508e-01 -1.79210995e-01 -5.48132415e-01  2.47767234e+02]
 [ 1.30540178e-01  9.83285676e-01 -1.26919424e-01 -9.01532734e+00]
 [ 5.61716109e-01  3.21356157e-02  8.26705701e-01  1.67090620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 381.44327355999997
Centerline is valid?  [True, True]
Translation: X:247.81, Y:-9.01, Z:167.12
[[ 8.16231039e-01 -1.82540168e-01 -5.48129527e-01  2.47814950e+02]
 [ 1.34539466e-01  9.82744843e-01 -1.26931896e-01 -9.00599328e+00]
 [ 5.61841635e-01  2.98606994e-02  8.26705701e-01  1.67123684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 381.50327355999997
Centerline is valid?  [True, True]
Translation: X:247.87, Y:-9.01, Z:167.16
[[ 8.15799575e-01 -1.84491100e-01 -5.48118680e-01  2.47866749e+02]
 [ 1.36857265e-01  9.82418696e-01 -1.26978719e-01 -9.01013196e+00]
 [ 5.61908483e-01  2.85751619e-02  8.26705702e-01  1.67157366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 381.56327355999997
Centerline is valid?  [True, True]
Translation: X:247.91, Y:-8.99, Z:167.19
[[ 8.15667990e-01 -1.85162144e-01 -5.48088233e-01  2.47913044e+02]
 [ 1.37577388e-01  9.82301126e-01 -1.27110028e-01 -8.99261361e+00]
 [ 5.61923654e-01  2.82750331e-02  8.26705709e-01  1.67190679e+02]
 [ 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 381.62327356
Centerline is valid?  [True, True]
Translation: X:247.96, Y:-8.98, Z:167.22
[[ 8.16125699e-01 -1.83242483e-01 -5.48052038e-01  2.47961324e+02]
 [ 1.35161407e-01  9.82616292e-01 -1.27265928e-01 -8.98331663e+00]
 [ 5.61845386e-01  2.97895100e-02  8.26705720e-01  1.67224031e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 381.68327356
Centerline is valid?  [True, True]
Translation: X:248.01, Y:-8.97, Z:167.26
[[ 8.16945664e-01 -1.79576905e-01 -5.48043718e-01  2.48009927e+02]
 [ 1.30724962e-01  9.83211701e-01 -1.27301749e-01 -8.97311204e+00]
 [ 5.61703450e-01  3.23556172e-02  8.26705720e-01  1.67257802e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 381.74327356
Centerline is valid?  [True, True]
Translation: X:248.06, Y:-8.96, Z:167.29
[[ 8.17344854e-01 -1.77779692e-01 -5.48034461e-01  2.48057699e+02]
 [ 1.28535570e-01  9.83495158e-01 -1.27341590e-01 -8.96337868e+00]
 [ 5.61627988e-01  3.36400712e-02  8.26705721e-01  1.67290948e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 381.80327356
Centerline is valid?  [True, True]
Translation: X:248.11, Y:-8.96, Z:167.32
[[ 8.17458127e-01 -1.77376526e-01 -5.47996148e-01  2.48106468e+02]
 [ 1.27940474e-01  9.83551413e-01 -1.27506285e-01 -8.96026828e+00]
 [ 5.61599008e-01  3.41201626e-02  8.26705733e-01  1.67323664e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 381.86327356
Centerline is valid?  [True, True]
Translation: X:248.15, Y:-8.94, Z:167.36
[[ 8.17643063e-01 -1.76555506e-01 -5.47985379e-01  2.48153027e+02]
 [ 1.26921794e-01  9.83677388e-01 -1.27552554e-01 -8.94276734e+00]
 [ 5.61560932e-01  3.47411738e-02  8.26705734e-01  1.67357199e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 381.92327356
Centerline is valid?  [True, True]
Translation: X:248.20, Y:-8.93, Z:167.39
[[ 8.16894422e-01 -1.80004328e-01 -5.47979877e-01  2.48201363e+02]
 [ 1.31055911e-01  9.83132069e-01 -1.27576189e-01 -8.93253504e+00]
 [ 5.61700856e-01  3.24002757e-02  8.26705734e-01  1.67390805e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 381.98327356
Centerline is valid?  [True, True]
Translation: X:248.25, Y:-8.93, Z:167.42
[[ 8.14039471e-01 -1.92589412e-01 -5.47949869e-01  2.48250574e+02]
 [ 1.46125722e-01  9.80988641e-01 -1.27704968e-01 -8.93000842e+00]
 [ 5.62127222e-01  2.38873143e-02  8.26705741e-01  1.67423741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 382.04327356
Centerline is valid?  [True, True]
Translation: X:248.30, Y:-8.92, Z:167.46
[[ 8.11773491e-01 -2.01952543e-01 -5.47940662e-01  2.48299452e+02]
 [ 1.57388185e-01  9.79239660e-01 -1.27744459e-01 -8.92324688e+00]
 [ 5.62363547e-01  1.74601796e-02  8.26705742e-01  1.67457159e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 382.10327356
Centerline is valid?  [True, True]
Translation: X:248.35, Y:-8.93, Z:167.49
[[ 8.07936283e-01 -2.16809744e-01 -5.47934757e-01  2.48350462e+02]
 [ 1.75307713e-01  9.76187527e-01 -1.27769785e-01 -8.92577430e+00]
 [ 5.62588810e-01  7.17265589e-03  8.26705742e-01  1.67490563e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 382.16327356
Centerline is valid?  [True, True]
Translation: X:248.40, Y:-8.92, Z:167.52
[[ 8.06598502e-01 -2.21751459e-01 -5.47928050e-01  2.48399071e+02]
 [ 1.81260620e-01  9.75095954e-01 -1.27798542e-01 -8.91649288e+00]
 [ 5.62621938e-01  3.76433449e-03  8.26705743e-01  1.67524198e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 382.22327356
Centerline is valid?  [True, True]
Translation: X:248.45, Y:-8.91, Z:167.56
[[ 8.06312534e-01 -2.22870265e-01 -5.47895010e-01  2.48447868e+02]
 [ 1.82517065e-01  9.74842994e-01 -1.27940057e-01 -8.90747202e+00]
 [ 5.62625647e-01  3.15948258e-03  8.26705751e-01  1.67557849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 382.28327356
Centerline is valid?  [True, True]
Translation: X:248.49, Y:-8.89, Z:167.59
[[ 8.06140335e-01 -2.23531686e-01 -5.47878951e-01  2.48494352e+02]
 [ 1.83270044e-01  9.74692689e-01 -1.28008797e-01 -8.89368559e+00]
 [ 5.62627631e-01  2.78325480e-03  8.26705753e-01  1.67590749e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 382.34327356
Centerline is valid?  [True, True]
Translation: X:248.54, Y:-8.88, Z:167.62
[[ 8.06786769e-01 -2.21282671e-01 -5.47840386e-01  2.48542422e+02]
 [ 1.80439177e-01  9.75199064e-01 -1.28173669e-01 -8.88161922e+00]
 [ 5.62616043e-01  4.55695226e-03  8.26705765e-01  1.67624377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 382.40327356
Centerline is valid?  [True, True]
Translation: X:248.59, Y:-8.87, Z:167.66
[[ 8.07379581e-01 -2.19194266e-01 -5.47806614e-01  2.48588521e+02]
 [ 1.77817286e-01  9.75661589e-01 -1.28317874e-01 -8.86579626e+00]
 [ 5.62600413e-01  6.19174597e-03  8.26705774e-01  1.67657294e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 382.46327356
Centerline is valid?  [True, True]
Translation: X:248.64, Y:-8.85, Z:167.69
[[ 8.07121742e-01 -2.20161906e-01 -5.47798529e-01  2.48635259e+02]
 [ 1.78963255e-01  9.75447497e-01 -1.28352381e-01 -8.85018221e+00]
 [ 5.62607009e-01  5.56018977e-03  8.26705775e-01  1.67690668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 382.52327356
Centerline is valid?  [True, True]
Translation: X:248.68, Y:-8.84, Z:167.72
[[ 8.06307767e-01 -2.23210625e-01 -5.47763455e-01  2.48680939e+02]
 [ 1.82546819e-01  9.74763518e-01 -1.28501921e-01 -8.83605831e+00]
 [ 5.62622826e-01  3.61962011e-03  8.26705785e-01  1.67723043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 382.58327356
Centerline is valid?  [True, True]
Translation: X:248.73, Y:-8.82, Z:167.76
[[ 8.05978453e-01 -2.24505701e-01 -5.47718836e-01  2.48727966e+02]
 [ 1.83983493e-01  9.74468305e-01 -1.28691865e-01 -8.82066548e+00]
 [ 5.62626704e-01  2.95164510e-03  8.26705800e-01  1.67756486e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 382.64327356
Centerline is valid?  [True, True]
Translation: X:248.77, Y:-8.80, Z:167.79
[[ 8.06098140e-01 -2.24092186e-01 -5.47712042e-01  2.48773649e+02]
 [ 1.83463901e-01  9.74562445e-01 -1.28720776e-01 -8.80128659e+00]
 [ 5.62624907e-01  3.27619039e-03  8.26705801e-01  1.67789752e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 382.70327356
Centerline is valid?  [True, True]
Translation: X:248.82, Y:-8.78, Z:167.82
[[ 8.06370308e-01 -2.23128716e-01 -5.47704758e-01  2.48819329e+02]
 [ 1.82278094e-01  9.74780837e-01 -1.28751763e-01 -8.78467457e+00]
 [ 5.62620318e-01  3.98701921e-03  8.26705801e-01  1.67822585e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 382.76327356
Centerline is valid?  [True, True]
Translation: X:248.87, Y:-8.77, Z:167.86
[[ 8.08660560e-01 -2.14708285e-01 -5.47693756e-01  2.48865905e+02]
 [ 1.72072132e-01  9.76627931e-01 -1.28798549e-01 -8.76659318e+00]
 [ 5.62547135e-01  9.91147435e-03  8.26705802e-01  1.67856233e+02]
 [ 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 382.82327356
Centerline is valid?  [True, True]
Translation: X:248.91, Y:-8.75, Z:167.89
[[ 8.09298171e-01 -2.12366293e-01 -5.47665069e-01  2.48912150e+02]
 [ 1.69161601e-01  9.77120194e-01 -1.28920435e-01 -8.75144247e+00]
 [ 5.62512953e-01  1.16911722e-02  8.26705809e-01  1.67889165e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 382.88327356
Centerline is valid?  [True, True]
Translation: X:248.96, Y:-8.74, Z:167.92
[[ 8.10842888e-01 -2.06494791e-01 -5.47625521e-01  2.48959108e+02]
 [ 1.61961589e-01  9.78317264e-01 -1.29088242e-01 -8.73736896e+00]
 [ 5.62407551e-01  1.59759833e-02  8.26705821e-01  1.67922377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 382.94327355999997
Centerline is valid?  [True, True]
Translation: X:249.01, Y:-8.72, Z:167.96
[[ 8.11710468e-01 -2.03078966e-01 -5.47617613e-01  2.49005565e+02]
 [ 1.57818416e-01  9.78989741e-01 -1.29121785e-01 -8.72082478e+00]
 [ 5.62333943e-01  1.83853608e-02  8.26705821e-01  1.67955716e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.00327355999997
Centerline is valid?  [True, True]
Translation: X:249.05, Y:-8.71, Z:167.99
[[ 8.13959302e-01 -1.93891670e-01 -5.47609600e-01  2.49052834e+02]
 [ 1.46720534e-01  9.80709883e-01 -1.29155759e-01 -8.70608146e+00]
 [ 5.62088373e-01  2.47819585e-02  8.26705822e-01  1.67989312e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.06327355999997
Centerline is valid?  [True, True]
Translation: X:249.10, Y:-8.69, Z:168.02
[[ 8.13977098e-01 -1.93897785e-01 -5.47580984e-01  2.49099320e+02]
 [ 1.46646512e-01  9.80704981e-01 -1.29276990e-01 -8.69390820e+00]
 [ 5.62081920e-01  2.49276680e-02  8.26705828e-01  1.68021943e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.12327356
Centerline is valid?  [True, True]
Translation: X:249.15, Y:-8.68, Z:168.05
[[ 8.14149797e-01 -1.93208407e-01 -5.47567914e-01  2.49146897e+02]
 [ 1.45778820e-01  9.80827041e-01 -1.29332329e-01 -8.68419185e+00]
 [ 5.62057510e-01  2.54720852e-02  8.26705830e-01  1.68054946e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.18327356
Centerline is valid?  [True, True]
Translation: X:249.19, Y:-8.67, Z:168.09
[[ 8.14432947e-01 -1.92121198e-01 -5.47529378e-01  2.49194638e+02]
 [ 1.44359794e-01  9.81015401e-01 -1.29495301e-01 -8.67339051e+00]
 [ 5.62013544e-01  2.64240113e-02  8.26705841e-01  1.68088171e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.24327356
Centerline is valid?  [True, True]
Translation: X:249.24, Y:-8.67, Z:168.12
[[ 8.15363222e-01 -1.88166865e-01 -5.47518079e-01  2.49244451e+02]
 [ 1.39565696e-01  9.81702609e-01 -1.29543059e-01 -8.67377837e+00]
 [ 5.61875638e-01  2.92099042e-02  8.26705842e-01  1.68121076e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.30327356
Centerline is valid?  [True, True]
Translation: X:249.29, Y:-8.66, Z:168.15
[[ 8.15094784e-01 -1.89352089e-01 -5.47509160e-01  2.49292048e+02]
 [ 1.40967559e-01  9.81497314e-01 -1.29580744e-01 -8.66414132e+00]
 [ 5.61915155e-01  2.84395584e-02  8.26705843e-01  1.68154088e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.36327356
Centerline is valid?  [True, True]
Translation: X:249.34, Y:-8.66, Z:168.19
[[ 8.14775214e-01 -1.90743869e-01 -5.47501713e-01  2.49340468e+02]
 [ 1.42622515e-01  9.81254042e-01 -1.29612201e-01 -8.65529380e+00]
 [ 5.61961002e-01  2.75187373e-02  8.26705843e-01  1.68187525e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.42327356
Centerline is valid?  [True, True]
Translation: X:249.39, Y:-8.65, Z:168.22
[[ 8.15051971e-01 -1.89574810e-01 -5.47495823e-01  2.49389020e+02]
 [ 1.41198010e-01  9.81456749e-01 -1.29637080e-01 -8.64996993e+00]
 [ 5.61919395e-01  2.83556369e-02  8.26705843e-01  1.68220500e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.48327356
Centerline is valid?  [True, True]
Translation: X:249.44, Y:-8.64, Z:168.25
[[ 8.14190476e-01 -1.93352807e-01 -5.47456446e-01  2.49436493e+02]
 [ 1.45636830e-01  9.80785933e-01 -1.29803190e-01 -8.63722290e+00]
 [ 5.62035392e-01  2.59546999e-02  8.26705855e-01  1.68253846e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.54327356
Centerline is valid?  [True, True]
Translation: X:249.49, Y:-8.63, Z:168.29
[[ 8.13530833e-01 -1.96131103e-01 -5.47448788e-01  2.49485246e+02]
 [ 1.48962426e-01  9.80282073e-01 -1.29835483e-01 -8.63002084e+00]
 [ 5.62119009e-01  2.40758691e-02  8.26705856e-01  1.68287244e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.60327356
Centerline is valid?  [True, True]
Translation: X:249.53, Y:-8.62, Z:168.32
[[ 8.12211289e-01 -2.01624529e-01 -5.47412432e-01  2.49533675e+02]
 [ 1.55480779e-01  9.79249043e-01 -1.29988614e-01 -8.61969767e+00]
 [ 5.62261993e-01  2.04661082e-02  8.26705866e-01  1.68320849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.66327356
Centerline is valid?  [True, True]
Translation: X:249.58, Y:-8.61, Z:168.35
[[ 8.11451546e-01 -2.04747867e-01 -5.47379849e-01  2.49581147e+02]
 [ 1.59154730e-01  9.78640421e-01 -1.30125701e-01 -8.60996708e+00]
 [ 5.62331006e-01  1.84726094e-02  8.26705874e-01  1.68353736e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.72327356
Centerline is valid?  [True, True]
Translation: X:249.63, Y:-8.60, Z:168.39
[[ 8.11301242e-01 -2.05362629e-01 -5.47372346e-01  2.49628046e+02]
 [ 1.59874914e-01  9.78518830e-01 -1.30157257e-01 -8.59684796e+00]
 [ 5.62343584e-01  1.80856381e-02  8.26705875e-01  1.68386836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.78327356
Centerline is valid?  [True, True]
Translation: X:249.68, Y:-8.59, Z:168.42
[[ 8.11121398e-01 -2.06176059e-01 -5.47333089e-01  2.49675204e+02]
 [ 1.60744878e-01  9.78354342e-01 -1.30322164e-01 -8.58578285e+00]
 [ 5.62355014e-01  1.77261054e-02  8.26705887e-01  1.68419709e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.84327356
Centerline is valid?  [True, True]
Translation: X:249.72, Y:-8.58, Z:168.45
[[ 8.11474207e-01 -2.04888852e-01 -5.47293496e-01  2.49722787e+02]
 [ 1.59080493e-01  9.78604215e-01 -1.30488262e-01 -8.57635802e+00]
 [ 5.62319312e-01  1.88241398e-02  8.26705899e-01  1.68452604e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.90327356
Centerline is valid?  [True, True]
Translation: X:249.77, Y:-8.57, Z:168.49
[[ 8.11795697e-01 -2.03717357e-01 -5.47254041e-01  2.49771491e+02]
 [ 1.57556520e-01  9.78828683e-01 -1.30653557e-01 -8.57196426e+00]
 [ 5.62284350e-01  1.98405535e-02  8.26705911e-01  1.68485445e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 383.96327356
Centerline is valid?  [True, True]
Translation: X:249.82, Y:-8.56, Z:168.52
[[ 8.11662256e-01 -2.04304572e-01 -5.47233063e-01  2.49819961e+02]
 [ 1.58205449e-01  9.78712281e-01 -1.30741373e-01 -8.56334558e+00]
 [ 5.62294779e-01  1.95425859e-02  8.26705914e-01  1.68518843e+02]
 [ 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 384.02327356
Centerline is valid?  [True, True]
Translation: X:249.87, Y:-8.55, Z:168.55
[[ 8.11040824e-01 -2.06854284e-01 -5.47196570e-01  2.49866037e+02]
 [ 1.61177516e-01  9.78206819e-01 -1.30893959e-01 -8.54624149e+00]
 [ 5.62347392e-01  1.79645606e-02  8.26705924e-01  1.68551960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 384.08327356
Centerline is valid?  [True, True]
Translation: X:249.91, Y:-8.53, Z:168.58
[[ 8.11862941e-01 -2.03711237e-01 -5.47156556e-01  2.49912867e+02]
 [ 1.57274849e-01  9.78819505e-01 -1.31061046e-01 -8.53312659e+00]
 [ 5.62266117e-01  2.03496413e-02  8.26705936e-01  1.68584938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 384.14327356
Centerline is valid?  [True, True]
Translation: X:249.96, Y:-8.52, Z:168.62
[[ 8.13281020e-01 -1.98083118e-01 -5.47117045e-01  2.49960317e+02]
 [ 1.50380818e-01  9.79880296e-01 -1.31225813e-01 -8.51972372e+00]
 [ 5.62102831e-01  2.44475542e-02  8.26705948e-01  1.68618375e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 384.20327356
Centerline is valid?  [True, True]
Translation: X:250.01, Y:-8.51, Z:168.65
[[ 8.14061154e-01 -1.94876938e-01 -5.47108232e-01  2.50007071e+02]
 [ 1.46493911e-01  9.80464011e-01 -1.31262550e-01 -8.50517958e+00]
 [ 5.61999975e-01  2.67077179e-02  8.26705949e-01  1.68651605e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 384.26327356
Centerline is valid?  [True, True]
Translation: X:250.06, Y:-8.49, Z:168.69
[[ 8.15265033e-01 -1.89892847e-01 -5.47068216e-01  2.50055493e+02]
 [ 1.40381212e-01  9.81335566e-01 -1.31429151e-01 -8.49379738e+00]
 [ 5.61814953e-01  3.03514916e-02  8.26705961e-01  1.68685364e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 384.32327356
Centerline is valid?  [True, True]
Translation: X:250.10, Y:-8.48, Z:168.72
[[ 8.15414659e-01 -1.89262044e-01 -5.47063810e-01  2.50101339e+02]
 [ 1.39609679e-01  9.81443170e-01 -1.31447485e-01 -8.47790675e+00]
 [ 5.61790060e-01  3.08088030e-02  8.26705961e-01  1.68718218e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 384.38327356
Centerline is valid?  [True, True]
Translation: X:250.15, Y:-8.47, Z:168.75
[[ 8.15841658e-01 -1.87454891e-01 -5.47049406e-01  2.50148694e+02]
 [ 1.37394740e-01  9.81747670e-01 -1.31507409e-01 -8.46940821e+00]
 [ 5.61716187e-01  3.21275117e-02  8.26705963e-01  1.68750872e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 384.44327355999997
Centerline is valid?  [True, True]
Translation: X:250.20, Y:-8.46, Z:168.78
[[ 8.16056680e-01 -1.86650136e-01 -5.47003859e-01  2.50195313e+02]
 [ 1.36299987e-01  9.81874895e-01 -1.31696635e-01 -8.45685022e+00]
 [ 5.61670551e-01  3.29152995e-02  8.26705978e-01  1.68783614e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 384.50327355999997
Centerline is valid?  [True, True]
Translation: X:250.24, Y:-8.45, Z:168.82
[[ 8.16361818e-01 -1.85353326e-01 -5.46989513e-01  2.50242167e+02]
 [ 1.34700027e-01  9.82087678e-01 -1.31756197e-01 -8.44521716e+00]
 [ 5.61613110e-01  3.38812266e-02  8.26705980e-01  1.68816435e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 384.56327355999997
Centerline is valid?  [True, True]
Translation: X:250.29, Y:-8.43, Z:168.85
[[ 8.17265105e-01 -1.81369767e-01 -5.46976010e-01  2.50289277e+02]
 [ 1.29871497e-01  9.82730344e-01 -1.31812236e-01 -8.42995680e+00]
 [ 5.61436676e-01  3.66889472e-02  8.26705981e-01  1.68850006e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 384.62327356
Centerline is valid?  [True, True]
Translation: X:250.34, Y:-8.42, Z:168.88
[[ 8.18063513e-01 -1.77763800e-01 -5.46966287e-01  2.50336978e+02]
 [ 1.25509488e-01  9.83291548e-01 -1.31852569e-01 -8.41793021e+00]
 [ 5.61265941e-01  3.92143172e-02  8.26705982e-01  1.68883462e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 384.68327356
Centerline is valid?  [True, True]
Translation: X:250.38, Y:-8.40, Z:168.92
[[ 8.18346692e-01 -1.76547240e-01 -5.46936709e-01  2.50383482e+02]
 [ 1.23965811e-01  9.83470911e-01 -1.31975167e-01 -8.40330075e+00]
 [ 5.61196195e-01  4.01999889e-02  8.26705989e-01  1.68916496e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 384.74327356
Centerline is valid?  [True, True]
Translation: X:250.43, Y:-8.39, Z:168.95
[[ 8.18352701e-01 -1.76645032e-01 -5.46896141e-01  2.50429415e+02]
 [ 1.23971711e-01  9.83447617e-01 -1.32143100e-01 -8.38873393e+00]
 [ 5.61186129e-01  4.03400127e-02  8.26706001e-01  1.68949119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 384.80327356
Centerline is valid?  [True, True]
Translation: X:250.47, Y:-8.36, Z:168.98
[[ 8.17008516e-01 -1.82795570e-01 -5.46884690e-01  2.50474521e+02]
 [ 1.31333986e-01  9.82485146e-01 -1.32190476e-01 -8.36455201e+00]
 [ 5.61469918e-01  3.61761987e-02  8.26706002e-01  1.68982798e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 384.86327356
Centerline is valid?  [True, True]
Translation: X:250.52, Y:-8.36, Z:169.02
[[ 8.17463255e-01 -1.80816697e-01 -5.46863008e-01  2.50524549e+02]
 [ 1.28894881e-01  9.82796051e-01 -1.32280123e-01 -8.36140775e+00]
 [ 5.61373260e-01  3.76462976e-02  8.26706005e-01  1.69016348e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 384.92327356
Centerline is valid?  [True, True]
Translation: X:250.57, Y:-8.35, Z:169.05
[[ 8.16856467e-01 -1.83555097e-01 -5.46857421e-01  2.50572072e+02]
 [ 1.32172227e-01  9.82357552e-01 -1.32303219e-01 -8.34912276e+00]
 [ 5.61494447e-01  3.57933769e-02  8.26706006e-01  1.69049737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 384.98327356
Centerline is valid?  [True, True]
Translation: X:250.62, Y:-8.34, Z:169.08
[[ 8.15865718e-01 -1.87932183e-01 -5.46849728e-01  2.50620022e+02]
 [ 1.37416185e-01  9.81633454e-01 -1.32335008e-01 -8.33744395e+00]
 [ 5.61675994e-01  3.28215925e-02  8.26706006e-01  1.69083307e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 385.04327356
Centerline is valid?  [True, True]
Translation: X:250.67, Y:-8.32, Z:169.12
[[ 8.15149675e-01 -1.91030170e-01 -5.46844110e-01  2.50667784e+02]
 [ 1.41128739e-01  9.81103450e-01 -1.32358220e-01 -8.32488610e+00]
 [ 5.61795057e-01  3.07163404e-02  8.26706006e-01  1.69116899e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 385.10327356
Centerline is valid?  [True, True]
Translation: X:250.71, Y:-8.31, Z:169.15
[[ 8.14332768e-01 -1.94507270e-01 -5.46835501e-01  2.50714717e+02]
 [ 1.45290724e-01  9.80490945e-01 -1.32393780e-01 -8.31264190e+00]
 [ 5.61918810e-01  2.83624678e-02  8.26706007e-01  1.69149885e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 385.16327356
Centerline is valid?  [True, True]
Translation: X:250.76, Y:-8.30, Z:169.18
[[ 8.13683659e-01 -1.97236904e-01 -5.46824019e-01  2.50762341e+02]
 [ 1.48546031e-01  9.79996636e-01 -1.32441192e-01 -8.30103804e+00]
 [ 5.62007990e-01  2.65366959e-02  8.26706008e-01  1.69183220e+02]
 [ 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 385.22327356
Centerline is valid?  [True, True]
Translation: X:250.81, Y:-8.29, Z:169.22
[[ 8.13837995e-01 -1.96620894e-01 -5.46816187e-01  2.50809600e+02]
 [ 1.47782468e-01  9.80107703e-01 -1.32473520e-01 -8.28782339e+00]
 [ 5.61985819e-01  2.70021380e-02  8.26706008e-01  1.69216579e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 385.28327356
Centerline is valid?  [True, True]
Translation: X:250.85, Y:-8.26, Z:169.25
[[ 8.13944299e-01 -1.96285396e-01 -5.46778494e-01  2.50854377e+02]
 [ 1.47274284e-01  9.80163175e-01 -1.32628943e-01 -8.26265911e+00]
 [ 5.61965269e-01  2.74261605e-02  8.26706019e-01  1.69250148e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 385.34327356
Centerline is valid?  [True, True]
Translation: X:250.90, Y:-8.26, Z:169.28
[[ 8.13823372e-01 -1.96801712e-01 -5.46772902e-01  2.50904056e+02]
 [ 1.47880606e-01  9.80068760e-01 -1.32651995e-01 -8.26081838e+00]
 [ 5.61981180e-01  2.70981857e-02  8.26706019e-01  1.69283288e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 385.40327356
Centerline is valid?  [True, True]
Translation: X:250.95, Y:-8.24, Z:169.32
[[ 8.14607643e-01 -1.93551478e-01 -5.46765227e-01  2.50949696e+02]
 [ 1.43945968e-01  9.80650098e-01 -1.32683622e-01 -8.23888451e+00]
 [ 5.61866485e-01  2.93804426e-02  8.26706020e-01  1.69316977e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 385.46327356
Centerline is valid?  [True, True]
Translation: X:251.00, Y:-8.23, Z:169.35
[[ 8.14506240e-01 -1.94002530e-01 -5.46756438e-01  2.50997960e+02]
 [ 1.44464734e-01  9.80568910e-01 -1.32719831e-01 -8.23266348e+00]
 [ 5.61880348e-01  2.91141071e-02  8.26706020e-01  1.69349877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 385.52327356
Centerline is valid?  [True, True]
Translation: X:251.05, Y:-8.22, Z:169.38
[[ 8.15667085e-01 -1.89176421e-01 -5.46717009e-01  2.51045448e+02]
 [ 1.38547857e-01  9.81400449e-01 -1.32882089e-01 -8.22052472e+00]
 [ 5.61686476e-01  3.26410767e-02  8.26706032e-01  1.69383148e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 385.58327356
Centerline is valid?  [True, True]
Translation: X:251.10, Y:-8.22, Z:169.42
[[ 8.17289428e-01 -1.82057052e-01 -5.46711277e-01  2.51096849e+02]
 [ 1.29969608e-01  9.82570091e-01 -1.32905667e-01 -8.22125179e+00]
 [ 5.61378563e-01  3.75665460e-02  8.26706032e-01  1.69417011e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 385.64327356
Centerline is valid?  [True, True]
Translation: X:251.14, Y:-8.19, Z:169.45
[[ 8.16914570e-01 -1.83754298e-01 -5.46703708e-01  2.51140872e+02]
 [ 1.31989539e-01  9.82296579e-01 -1.32936798e-01 -8.19438424e+00]
 [ 5.61452890e-01  3.64388366e-02  8.26706032e-01  1.69450427e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 385.70327356
Centerline is valid?  [True, True]
Translation: X:251.19, Y:-8.19, Z:169.48
[[ 8.17469554e-01 -1.81286181e-01 -5.46698133e-01  2.51189734e+02]
 [ 1.29006910e-01  9.82689641e-01 -1.32959721e-01 -8.18562511e+00]
 [ 5.61338352e-01  3.81626869e-02  8.26706033e-01  1.69484136e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 385.76327356
Centerline is valid?  [True, True]
Translation: X:251.24, Y:-8.19, Z:169.52
[[ 8.17893787e-01 -1.79378121e-01 -5.46693006e-01  2.51242359e+02]
 [ 1.26699435e-01  9.82986958e-01 -1.32980800e-01 -8.19148592e+00]
 [ 5.61245941e-01  3.94984749e-02  8.26706033e-01  1.69517983e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 385.82327356
Centerline is valid?  [True, True]
Translation: X:251.29, Y:-8.18, Z:169.55
[[ 8.17712025e-01 -1.80213688e-01 -5.46690105e-01  2.51290009e+02]
 [ 1.27695779e-01  9.82856411e-01 -1.32992721e-01 -8.18081997e+00]
 [ 5.61284984e-01  3.89397282e-02  8.26706033e-01  1.69551203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 385.88327356
Centerline is valid?  [True, True]
Translation: X:251.34, Y:-8.17, Z:169.58
[[ 8.17158143e-01 -1.82732192e-01 -5.46682281e-01  2.51338992e+02]
 [ 1.30701925e-01  9.82456812e-01 -1.33024879e-01 -8.17291223e+00]
 [ 5.61399659e-01  3.72499367e-02  8.26706033e-01  1.69584849e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 385.94327355999997
Centerline is valid?  [True, True]
Translation: X:251.39, Y:-8.16, Z:169.62
[[ 8.16510404e-01 -1.85703879e-01 -5.46648726e-01  2.51386321e+02]
 [ 1.34183473e-01  9.81968688e-01 -1.33162650e-01 -8.16218690e+00]
 [ 5.61520753e-01  3.53774651e-02  8.26706042e-01  1.69617797e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 386.00327355999997
Centerline is valid?  [True, True]
Translation: X:251.44, Y:-8.15, Z:169.65
[[ 8.15349097e-01 -1.90761347e-01 -5.46640612e-01  2.51435220e+02]
 [ 1.40245253e-01  9.81116766e-01 -1.33195950e-01 -8.15401730e+00]
 [ 5.61726908e-01  3.19374470e-02  8.26706042e-01  1.69651427e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 386.06327355999997
Centerline is valid?  [True, True]
Translation: X:251.48, Y:-8.15, Z:169.69
[[ 8.13769749e-01 -1.97406571e-01 -5.46634652e-01  2.51484173e+02]
 [ 1.48228092e-01  9.79939159e-01 -1.33220409e-01 -8.14615399e+00]
 [ 5.61967285e-01  2.73841271e-02  8.26706042e-01  1.69685050e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 386.12327356
Centerline is valid?  [True, True]
Translation: X:251.53, Y:-8.14, Z:169.72
[[ 8.17031224e-01 -1.83460143e-01 -5.46628168e-01  2.51532687e+02]
 [ 1.31429220e-01  9.82329678e-01 -1.33247007e-01 -8.13677102e+00]
 [ 5.61414587e-01  3.70240512e-02  8.26706043e-01  1.69718625e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 386.18327356
Centerline is valid?  [True, True]
Translation: X:251.58, Y:-8.13, Z:169.75
[[ 8.10547339e-01 -2.10341808e-01 -5.46597965e-01  2.51580071e+02]
 [ 1.63714706e-01  9.77450624e-01 -1.33370807e-01 -8.12754018e+00]
 [ 5.62325979e-01  1.86172271e-02  8.26706049e-01  1.69751373e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 386.24327356
Centerline is valid?  [True, True]
Translation: X:251.63, Y:-8.12, Z:169.78
[[ 8.09124317e-01 -2.15772356e-01 -5.46589544e-01  2.51627956e+02]
 [ 1.70242212e-01  9.76330176e-01 -1.33405312e-01 -8.11670322e+00]
 [ 5.62437044e-01  1.48888687e-02  8.26706050e-01  1.69784762e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 386.30327356
Centerline is valid?  [True, True]
Translation: X:251.68, Y:-8.11, Z:169.82
[[ 8.08056558e-01 -2.19751714e-01 -5.46583738e-01  2.51675485e+02]
 [ 1.75028916e-01  9.75480166e-01 -1.33429098e-01 -8.10743982e+00]
 [ 5.62502868e-01  1.21502982e-02  8.26706050e-01  1.69817668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 386.36327356
Centerline is valid?  [True, True]
Translation: X:251.72, Y:-8.10, Z:169.85
[[ 8.06969377e-01 -2.23809476e-01 -5.46543450e-01  2.51722842e+02]
 [ 1.79816931e-01  9.74586336e-01 -1.33593953e-01 -8.09712320e+00]
 [ 5.62553371e-01  9.52846345e-03  8.26706062e-01  1.69850550e+02]
 [ 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 386.42327356
Centerline is valid?  [True, True]
Translation: X:251.77, Y:-8.09, Z:169.88
[[ 8.06681940e-01 -2.24864094e-01 -5.46534891e-01  2.51770063e+02]
 [ 1.81066970e-01  9.74350067e-01 -1.33628962e-01 -8.08604517e+00]
 [ 5.62564663e-01  8.83665359e-03  8.26706063e-01  1.69883538e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 386.48327356
Centerline is valid?  [True, True]
Translation: X:251.82, Y:-8.07, Z:169.92
[[ 8.06658420e-01 -2.25044390e-01 -5.46495394e-01  2.51817466e+02]
 [ 1.81175445e-01  9.74307758e-01 -1.33790326e-01 -8.07335127e+00]
 [ 5.62563464e-01  8.91154676e-03  8.26706074e-01  1.69916836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 386.54327356
Centerline is valid?  [True, True]
Translation: X:251.86, Y:-8.05, Z:169.95
[[ 8.07777339e-01 -2.21087336e-01 -5.46457831e-01  2.51862500e+02]
 [ 1.76293427e-01  9.75181900e-01 -1.33943606e-01 -8.05428586e+00]
 [ 5.62509020e-01  1.18596863e-02  8.26706084e-01  1.69949604e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 386.60327356
Centerline is valid?  [True, True]
Translation: X:251.91, Y:-8.05, Z:169.98
[[ 8.08671991e-01 -2.17907787e-01 -5.46411756e-01  2.51912096e+02]
 [ 1.72328872e-01  9.75864510e-01 -1.34131345e-01 -8.04840364e+00]
 [ 5.62452105e-01  1.43057408e-02  8.26706100e-01  1.69983233e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 386.66327356
Centerline is valid?  [True, True]
Translation: X:251.96, Y:-8.04, Z:170.02
[[ 8.10174177e-01 -2.12298934e-01 -5.46394515e-01  2.51959699e+02]
 [ 1.65515275e-01  9.77033592e-01 -1.34201545e-01 -8.03623827e+00]
 [ 5.62336641e-01  1.82899876e-02  8.26706102e-01  1.70016630e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 386.72327356
Centerline is valid?  [True, True]
Translation: X:252.00, Y:-8.02, Z:170.05
[[ 8.11482630e-01 -2.07264285e-01 -5.46385814e-01  2.52004890e+02]
 [ 1.59421649e-01  9.78041500e-01 -1.34236964e-01 -8.01858659e+00]
 [ 5.62210529e-01  2.18252375e-02  8.26706102e-01  1.70049344e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 386.78327356
Centerline is valid?  [True, True]
Translation: X:252.05, Y:-8.01, Z:170.08
[[ 8.12240363e-01 -2.04304804e-01 -5.46374541e-01  2.52051553e+02]
 [ 1.55824532e-01  9.78614754e-01 -1.34282833e-01 -8.00528640e+00]
 [ 5.62124815e-01  2.39313799e-02  8.26706103e-01  1.70082318e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 386.84327356
Centerline is valid?  [True, True]
Translation: X:252.10, Y:-7.99, Z:170.12
[[ 8.13270213e-01 -2.00273476e-01 -5.46335150e-01  2.52099614e+02]
 [ 1.50861260e-01  9.79370194e-01 -1.34442941e-01 -7.99276107e+00]
 [ 5.61989716e-01  2.69176304e-02  8.26706115e-01  1.70116027e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 386.90327356
Centerline is valid?  [True, True]
Translation: X:252.15, Y:-7.98, Z:170.15
[[ 8.13621247e-01 -1.98867225e-01 -5.46326179e-01  2.52146607e+02]
 [ 1.49143526e-01  9.79628247e-01 -1.34479388e-01 -7.98292696e+00]
 [ 5.61940100e-01  2.79342748e-02  8.26706115e-01  1.70148661e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 386.96327356
Centerline is valid?  [True, True]
Translation: X:252.19, Y:-7.97, Z:170.18
[[ 8.13007831e-01 -2.01482190e-01 -5.46281240e-01  2.52193659e+02]
 [ 1.52170256e-01  9.79137596e-01 -1.34661732e-01 -7.96779404e+00]
 [ 5.62016440e-01  2.63532865e-02  8.26706130e-01  1.70182115e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 387.02327356
Centerline is valid?  [True, True]
Translation: X:252.24, Y:-7.96, Z:170.22
[[ 8.12751007e-01 -2.02582343e-01 -5.46256529e-01  2.52242086e+02]
 [ 1.53428112e-01  9.78927496e-01 -1.34761910e-01 -7.95750050e+00]
 [ 5.62045919e-01  2.57167705e-02  8.26706134e-01  1.70215737e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 387.08327356
Centerline is valid?  [True, True]
Translation: X:252.29, Y:-7.94, Z:170.25
[[ 8.12147917e-01 -2.05002394e-01 -5.46250656e-01  2.52287698e+02]
 [ 1.56327396e-01  9.78465410e-01 -1.34785710e-01 -7.94117241e+00]
 [ 5.62118766e-01  2.40719914e-02  8.26706134e-01  1.70248523e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 387.14327356
Centerline is valid?  [True, True]
Translation: X:252.34, Y:-7.93, Z:170.28
[[ 8.12684809e-01 -2.02887261e-01 -5.46241852e-01  2.52335316e+02]
 [ 1.53755492e-01  9.78867940e-01 -1.34821385e-01 -7.92873032e+00]
 [ 5.62052177e-01  2.55796066e-02  8.26706135e-01  1.70281996e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 387.20327356
Centerline is valid?  [True, True]
Translation: X:252.38, Y:-7.91, Z:170.32
[[ 8.13366581e-01 -2.00230927e-01 -5.46207269e-01  2.52382932e+02]
 [ 1.50462686e-01  9.79360204e-01 -1.34961370e-01 -7.91468630e+00]
 [ 5.61957103e-01  2.75892553e-02  8.26706144e-01  1.70315672e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 387.26327356
Centerline is valid?  [True, True]
Translation: X:252.43, Y:-7.90, Z:170.35
[[ 8.14053381e-01 -1.97433898e-01 -5.46202297e-01  2.52430618e+02]
 [ 1.47081908e-01  9.79870864e-01 -1.34981489e-01 -7.90202364e+00]
 [ 5.61857638e-01  2.95456616e-02  8.26706144e-01  1.70349234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 387.32327356
Centerline is valid?  [True, True]
Translation: X:252.48, Y:-7.89, Z:170.38
[[ 8.14666047e-01 -1.94907339e-01 -5.46196266e-01  2.52476134e+02]
 [ 1.44024834e-01  9.80321507e-01 -1.35005892e-01 -7.88842128e+00]
 [ 5.61761585e-01  3.13188897e-02  8.26706144e-01  1.70381514e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 387.38327356
Centerline is valid?  [True, True]
Translation: X:252.52, Y:-7.87, Z:170.41
[[ 8.15258300e-01 -1.92485567e-01 -5.46171411e-01  2.52522019e+02]
 [ 1.41043939e-01  9.80740982e-01 -1.35106381e-01 -7.87276934e+00]
 [ 5.61658714e-01  3.31124313e-02  8.26706148e-01  1.70414331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 387.44327355999997
Centerline is valid?  [True, True]
Translation: X:252.57, Y:-7.86, Z:170.45
[[ 8.16340941e-01 -1.87872984e-01 -5.46160425e-01  2.52569616e+02]
 [ 1.35466958e-01  9.81520744e-01 -1.35150779e-01 -7.85957473e+00]
 [ 5.61458966e-01  3.63424226e-02  8.26706149e-01  1.70447909e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 387.50327355999997
Centerline is valid?  [True, True]
Translation: X:252.61, Y:-7.84, Z:170.48
[[ 8.17300863e-01 -1.83742709e-01 -5.46129944e-01  2.52613998e+02]
 [ 1.30420293e-01  9.82187116e-01 -1.35273855e-01 -7.83559558e+00]
 [ 5.61257379e-01  3.93330117e-02  8.26706156e-01  1.70481085e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 387.56327355999997
Centerline is valid?  [True, True]
Translation: X:252.67, Y:-7.84, Z:170.51
[[ 8.17689474e-01 -1.82031010e-01 -5.46121448e-01  2.52665127e+02]
 [ 1.28340688e-01  9.82456296e-01 -1.35308149e-01 -7.83701397e+00]
 [ 5.61170733e-01  4.05504471e-02  8.26706156e-01  1.70514611e+02]
 [ 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 387.62327356
Centerline is valid?  [True, True]
Translation: X:252.71, Y:-7.82, Z:170.55
[[ 8.17376624e-01 -1.83475780e-01 -5.46106301e-01  2.52712898e+02]
 [ 1.30036111e-01  9.82224910e-01 -1.35369257e-01 -7.82400545e+00]
 [ 5.61236193e-01  3.96341263e-02  8.26706158e-01  1.70548265e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 387.68327356
Centerline is valid?  [True, True]
Translation: X:252.76, Y:-7.81, Z:170.58
[[ 8.17437041e-01 -1.83236994e-01 -5.46096042e-01  2.52759942e+02]
 [ 1.29721676e-01  9.82260784e-01 -1.35410632e-01 -7.81319995e+00]
 [ 5.61220964e-01  3.98491728e-02  8.26706159e-01  1.70581088e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 387.74327356
Centerline is valid?  [True, True]
Translation: X:252.81, Y:-7.80, Z:170.61
[[ 8.17146982e-01 -1.84642292e-01 -5.46056805e-01  2.52807754e+02]
 [ 1.31305364e-01  9.82028526e-01 -1.35568708e-01 -7.80091321e+00]
 [ 5.61275076e-01  3.90793735e-02  8.26706170e-01  1.70614598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 387.80327356
Centerline is valid?  [True, True]
Translation: X:252.85, Y:-7.79, Z:170.65
[[ 8.16631575e-01 -1.86943583e-01 -5.46044840e-01  2.52854159e+02]
 [ 1.34039299e-01  9.81652447e-01 -1.35616888e-01 -7.78767352e+00]
 [ 5.61378960e-01  3.75575650e-02  8.26706171e-01  1.70647394e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 387.86327356
Centerline is valid?  [True, True]
Translation: X:252.90, Y:-7.78, Z:170.68
[[ 8.16834232e-01 -1.86089033e-01 -5.46033615e-01  2.52901042e+02]
 [ 1.32982060e-01  9.81789985e-01 -1.35662068e-01 -7.77577003e+00]
 [ 5.61335558e-01  3.82007460e-02  8.26706172e-01  1.70680289e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 387.92327356
Centerline is valid?  [True, True]
Translation: X:252.95, Y:-7.76, Z:170.71
[[ 8.16682656e-01 -1.86796537e-01 -5.46018766e-01  2.52947496e+02]
 [ 1.33792723e-01  9.81671583e-01 -1.35721812e-01 -7.76359515e+00]
 [ 5.61363471e-01  3.77883124e-02  8.26706173e-01  1.70712938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 387.98327356
Centerline is valid?  [True, True]
Translation: X:252.99, Y:-7.75, Z:170.75
[[ 8.16477258e-01 -1.87755291e-01 -5.45997104e-01  2.52993819e+02]
 [ 1.34887254e-01  9.81509739e-01 -1.35808910e-01 -7.74809822e+00]
 [ 5.61400317e-01  3.72368365e-02  8.26706177e-01  1.70746031e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 388.04327356
Centerline is valid?  [True, True]
Translation: X:253.04, Y:-7.74, Z:170.78
[[ 8.16389740e-01 -1.88255059e-01 -5.45955883e-01  2.53040192e+02]
 [ 1.35377854e-01  9.81419271e-01 -1.35974452e-01 -7.73741504e+00]
 [ 5.61409503e-01  3.70978121e-02  8.26706189e-01  1.70778324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 388.10327356
Centerline is valid?  [True, True]
Translation: X:253.09, Y:-7.72, Z:170.81
[[ 8.15748388e-01 -1.91056353e-01 -5.45941423e-01  2.53086802e+02]
 [ 1.38707273e-01  9.80946204e-01 -1.36032489e-01 -7.72424954e+00]
 [ 5.61529037e-01  3.52422373e-02  8.26706190e-01  1.70811240e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 388.16327356
Centerline is valid?  [True, True]
Translation: X:253.13, Y:-7.71, Z:170.84
[[ 8.16007787e-01 -1.90059200e-01 -5.45901815e-01  2.53133940e+02]
 [ 1.37402481e-01  9.81107789e-01 -1.36191281e-01 -7.71143116e+00]
 [ 5.61472929e-01  3.61248816e-02  8.26706201e-01  1.70844394e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 388.22327356
Centerline is valid?  [True, True]
Translation: X:253.18, Y:-7.70, Z:170.88
[[ 8.16628295e-01 -1.87493642e-01 -5.45861119e-01  2.53180707e+02]
 [ 1.34209895e-01  9.81526988e-01 -1.36354230e-01 -7.69963614e+00]
 [ 5.61342972e-01  3.80907590e-02  8.26706213e-01  1.70877132e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 388.28327356
Centerline is valid?  [True, True]
Translation: X:253.23, Y:-7.68, Z:170.91
[[ 8.17331107e-01 -1.84439574e-01 -5.45849710e-01  2.53227493e+02]
 [ 1.30509437e-01  9.82019529e-01 -1.36399892e-01 -7.68378693e+00]
 [ 5.61192613e-01  4.02453365e-02  8.26706214e-01  1.70910615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 388.34327356
Centerline is valid?  [True, True]
Translation: X:253.27, Y:-7.66, Z:170.94
[[ 8.17373708e-01 -1.84337209e-01 -5.45820497e-01  2.53272334e+02]
 [ 1.30308864e-01  9.82029933e-01 -1.36516708e-01 -7.65855952e+00]
 [ 5.61177175e-01  4.04599186e-02  8.26706220e-01  1.70944324e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 388.40327356
Centerline is valid?  [True, True]
Translation: X:253.32, Y:-7.65, Z:170.98
[[ 8.16887194e-01 -1.86498451e-01 -5.45814657e-01  2.53319850e+02]
 [ 1.32890280e-01  9.81680695e-01 -1.36540051e-01 -7.64646344e+00]
 [ 5.61280221e-01  3.90043568e-02  8.26706220e-01  1.70977682e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 388.46327356
Centerline is valid?  [True, True]
Translation: X:253.37, Y:-7.63, Z:171.01
[[ 8.16252613e-01 -1.89368852e-01 -5.45775696e-01  2.53367917e+02]
 [ 1.36236744e-01  9.81200210e-01 -1.36695642e-01 -7.63346999e+00]
 [ 5.61401123e-01  3.72234708e-02  8.26706231e-01  1.71011484e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 388.52327356
Centerline is valid?  [True, True]
Translation: X:253.42, Y:-7.64, Z:171.04
[[ 8.15260491e-01 -1.93624357e-01 -5.45765462e-01  2.53419337e+02]
 [ 1.41326204e-01  9.80474393e-01 -1.36736490e-01 -7.63660063e+00]
 [ 5.61584575e-01  3.43448972e-02  8.26706231e-01  1.71044891e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 388.58327356
Centerline is valid?  [True, True]
Translation: X:253.47, Y:-7.63, Z:171.08
[[ 8.14541363e-01 -1.96649781e-01 -5.45757484e-01  2.53467991e+02]
 [ 1.44944110e-01  9.79941646e-01 -1.36768326e-01 -7.62789194e+00]
 [ 5.61705949e-01  3.22991259e-02  8.26706232e-01  1.71078434e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 388.64327356
Centerline is valid?  [True, True]
Translation: X:253.52, Y:-7.62, Z:171.11
[[ 8.13121824e-01 -2.02528485e-01 -5.45724393e-01  2.53515412e+02]
 [ 1.51930619e-01  9.78864345e-01 -1.36900259e-01 -7.61718636e+00]
 [ 5.61916352e-01  2.84043433e-02  8.26706239e-01  1.71111441e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 388.70327356
Centerline is valid?  [True, True]
Translation: X:253.56, Y:-7.61, Z:171.14
[[ 8.12822831e-01 -2.03748289e-01 -5.45715750e-01  2.53563184e+02]
 [ 1.53376099e-01  9.78634078e-01 -1.36934703e-01 -7.60752354e+00]
 [ 5.61956242e-01  2.76038999e-02  8.26706240e-01  1.71144558e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 388.76327356
Centerline is valid?  [True, True]
Translation: X:253.61, Y:-7.60, Z:171.18
[[ 8.12362908e-01 -2.05683978e-01 -5.45674452e-01  2.53610512e+02]
 [ 1.55596737e-01  9.78260441e-01 -1.37099110e-01 -7.59663532e+00]
 [ 5.62010820e-01  2.64690674e-02  8.26706252e-01  1.71177515e+02]
 [ 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 : 0.999952 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 388.82327356
Centerline is valid?  [True, True]
Translation: X:253.66, Y:-7.59, Z:171.21
[[ 8.12396517e-01 -2.05662588e-01 -5.45632475e-01  2.53657151e+02]
 [ 1.55459150e-01  9.78258912e-01 -1.37265999e-01 -7.58560532e+00]
 [ 5.62000312e-01  2.66908588e-02  8.26706264e-01  1.71210038e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 388.88327356
Centerline is valid?  [True, True]
Translation: X:253.71, Y:-7.57, Z:171.24
[[ 8.13546512e-01 -2.01105350e-01 -5.45617734e-01  2.53705611e+02]
 [ 1.49933768e-01  9.79112775e-01 -1.37324576e-01 -7.57495413e+00]
 [ 5.61838000e-01  2.99134074e-02  8.26706266e-01  1.71243759e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 388.94327355999997
Centerline is valid?  [True, True]
Translation: X:253.75, Y:-7.56, Z:171.28
[[ 8.13562303e-01 -2.01066298e-01 -5.45608581e-01  2.53752401e+02]
 [ 1.49862459e-01  9.79118592e-01 -1.37360933e-01 -7.55994498e+00]
 [ 5.61834160e-01  2.99854334e-02  8.26706266e-01  1.71277113e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.00327355999997
Centerline is valid?  [True, True]
Translation: X:253.80, Y:-7.55, Z:171.31
[[ 8.14665557e-01 -1.96653458e-01 -5.45570754e-01  2.53799338e+02]
 [ 1.44452822e-01  9.79910249e-01 -1.37511037e-01 -7.54854803e+00]
 [ 5.61652395e-01  3.32162710e-02  8.26706276e-01  1.71309904e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.06327355999997
Centerline is valid?  [True, True]
Translation: X:253.85, Y:-7.54, Z:171.34
[[ 8.15099445e-01 -1.94878936e-01 -5.45559433e-01  2.53846431e+02]
 [ 1.42288645e-01  9.80220539e-01 -1.37555939e-01 -7.53548493e+00]
 [ 5.61575317e-01  3.44948569e-02  8.26706277e-01  1.71343131e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.12327356
Centerline is valid?  [True, True]
Translation: X:253.89, Y:-7.52, Z:171.38
[[ 8.15364973e-01 -1.93882758e-01 -5.45517587e-01  2.53893919e+02]
 [ 1.40980271e-01  9.80386296e-01 -1.37721725e-01 -7.52072872e+00]
 [ 5.61519835e-01  3.53862533e-02  8.26706289e-01  1.71376836e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.18327356
Centerline is valid?  [True, True]
Translation: X:253.94, Y:-7.51, Z:171.41
[[ 8.15568465e-01 -1.93036198e-01 -5.45513616e-01  2.53941342e+02]
 [ 1.39951951e-01  9.80531409e-01 -1.37737456e-01 -7.50927397e+00]
 [ 5.61481549e-01  3.59886304e-02  8.26706289e-01  1.71410029e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.24327356
Centerline is valid?  [True, True]
Translation: X:253.99, Y:-7.50, Z:171.44
[[ 8.15627914e-01 -1.92904090e-01 -5.45471463e-01  2.53989153e+02]
 [ 1.39682081e-01  9.80546451e-01 -1.37904220e-01 -7.49832251e+00]
 [ 5.61462396e-01  3.62859419e-02  8.26706301e-01  1.71443313e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.30327356
Centerline is valid?  [True, True]
Translation: X:254.04, Y:-7.49, Z:171.48
[[ 8.15646924e-01 -1.92857577e-01 -5.45459486e-01  2.54035385e+02]
 [ 1.39594629e-01  9.80552243e-01 -1.37951583e-01 -7.48552614e+00]
 [ 5.61456530e-01  3.63765695e-02  8.26706302e-01  1.71475927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.36327356
Centerline is valid?  [True, True]
Translation: X:254.08, Y:-7.48, Z:171.51
[[ 8.15707446e-01 -1.92643296e-01 -5.45444703e-01  2.54084448e+02]
 [ 1.39298133e-01  9.80586185e-01 -1.38010013e-01 -7.47803517e+00]
 [ 5.61442244e-01  3.65963664e-02  8.26706304e-01  1.71509517e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.42327356
Centerline is valid?  [True, True]
Translation: X:254.13, Y:-7.45, Z:171.54
[[ 8.14498730e-01 -1.97707819e-01 -5.45438757e-01  2.54127610e+02]
 [ 1.45372452e-01  9.79700771e-01 -1.38033509e-01 -7.44826574e+00]
 [ 5.61657074e-01  3.31363482e-02  8.26706304e-01  1.71542952e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.48327356
Centerline is valid?  [True, True]
Translation: X:254.18, Y:-7.46, Z:171.58
[[ 8.14997114e-01 -1.95667038e-01 -5.45430211e-01  2.54178824e+02]
 [ 1.42895533e-01  9.80060353e-01 -1.38067268e-01 -7.45604532e+00]
 [ 5.61569739e-01  3.45848847e-02  8.26706305e-01  1.71575425e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.54327356
Centerline is valid?  [True, True]
Translation: X:254.23, Y:-7.45, Z:171.61
[[ 8.14923533e-01 -1.96013688e-01 -5.45415685e-01  2.54226444e+02]
 [ 1.43274159e-01  9.79996990e-01 -1.38124632e-01 -7.44773251e+00]
 [ 5.61580048e-01  3.44170399e-02  8.26706306e-01  1.71608199e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.60327356
Centerline is valid?  [True, True]
Translation: X:254.27, Y:-7.43, Z:171.64
[[ 8.13192752e-01 -2.03198887e-01 -5.45369380e-01  2.54273204e+02]
 [ 1.51796288e-01  9.78687380e-01 -1.38307262e-01 -7.43145236e+00]
 [ 5.61850011e-01  2.96854151e-02  8.26706321e-01  1.71641671e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.66327356
Centerline is valid?  [True, True]
Translation: X:254.32, Y:-7.43, Z:171.68
[[ 8.12481212e-01 -2.06048200e-01 -5.45360816e-01  2.54322857e+02]
 [ 1.55203436e-01  9.78148074e-01 -1.38341025e-01 -7.42743425e+00]
 [ 5.61948551e-01  2.77576111e-02  8.26706321e-01  1.71675080e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.72327356
Centerline is valid?  [True, True]
Translation: X:254.37, Y:-7.42, Z:171.71
[[ 8.11666982e-01 -2.09253554e-01 -5.45352785e-01  2.54370522e+02]
 [ 1.59041873e-01  9.77526821e-01 -1.38372676e-01 -7.41674517e+00]
 [ 5.62051948e-01  2.55786041e-02  8.26706322e-01  1.71708295e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.78327356
Centerline is valid?  [True, True]
Translation: X:254.42, Y:-7.41, Z:171.74
[[ 8.10632500e-01 -2.13248261e-01 -5.45344047e-01  2.54418358e+02]
 [ 1.63830882e-01  9.76730728e-01 -1.38407107e-01 -7.40623820e+00]
 [ 5.62169363e-01  2.28531024e-02  8.26706322e-01  1.71741590e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.84327356
Centerline is valid?  [True, True]
Translation: X:254.47, Y:-7.39, Z:171.77
[[ 8.09633101e-01 -2.17034869e-01 -5.45334857e-01  2.54465576e+02]
 [ 1.68370032e-01  9.75953371e-01 -1.38443307e-01 -7.39421712e+00]
 [ 5.62268418e-01  2.02702367e-02  8.26706323e-01  1.71774730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.90327356
Centerline is valid?  [True, True]
Translation: X:254.51, Y:-7.38, Z:171.81
[[ 8.08624865e-01 -2.20784357e-01 -5.45325678e-01  2.54512846e+02]
 [ 1.72866413e-01  9.75161855e-01 -1.38479455e-01 -7.38129457e+00]
 [ 5.62354897e-01  1.77094369e-02  8.26706323e-01  1.71808056e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 389.96327356
Centerline is valid?  [True, True]
Translation: X:254.56, Y:-7.37, Z:171.84
[[ 8.07831639e-01 -2.23690958e-01 -5.45316787e-01  2.54558701e+02]
 [ 1.76348624e-01  9.74533174e-01 -1.38514462e-01 -7.36810441e+00]
 [ 5.62413731e-01  1.57304999e-02  8.26706324e-01  1.71840493e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.995324 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.998430 with order 1
Centerline goodness : 0.999185 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.991803 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.995627 with order 1
Centerline goodness : 0.996913 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 390.02327356
Centerline is valid?  [True, True]
Translation: X:254.61, Y:-7.35, Z:171.87
[[ 8.07209937e-01 -2.25957334e-01 -5.45303036e-01  2.54605443e+02]
 [ 1.79046516e-01  9.74033415e-01 -1.38568579e-01 -7.35327815e+00]
 [ 5.62453965e-01  1.42193250e-02  8.26706325e-01  1.71873780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 390.08327356
Centerline is valid?  [True, True]
Translation: X:254.65, Y:-7.34, Z:171.91
[[ 8.06709432e-01 -2.27829914e-01 -5.45264545e-01  2.54651699e+02]
 [ 1.81204119e-01  9.73612785e-01 -1.38719904e-01 -7.33937369e+00]
 [ 5.62481076e-01  1.31024735e-02  8.26706335e-01  1.71906539e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 390.14327356
Centerline is valid?  [True, True]
Translation: X:254.70, Y:-7.33, Z:171.94
[[ 8.05205637e-01 -2.33120557e-01 -5.45251033e-01  2.54698571e+02]
 [ 1.87555443e-01  9.72401672e-01 -1.38772996e-01 -7.32522689e+00]
 [ 5.62553854e-01  9.47599997e-03  8.26706337e-01  1.71939799e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 390.20327356
Centerline is valid?  [True, True]
Translation: X:254.74, Y:-7.31, Z:171.97
[[ 8.04594235e-01 -2.35242782e-01 -5.45242103e-01  2.54744029e+02]
 [ 1.90094896e-01  9.71903416e-01 -1.38808073e-01 -7.31024918e+00]
 [ 5.62576260e-01  8.03643411e-03  8.26706337e-01  1.71972276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 390.26327356
Centerline is valid?  [True, True]
Translation: X:254.79, Y:-7.29, Z:172.01
[[ 8.04120144e-01 -2.36890721e-01 -5.45228008e-01  2.54790657e+02]
 [ 1.92048187e-01  9.71511423e-01 -1.38863419e-01 -7.29322035e+00]
 [ 5.62590693e-01  6.95282177e-03  8.26706338e-01  1.72005858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 390.32327356
Centerline is valid?  [True, True]
Translation: X:254.84, Y:-7.28, Z:172.04
[[ 8.04416276e-01 -2.35907491e-01 -5.45217490e-01  2.54836388e+02]
 [ 1.90832373e-01  9.71745074e-01 -1.38904706e-01 -7.27696438e+00]
 [ 5.62581071e-01  7.69205935e-03  8.26706339e-01  1.72038728e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 390.38327356
Centerline is valid?  [True, True]
Translation: X:254.88, Y:-7.26, Z:172.07
[[ 8.05204797e-01 -2.33291746e-01 -5.45179050e-01  2.54883080e+02]
 [ 1.87570985e-01  9.72358324e-01 -1.39055441e-01 -7.26275836e+00]
 [ 5.62549874e-01  9.70833683e-03  8.26706349e-01  1.72071829e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 390.44327355999997
Centerline is valid?  [True, True]
Translation: X:254.93, Y:-7.24, Z:172.11
[[ 8.05976017e-01 -2.30631558e-01 -5.45171299e-01  2.54928139e+02]
 [ 1.84338537e-01  9.72971961e-01 -1.39085826e-01 -7.24182931e+00]
 [ 5.62513968e-01  1.16037602e-02  8.26706350e-01  1.72105048e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 390.50327355999997
Centerline is valid?  [True, True]
Translation: X:254.97, Y:-7.22, Z:172.14
[[ 8.08190341e-01 -2.22774098e-01 -5.45160595e-01  2.54973505e+02]
 [ 1.74829225e-01  9.74719552e-01 -1.39127770e-01 -7.22302905e+00]
 [ 5.62372754e-01  1.71317155e-02  8.26706350e-01  1.72138106e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 390.56327355999997
Centerline is valid?  [True, True]
Translation: X:255.02, Y:-7.21, Z:172.17
[[ 8.09428459e-01 -2.18261945e-01 -5.45148873e-01  2.55020166e+02]
 [ 1.69357911e-01  9.75678524e-01 -1.39173689e-01 -7.20716859e+00]
 [ 5.62266367e-01  2.03258697e-02  8.26706351e-01  1.72171522e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 390.62327356
Centerline is valid?  [True, True]
Translation: X:255.07, Y:-7.19, Z:172.20
[[ 8.11265753e-01 -2.11352515e-01 -5.45140341e-01  2.55066451e+02]
 [ 1.61010345e-01  9.77086001e-01 -1.39207098e-01 -7.19093541e+00]
 [ 5.62070766e-01  2.51607171e-02  8.26706352e-01  1.72204760e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 390.68327356
Centerline is valid?  [True, True]
Translation: X:255.11, Y:-7.17, Z:172.24
[[ 8.14026712e-01 -2.00476626e-01 -5.45132676e-01  2.55113513e+02]
 [ 1.47899807e-01  9.79152018e-01 -1.39237112e-01 -7.17462647e+00]
 [ 5.61681546e-01  3.27177109e-02  8.26706352e-01  1.72238525e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 390.74327356
Centerline is valid?  [True, True]
Translation: X:255.16, Y:-7.16, Z:172.27
[[ 8.15245104e-01 -1.95551449e-01 -5.45100955e-01  2.55160348e+02]
 [ 1.41894654e-01  9.80022634e-01 -1.39361202e-01 -7.16072281e+00]
 [ 5.61463559e-01  3.62666264e-02  8.26706359e-01  1.72271689e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 390.80327356
Centerline is valid?  [True, True]
Translation: X:255.21, Y:-7.15, Z:172.31
[[ 8.16526700e-01 -1.90153250e-01 -5.45092551e-01  2.55207211e+02]
 [ 1.35385587e-01  9.80938345e-01 -1.39394068e-01 -7.14571340e+00]
 [ 5.61208420e-01  4.00213032e-02  8.26706359e-01  1.72305103e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 390.86327356
Centerline is valid?  [True, True]
Translation: X:255.25, Y:-7.13, Z:172.34
[[ 8.16891838e-01 -1.88667480e-01 -5.45061747e-01  2.55254230e+02]
 [ 1.33520945e-01  9.81176783e-01 -1.39514434e-01 -7.13295699e+00]
 [ 5.61123768e-01  4.11910429e-02  8.26706366e-01  1.72338198e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 390.92327356
Centerline is valid?  [True, True]
Translation: X:255.30, Y:-7.12, Z:172.37
[[ 8.16909737e-01 -1.88614915e-01 -5.45053112e-01  2.55301416e+02]
 [ 1.33435434e-01  9.81183620e-01 -1.39548160e-01 -7.12238802e+00]
 [ 5.61118050e-01  4.12688523e-02  8.26706366e-01  1.72371076e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 390.98327356
Centerline is valid?  [True, True]
Translation: X:255.35, Y:-7.11, Z:172.40
[[ 8.16797981e-01 -1.89214649e-01 -5.45012729e-01  2.55348216e+02]
 [ 1.34051246e-01  9.81077251e-01 -1.39705729e-01 -7.11264655e+00]
 [ 5.61133961e-01  4.10517215e-02  8.26706377e-01  1.72403498e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 391.04327356
Centerline is valid?  [True, True]
Translation: X:255.40, Y:-7.10, Z:172.44
[[ 8.16450502e-01 -1.90748969e-01 -5.44998540e-01  2.55395371e+02]
 [ 1.35857584e-01  9.80820861e-01 -1.39761064e-01 -7.10044983e+00]
 [ 5.61205216e-01  4.00658057e-02  8.26706379e-01  1.72436620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 391.10327356
Centerline is valid?  [True, True]
Translation: X:255.45, Y:-7.10, Z:172.47
[[ 8.16832367e-01 -1.89220938e-01 -5.44959008e-01  2.55445750e+02]
 [ 1.33919926e-01  9.81065353e-01 -1.39915067e-01 -7.10014902e+00]
 [ 5.61115262e-01  4.13062858e-02  8.26706389e-01  1.72469806e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 391.16327356
Centerline is valid?  [True, True]
Translation: X:255.49, Y:-7.09, Z:172.50
[[ 8.15029517e-01 -1.96866298e-01 -5.44950040e-01  2.55493823e+02]
 [ 1.43083320e-01  9.79765872e-01 -1.39949987e-01 -7.08967379e+00]
 [ 5.61474888e-01  3.60901097e-02  8.26706390e-01  1.72503250e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.970984 with order 1
Centerline goodness : 0.980368 with order 1
Centerline goodness : 0.993645 with order 1
Centerline goodness : 0.996950 with order 1
Centerline goodness : 0.998624 with order 1
Centerline goodness : 0.989044 with order 1
Centerline goodness : 0.983433 with order 1
Centerline goodness : 0.989499 with order 1
Centerline goodness : 0.989805 with order 1
Centerline goodness : 0.991198 with order 1
Centerline goodness : 0.990516 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.979610 with order 1
Centerline goodness : 0.992817 with order 1
Centerline goodness : 0.991628 with order 1
Centerline goodness : 0.989500 with order 1
Centerline goodness : 0.985511 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.990012 with order 1
Centerline goodness : 0.988137 with order 1
SLAMing on frame at distance 391.22327356
Centerline is valid?  [True, True]
Translation: X:255.54, Y:-7.08, Z:172.54
[[ 8.13659010e-01 -2.02481338e-01 -5.44940661e-01  2.55542102e+02]
 [ 1.49811143e-01  9.78754515e-01 -1.39986502e-01 -7.08372651e+00]
 [ 5.61707786e-01  3.22630956e-02  8.26706390e-01  1.72536062e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 391.28327356
Centerline is valid?  [True, True]
Translation: X:255.59, Y:-7.08, Z:172.57
[[ 8.12784484e-01 -2.05990474e-01 -5.44930553e-01  2.55590775e+02]
 [ 1.54006880e-01  9.78097462e-01 -1.40025838e-01 -7.07584883e+00]
 [ 5.61839180e-01  2.98877743e-02  8.26706391e-01  1.72569460e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 391.34327356
Centerline is valid?  [True, True]
Translation: X:255.64, Y:-7.07, Z:172.60
[[ 8.12039358e-01 -2.08930033e-01 -5.44922308e-01  2.55637831e+02]
 [ 1.57523461e-01  9.77532679e-01 -1.40057919e-01 -7.06647370e+00]
 [ 5.61941669e-01  2.78944952e-02  8.26706391e-01  1.72602048e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 391.40327356
Centerline is valid?  [True, True]
Translation: X:255.69, Y:-7.06, Z:172.64
[[ 8.10928099e-01 -2.13258753e-01 -5.44900287e-01  2.55686256e+02]
 [ 1.62678291e-01  9.76675770e-01 -1.40143549e-01 -7.05826239e+00]
 [ 5.62077746e-01  2.50028941e-02  8.26706395e-01  1.72635313e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 391.46327356
Centerline is valid?  [True, True]
Translation: X:255.73, Y:-7.05, Z:172.67
[[ 8.10678557e-01 -2.14226255e-01 -5.44892089e-01  2.55734453e+02]
 [ 1.63822232e-01  9.76479968e-01 -1.40175417e-01 -7.04859982e+00]
 [ 5.62105465e-01  2.43717663e-02  8.26706395e-01  1.72668702e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 391.52327356
Centerline is valid?  [True, True]
Translation: X:255.78, Y:-7.04, Z:172.70
[[ 8.09880875e-01 -2.17243337e-01 -5.44883749e-01  2.55782135e+02]
 [ 1.67435256e-01  9.75862285e-01 -1.40207829e-01 -7.04007130e+00]
 [ 5.62190718e-01  2.23188890e-02  8.26706395e-01  1.72701559e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 391.58327356
Centerline is valid?  [True, True]
Translation: X:255.83, Y:-7.03, Z:172.73
[[ 8.09624860e-01 -2.18224946e-01 -5.44871966e-01  2.55829963e+02]
 [ 1.68587349e-01  9.75657333e-01 -1.40253610e-01 -7.03036945e+00]
 [ 5.62215165e-01  2.16942892e-02  8.26706396e-01  1.72734703e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 391.64327356
Centerline is valid?  [True, True]
Translation: X:255.88, Y:-7.02, Z:172.77
[[ 8.09120071e-01 -2.20193218e-01 -5.44829934e-01  2.55877583e+02]
 [ 1.70849851e-01  9.75240212e-01 -1.40416728e-01 -7.01918820e+00]
 [ 5.62258872e-01  2.05298793e-02  8.26706408e-01  1.72767898e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 391.70327356
Centerline is valid?  [True, True]
Translation: X:255.93, Y:-7.01, Z:172.80
[[ 8.08693097e-01 -2.21780540e-01 -5.44820033e-01  2.55925119e+02]
 [ 1.72737403e-01  9.74902120e-01 -1.40455138e-01 -7.00723631e+00]
 [ 5.62296421e-01  1.94743032e-02  8.26706409e-01  1.72801234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 391.76327356
Centerline is valid?  [True, True]
Translation: X:255.97, Y:-6.99, Z:172.83
[[ 8.08369122e-01 -2.23062125e-01 -5.44777616e-01  2.55970802e+02]
 [ 1.74171868e-01  9.74623167e-01 -1.40619498e-01 -6.99171102e+00]
 [ 5.62319769e-01  1.87875256e-02  8.26706421e-01  1.72833890e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 391.82327356
Centerline is valid?  [True, True]
Translation: X:256.02, Y:-6.98, Z:172.87
[[ 8.09006841e-01 -2.20774775e-01 -5.44762728e-01  2.56019081e+02]
 [ 1.71375697e-01  9.75110409e-01 -1.40677153e-01 -6.98368006e+00]
 [ 5.62261773e-01  2.04496871e-02  8.26706422e-01  1.72867039e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 391.88327356
Centerline is valid?  [True, True]
Translation: X:256.06, Y:-6.96, Z:172.90
[[ 8.05780897e-01 -2.32293732e-01 -5.44753860e-01  2.56064252e+02]
 [ 1.85246141e-01  9.72565753e-01 -1.40711489e-01 -6.96287216e+00]
 [ 5.62495345e-01  1.24690792e-02  8.26706423e-01  1.72900328e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 391.94327355999997
Centerline is valid?  [True, True]
Translation: X:256.11, Y:-6.95, Z:172.93
[[ 8.03689722e-01 -2.39447963e-01 -5.44745357e-01  2.56112763e+02]
 [ 1.93862648e-01  9.70880161e-01 -1.40744401e-01 -6.95311299e+00]
 [ 5.62583420e-01  7.50905097e-03  8.26706423e-01  1.72933937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 392.00327355999997
Centerline is valid?  [True, True]
Translation: X:256.16, Y:-6.94, Z:172.97
[[ 8.01149374e-01 -2.47835522e-01 -5.44735932e-01  2.56159167e+02]
 [ 2.03975473e-01  9.68800677e-01 -1.40780871e-01 -6.93610077e+00]
 [ 5.62631040e-01  1.67373734e-03  8.26706424e-01  1.72967391e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 392.06327355999997
Centerline is valid?  [True, True]
Translation: X:256.21, Y:-6.92, Z:173.00
[[ 7.99117263e-01 -2.54329583e-01 -5.44727513e-01  2.56205116e+02]
 [ 2.11809456e-01  9.67113400e-01 -1.40813441e-01 -6.91714958e+00]
 [ 5.62626301e-01 -2.85198672e-03  8.26706424e-01  1.73000878e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 392.12327356
Centerline is valid?  [True, True]
Translation: X:256.25, Y:-6.91, Z:173.03
[[ 8.00483644e-01 -2.50023508e-01 -5.44714771e-01  2.56254115e+02]
 [ 2.06565987e-01  9.68239737e-01 -1.40862716e-01 -6.91411862e+00]
 [ 5.62633477e-01  2.38755631e-04  8.26706425e-01  1.73033655e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 392.18327356
Centerline is valid?  [True, True]
Translation: X:256.30, Y:-6.89, Z:173.07
[[ 7.98704786e-01 -2.55670635e-01 -5.44704683e-01  2.56297409e+02]
 [ 2.13372366e-01  9.66756919e-01 -1.40901717e-01 -6.88760251e+00]
 [ 5.62621452e-01 -3.68605171e-03  8.26706426e-01  1.73066679e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 392.24327356
Centerline is valid?  [True, True]
Translation: X:256.35, Y:-6.88, Z:173.10
[[ 8.01979479e-01 -2.45297329e-01 -5.44663324e-01  2.56345120e+02]
 [ 2.00716050e-01  9.69440425e-01 -1.41061441e-01 -6.87718980e+00]
 [ 5.62620639e-01  3.80570974e-03  8.26706437e-01  1.73099807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 392.30327356
Centerline is valid?  [True, True]
Translation: X:256.39, Y:-6.86, Z:173.13
[[ 8.03482645e-01 -2.40354137e-01 -5.44651750e-01  2.56391000e+02]
 [ 1.94712209e-01  9.70657622e-01 -1.41106118e-01 -6.85633755e+00]
 [ 5.62585812e-01  7.32597099e-03  8.26706438e-01  1.73133570e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 392.36327356
Centerline is valid?  [True, True]
Translation: X:256.44, Y:-6.84, Z:173.17
[[ 8.04723329e-01 -2.36208005e-01 -5.44633952e-01  2.56435944e+02]
 [ 1.89658233e-01  9.71647793e-01 -1.41174786e-01 -6.83765258e+00]
 [ 5.62538992e-01  1.03123310e-02  8.26706440e-01  1.73166335e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.973876 with order 1
Centerline goodness : 0.970935 with order 1
Centerline goodness : 0.959724 with order 1
Centerline goodness : 0.972145 with order 1
Centerline goodness : 0.989970 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.985804 with order 1
Centerline goodness : 0.976339 with order 1
Centerline goodness : 0.957241 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.968486 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.974930 with order 1
Centerline goodness : 0.968302 with order 1
Centerline goodness : 0.985429 with order 1
Centerline goodness : 0.957744 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.989056 with order 1
Centerline goodness : 0.984151 with order 1
SLAMing on frame at distance 392.42327356
Centerline is valid?  [True, True]
Translation: X:256.48, Y:-6.82, Z:173.20
[[ 8.07219964e-01 -2.27561361e-01 -5.44620745e-01  2.56482526e+02]
 [ 1.79189174e-01  9.73625460e-01 -1.41225719e-01 -6.81987212e+00]
 [ 5.62394141e-01  1.64100786e-02  8.26706441e-01  1.73200035e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 392.48327356
Centerline is valid?  [True, True]
Translation: X:256.53, Y:-6.80, Z:173.23
[[ 8.08574920e-01 -2.22724218e-01 -5.44610431e-01  2.56527570e+02]
 [ 1.73329829e-01  9.74679862e-01 -1.41265486e-01 -6.80203305e+00]
 [ 5.62284064e-01  1.98264960e-02  8.26706442e-01  1.73232738e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 392.54327356
Centerline is valid?  [True, True]
Translation: X:256.57, Y:-6.79, Z:173.27
[[ 8.09963752e-01 -2.17674454e-01 -5.44588425e-01  2.56574545e+02]
 [ 1.67187642e-01  9.75739920e-01 -1.41350276e-01 -6.78510928e+00]
 [ 5.62145011e-01  2.34401450e-02  8.26706445e-01  1.73266535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 392.60327356
Centerline is valid?  [True, True]
Translation: X:256.62, Y:-6.77, Z:173.30
[[ 8.10305956e-01 -2.16413801e-01 -5.44581788e-01  2.56620709e+02]
 [ 1.65651937e-01  9.75998108e-01 -1.41375843e-01 -6.76792702e+00]
 [ 5.62106479e-01  2.43466590e-02  8.26706445e-01  1.73299871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 392.66327356
Centerline is valid?  [True, True]
Translation: X:256.67, Y:-6.75, Z:173.33
[[ 8.10305900e-01 -2.16521662e-01 -5.44538997e-01  2.56665768e+02]
 [ 1.65671415e-01  9.75970936e-01 -1.41540505e-01 -6.75154980e+00]
 [ 5.62100820e-01  2.44765598e-02  8.26706457e-01  1.73332277e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 392.72327356
Centerline is valid?  [True, True]
Translation: X:256.71, Y:-6.74, Z:173.37
[[ 8.09551583e-01 -2.19362487e-01 -5.44523951e-01  2.56713081e+02]
 [ 1.69054772e-01  9.75382175e-01 -1.41598366e-01 -6.73726802e+00]
 [ 5.62180326e-01  2.25768092e-02  8.26706459e-01  1.73365860e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 392.78327356
Centerline is valid?  [True, True]
Translation: X:256.76, Y:-6.72, Z:173.40
[[ 8.08367652e-01 -2.23772141e-01 -5.44488537e-01  2.56759125e+02]
 [ 1.74277589e-01  9.74442750e-01 -1.41734435e-01 -6.72266577e+00]
 [ 5.62289125e-01  1.96813828e-02  8.26706467e-01  1.73398626e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 392.84327356
Centerline is valid?  [True, True]
Translation: X:256.81, Y:-6.71, Z:173.43
[[ 8.08307673e-01 -2.24010766e-01 -5.44479460e-01  2.56806733e+02]
 [ 1.74541787e-01  9.74390389e-01 -1.41769300e-01 -6.70968646e+00]
 [ 5.62293402e-01  1.95587948e-02  8.26706468e-01  1.73432191e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 392.90327356
Centerline is valid?  [True, True]
Translation: X:256.85, Y:-6.70, Z:173.47
[[ 8.07812745e-01 -2.25809349e-01 -5.44471034e-01  2.56853087e+02]
 [ 1.76688379e-01  9.73998721e-01 -1.41801654e-01 -6.69560508e+00]
 [ 5.62334230e-01  1.83474789e-02  8.26706468e-01  1.73465120e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 392.96327356
Centerline is valid?  [True, True]
Translation: X:256.90, Y:-6.68, Z:173.50
[[ 8.07611440e-01 -2.26628305e-01 -5.44429402e-01  2.56900825e+02]
 [ 1.77568322e-01  9.73815418e-01 -1.41961344e-01 -6.68373607e+00]
 [ 5.62346204e-01  1.79761904e-02  8.26706479e-01  1.73498523e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 393.02327356
Centerline is valid?  [True, True]
Translation: X:256.95, Y:-6.67, Z:173.53
[[ 8.07233384e-01 -2.27986109e-01 -5.44423179e-01  2.56946817e+02]
 [ 1.79189616e-01  9.73514911e-01 -1.41985206e-01 -6.67067824e+00]
 [ 5.62374738e-01  1.70602184e-02  8.26706480e-01  1.73531043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 393.08327356
Centerline is valid?  [True, True]
Translation: X:256.99, Y:-6.66, Z:173.56
[[ 8.07081700e-01 -2.28558956e-01 -5.44407875e-01  2.56994842e+02]
 [ 1.79840954e-01  9.73386239e-01 -1.42043867e-01 -6.65896627e+00]
 [ 5.62384532e-01  1.67341744e-02  8.26706481e-01  1.73564654e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 393.14327356
Centerline is valid?  [True, True]
Translation: X:257.04, Y:-6.65, Z:173.60
[[ 8.07217526e-01 -2.28104347e-01 -5.44397165e-01  2.57042293e+02]
 [ 1.79265036e-01  9.73486480e-01 -1.42084905e-01 -6.64700942e+00]
 [ 5.62373464e-01  1.71020479e-02  8.26706482e-01  1.73597938e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 393.20327356
Centerline is valid?  [True, True]
Translation: X:257.09, Y:-6.62, Z:173.63
[[ 8.08492325e-01 -2.23649374e-01 -5.44353853e-01  2.57086961e+02]
 [ 1.73782428e-01  9.74455957e-01 -1.42250679e-01 -6.62151043e+00]
 [ 5.62263130e-01  2.04094479e-02  8.26706494e-01  1.73631661e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 393.26327356
Centerline is valid?  [True, True]
Translation: X:257.13, Y:-6.61, Z:173.66
[[ 8.08958023e-01 -2.21982269e-01 -5.44344366e-01  2.57133628e+02]
 [ 1.71748925e-01  9.74811122e-01 -1.42286975e-01 -6.60954046e+00]
 [ 5.62218128e-01  2.16136300e-02  8.26706495e-01  1.73664433e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 393.32327356
Centerline is valid?  [True, True]
Translation: X:257.18, Y:-6.60, Z:173.70
[[ 8.10569695e-01 -2.16059017e-01 -5.44330112e-01  2.57181553e+02]
 [ 1.64577321e-01  9.76039552e-01 -1.42341487e-01 -6.59778746e+00]
 [ 5.62041880e-01  2.57933041e-02  8.26706496e-01  1.73697988e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 393.38327356
Centerline is valid?  [True, True]
Translation: X:257.23, Y:-6.60, Z:173.73
[[ 8.11807587e-01 -2.11385019e-01 -5.44320508e-01  2.57233296e+02]
 [ 1.58926208e-01  9.76970269e-01 -1.42378206e-01 -6.60107862e+00]
 [ 5.61881573e-01  2.90769138e-02  8.26706496e-01  1.73731474e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 393.44327355999997
Centerline is valid?  [True, True]
Translation: X:257.28, Y:-6.58, Z:173.76
[[ 8.12701570e-01 -2.07999879e-01 -5.44290555e-01  2.57278293e+02]
 [ 1.54776806e-01  9.77619552e-01 -1.42492635e-01 -6.57854865e+00]
 [ 5.61747540e-01  3.15604342e-02  8.26706502e-01  1.73764929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 393.50327355999997
Centerline is valid?  [True, True]
Translation: X:257.33, Y:-6.57, Z:173.80
[[ 8.12152448e-01 -2.10162227e-01 -5.44279561e-01  2.57327063e+02]
 [ 1.57350237e-01  9.77202530e-01 -1.42534620e-01 -6.56922066e+00]
 [ 5.61826757e-01  3.01173225e-02  8.26706503e-01  1.73798627e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 393.56327355999997
Centerline is valid?  [True, True]
Translation: X:257.38, Y:-6.58, Z:173.83
[[ 8.11086175e-01 -2.14326214e-01 -5.44245800e-01  2.57378904e+02]
 [ 1.62275490e-01  9.76377904e-01 -1.42663431e-01 -6.57504930e+00]
 [ 5.61966087e-01  2.73945829e-02  8.26706510e-01  1.73831692e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.989685 with order 1
Centerline goodness : 0.990756 with order 1
Centerline goodness : 0.986140 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.995066 with order 1
Centerline goodness : 0.970486 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.984554 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.957166 with order 1
Centerline goodness : 0.955932 with order 1
Centerline goodness : 0.980946 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.989442 with order 1
Centerline goodness : 0.992952 with order 1
Centerline goodness : 0.976044 with order 1
Centerline goodness : 0.975176 with order 1
SLAMing on frame at distance 393.62327356
Centerline is valid?  [True, True]
Translation: X:257.42, Y:-6.55, Z:173.87
[[ 8.08347747e-01 -2.24454547e-01 -5.44237151e-01  2.57423857e+02]
 [ 1.74453190e-01  9.74270915e-01 -1.42696421e-01 -6.55318737e+00]
 [ 5.62263288e-01  2.04044236e-02  8.26706511e-01  1.73865042e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 393.68327356
Centerline is valid?  [True, True]
Translation: X:257.47, Y:-6.54, Z:173.90
[[ 8.06642481e-01 -2.30528921e-01 -5.44228191e-01  2.57470995e+02]
 [ 1.81754091e-01  9.72930332e-01 -1.42730586e-01 -6.54214808e+00]
 [ 5.62399642e-01  1.62168534e-02  8.26706511e-01  1.73897964e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 393.74327356
Centerline is valid?  [True, True]
Translation: X:257.52, Y:-6.53, Z:173.93
[[ 8.04198163e-01 -2.38944636e-01 -5.44215743e-01  2.57518393e+02]
 [ 1.91877848e-01  9.70977510e-01 -1.42778035e-01 -6.53280079e+00]
 [ 5.62537293e-01  1.03988883e-02  8.26706512e-01  1.73930758e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 393.80327356
Centerline is valid?  [True, True]
Translation: X:257.57, Y:-6.54, Z:173.96
[[ 8.02654098e-01 -2.44106123e-01 -5.44204556e-01  2.57571994e+02]
 [ 1.98082851e-01  9.69724416e-01 -1.42820663e-01 -6.54174496e+00]
 [ 5.62591844e-01  6.83800069e-03  8.26706513e-01  1.73964477e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 393.86327356
Centerline is valid?  [True, True]
Translation: X:257.61, Y:-6.51, Z:174.00
[[ 7.99762835e-01 -2.53475515e-01 -5.44177886e-01  2.57613696e+02]
 [ 2.09339970e-01  9.67341726e-01 -1.42922225e-01 -6.50999494e+00]
 [ 5.62633260e-01  3.85701614e-04  8.26706518e-01  1.73997366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 393.92327356
Centerline is valid?  [True, True]
Translation: X:257.67, Y:-6.52, Z:174.03
[[ 7.99337473e-01 -2.54839705e-01 -5.44165719e-01  2.57665949e+02]
 [ 2.10958620e-01  9.66983174e-01 -1.42968538e-01 -6.51609803e+00]
 [ 5.62633154e-01 -5.16339004e-04  8.26706519e-01  1.74030683e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 393.98327356
Centerline is valid?  [True, True]
Translation: X:257.71, Y:-6.49, Z:174.06
[[ 7.96025730e-01 -2.65022043e-01 -5.44156553e-01  2.57708859e+02]
 [ 2.23260598e-01  9.64211973e-01 -1.43003418e-01 -6.48759627e+00]
 [ 5.62581321e-01 -7.65431728e-03  8.26706519e-01  1.74063841e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 394.04327356
Centerline is valid?  [True, True]
Translation: X:257.75, Y:-6.46, Z:174.10
[[ 7.98260612e-01 -2.58302567e-01 -5.44113756e-01  2.57752216e+02]
 [ 2.15013995e-01  9.66060272e-01 -1.43166101e-01 -6.46103482e+00]
 [ 5.62626855e-01 -2.70821309e-03  8.26706531e-01  1.74096899e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 394.10327356
Centerline is valid?  [True, True]
Translation: X:257.80, Y:-6.44, Z:174.13
[[ 7.99392565e-01 -2.54868568e-01 -5.44071264e-01  2.57796001e+02]
 [ 2.10749241e-01  9.66975701e-01 -1.43327430e-01 -6.44041034e+00]
 [ 5.62633349e-01 -8.77244860e-05  8.26706542e-01  1.74129216e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 394.16327356
Centerline is valid?  [True, True]
Translation: X:257.84, Y:-6.42, Z:174.16
[[ 7.99930749e-01 -2.53206505e-01 -5.44056304e-01  2.57841978e+02]
 [ 2.08700346e-01  9.67411566e-01 -1.43384198e-01 -6.42306396e+00]
 [ 5.62632173e-01  1.15268982e-03  8.26706544e-01  1.74162457e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 394.22327356
Centerline is valid?  [True, True]
Translation: X:257.89, Y:-6.40, Z:174.20
[[ 8.01137615e-01 -2.49387911e-01 -5.44044292e-01  2.57887555e+02]
 [ 2.04052424e-01  9.68395844e-01 -1.43429764e-01 -6.40149419e+00]
 [ 5.62619881e-01  3.89342313e-03  8.26706545e-01  1.74196173e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 394.28327356
Centerline is valid?  [True, True]
Translation: X:257.93, Y:-6.38, Z:174.23
[[ 8.02323342e-01 -2.45586780e-01 -5.44026091e-01  2.57932172e+02]
 [ 1.99412017e-01  9.69351819e-01 -1.43498772e-01 -6.38283996e+00]
 [ 5.62594083e-01  6.64707438e-03  8.26706547e-01  1.74228741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 394.34327356
Centerline is valid?  [True, True]
Translation: X:257.98, Y:-6.36, Z:174.26
[[ 8.03741435e-01 -2.40954941e-01 -5.44004065e-01  2.57977457e+02]
 [ 1.93761063e-01  9.70484823e-01 -1.43582234e-01 -6.36132866e+00]
 [ 5.62544537e-01  9.99618477e-03  8.26706550e-01  1.74262242e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 394.40327356
Centerline is valid?  [True, True]
Translation: X:258.02, Y:-6.34, Z:174.30
[[ 8.04328464e-01 -2.39004524e-01 -5.43996838e-01  2.58022231e+02]
 [ 1.91387793e-01  9.70951592e-01 -1.43609609e-01 -6.34147193e+00]
 [ 5.62517942e-01  1.13949417e-02  8.26706550e-01  1.74295143e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 394.46327356
Centerline is valid?  [True, True]
Translation: X:258.07, Y:-6.33, Z:174.33
[[ 8.05446168e-01 -2.35245294e-01 -5.43981729e-01  2.58068068e+02]
 [ 1.86812253e-01  9.71833847e-01 -1.43666822e-01 -6.32657024e+00]
 [ 5.62456800e-01  1.40934390e-02  8.26706552e-01  1.74327870e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 394.52327356
Centerline is valid?  [True, True]
Translation: X:258.11, Y:-6.30, Z:174.36
[[ 8.04727486e-01 -2.37802821e-01 -5.43933352e-01  2.58111708e+02]
 [ 1.89774985e-01  9.71232564e-01 -1.43849787e-01 -6.30233720e+00]
 [ 5.62493670e-01  1.25349338e-02  8.26706567e-01  1.74360727e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 394.58327356
Centerline is valid?  [True, True]
Translation: X:258.16, Y:-6.29, Z:174.39
[[ 8.05386349e-01 -2.35587783e-01 -5.43922076e-01  2.58158812e+02]
 [ 1.87073235e-01  9.71750265e-01 -1.43892415e-01 -6.28716826e+00]
 [ 5.62455716e-01  1.41357240e-02  8.26706567e-01  1.74394343e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 394.64327356
Centerline is valid?  [True, True]
Translation: X:258.20, Y:-6.27, Z:174.43
[[ 8.05682883e-01 -2.34590619e-01 -5.43913903e-01  2.58204759e+02]
 [ 1.85849330e-01  9.71980509e-01 -1.43923303e-01 -6.27113994e+00]
 [ 5.62436769e-01  1.48705075e-02  8.26706568e-01  1.74427351e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 394.70327356
Centerline is valid?  [True, True]
Translation: X:258.25, Y:-6.25, Z:174.46
[[ 8.06279072e-01 -2.32561742e-01 -5.43901732e-01  2.58251616e+02]
 [ 1.83370998e-01  9.72444303e-01 -1.43969284e-01 -6.25364067e+00]
 [ 5.62395889e-01  1.63436174e-02  8.26706569e-01  1.74461209e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 394.76327356
Centerline is valid?  [True, True]
Translation: X:258.30, Y:-6.24, Z:174.49
[[ 8.06332130e-01 -2.32461495e-01 -5.43865929e-01  2.58296998e+02]
 [ 1.83159017e-01  9.72464235e-01 -1.44104431e-01 -6.23608281e+00]
 [ 5.62388896e-01  1.65820838e-02  8.26706577e-01  1.74494075e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.979386 with order 1
Centerline goodness : 0.978866 with order 1
Centerline goodness : 0.982904 with order 1
Centerline goodness : 0.995506 with order 1
Centerline goodness : 0.999521 with order 1
Centerline goodness : 0.997807 with order 1
Centerline goodness : 0.964814 with order 1
Centerline goodness : 0.993205 with order 1
Centerline goodness : 0.964297 with order 1
Centerline goodness : 0.978354 with order 1
Centerline goodness : 0.983237 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.996165 with order 1
Centerline goodness : 0.993856 with order 1
Centerline goodness : 0.977350 with order 1
Centerline goodness : 0.990918 with order 1
Centerline goodness : 0.967934 with order 1
Centerline goodness : 0.975690 with order 1
Centerline goodness : 0.967126 with order 1
Centerline goodness : 0.974057 with order 1
SLAMing on frame at distance 394.82327356
Centerline is valid?  [True, True]
Translation: X:258.34, Y:-6.22, Z:174.53
[[ 8.07126217e-01 -2.29712731e-01 -5.43855984e-01  2.58343529e+02]
 [ 1.79819221e-01  9.73081777e-01 -1.44141956e-01 -6.21959263e+00]
 [ 5.62327590e-01  1.85449921e-02  8.26706577e-01  1.74527548e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 394.88327356
Centerline is valid?  [True, True]
Translation: X:258.39, Y:-6.20, Z:174.56
[[ 8.07328865e-01 -2.29077846e-01 -5.43822989e-01  2.58387984e+02]
 [ 1.78970131e-01  9.73219868e-01 -1.44266351e-01 -6.20228886e+00]
 [ 5.62307563e-01  1.91423180e-02  8.26706584e-01  1.74559766e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 394.94327355999997
Centerline is valid?  [True, True]
Translation: X:258.43, Y:-6.19, Z:174.59
[[ 8.07786508e-01 -2.27520302e-01 -5.43797269e-01  2.58434069e+02]
 [ 1.77027581e-01  9.73560727e-01 -1.44363246e-01 -6.18682435e+00]
 [ 5.62265234e-01  2.03475670e-02  8.26706588e-01  1.74592747e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.00327355999997
Centerline is valid?  [True, True]
Translation: X:258.48, Y:-6.17, Z:174.63
[[ 8.08258071e-01 -2.25936671e-01 -5.43756849e-01  2.58482001e+02]
 [ 1.75016965e-01  9.73901624e-01 -1.44515358e-01 -6.17495349e+00]
 [ 5.62216997e-01  2.16390311e-02  8.26706599e-01  1.74626296e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.06327355999997
Centerline is valid?  [True, True]
Translation: X:258.53, Y:-6.16, Z:174.66
[[ 8.08214931e-01 -2.26105690e-01 -5.43750717e-01  2.58528513e+02]
 [ 1.75205128e-01  9.73864367e-01 -1.44538429e-01 -6.16081346e+00]
 [ 5.62220409e-01  2.15502022e-02  8.26706599e-01  1.74659353e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.12327356
Centerline is valid?  [True, True]
Translation: X:258.58, Y:-6.15, Z:174.69
[[ 8.08790490e-01 -2.24068329e-01 -5.43738289e-01  2.58576115e+02]
 [ 1.72719137e-01  9.74301406e-01 -1.44585169e-01 -6.14905660e+00]
 [ 5.62161936e-01  2.30251017e-02  8.26706600e-01  1.74692701e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.18327356
Centerline is valid?  [True, True]
Translation: X:258.62, Y:-6.14, Z:174.73
[[ 8.09117508e-01 -2.22904175e-01 -5.43730253e-01  2.58624389e+02]
 [ 1.71296585e-01  9.74548034e-01 -1.44615385e-01 -6.13805145e+00]
 [ 5.62126622e-01  2.38717049e-02  8.26706600e-01  1.74726366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.24327356
Centerline is valid?  [True, True]
Translation: X:258.67, Y:-6.13, Z:174.76
[[ 8.08901931e-01 -2.23700017e-01 -5.43724165e-01  2.58672751e+02]
 [ 1.72239837e-01  9.74378371e-01 -1.44638269e-01 -6.12896754e+00]
 [ 5.62148650e-01  2.33472132e-02  8.26706600e-01  1.74759755e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.30327356
Centerline is valid?  [True, True]
Translation: X:258.72, Y:-6.12, Z:174.79
[[ 8.08470967e-01 -2.25274348e-01 -5.43715149e-01  2.58721274e+02]
 [ 1.74113659e-01  9.74040246e-01 -1.44672156e-01 -6.11927917e+00]
 [ 5.62191363e-01  2.22950039e-02  8.26706601e-01  1.74793352e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.36327356
Centerline is valid?  [True, True]
Translation: X:258.77, Y:-6.11, Z:174.83
[[ 8.07577686e-01 -2.28539627e-01 -5.43679979e-01  2.58769745e+02]
 [ 1.77959645e-01  9.73325280e-01 -1.44804226e-01 -6.11318475e+00]
 [ 5.62270972e-01  2.01875652e-02  8.26706609e-01  1.74826248e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.42327356
Centerline is valid?  [True, True]
Translation: X:258.82, Y:-6.11, Z:174.86
[[ 8.06770995e-01 -2.31396447e-01 -5.43669244e-01  2.58819505e+02]
 [ 1.81376285e-01  9.72688392e-01 -1.44844522e-01 -6.10739784e+00]
 [ 5.62337270e-01  1.82476509e-02  8.26706609e-01  1.74859971e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.48327356
Centerline is valid?  [True, True]
Translation: X:258.87, Y:-6.10, Z:174.89
[[ 8.05281989e-01 -2.36551039e-01 -5.43658464e-01  2.58868425e+02]
 [ 1.87565656e-01  9.71507833e-01 -1.44884975e-01 -6.10123072e+00]
 [ 5.62441147e-01  1.47016041e-02  8.26706610e-01  1.74893208e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.54327356
Centerline is valid?  [True, True]
Translation: X:258.92, Y:-6.09, Z:174.93
[[ 8.03177095e-01 -2.43697207e-01 -5.43615880e-01  2.58918054e+02]
 [ 1.96082781e-01  9.69800808e-01 -1.45044603e-01 -6.09490387e+00]
 [ 5.62546084e-01  9.90278932e-03  8.26706621e-01  1.74926891e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.60327356
Centerline is valid?  [True, True]
Translation: X:258.97, Y:-6.09, Z:174.96
[[ 8.02661622e-01 -2.45414537e-01 -5.43604660e-01  2.58966153e+02]
 [ 1.98128139e-01  9.69378722e-01 -1.45086646e-01 -6.08503423e+00]
 [ 5.62565162e-01  8.75210311e-03  8.26706622e-01  1.74960234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.66327356
Centerline is valid?  [True, True]
Translation: X:259.02, Y:-6.09, Z:174.99
[[ 8.02320771e-01 -2.46624615e-01 -5.43560189e-01  2.59016195e+02]
 [ 1.99476921e-01  9.69077137e-01 -1.45253093e-01 -6.08551154e+00]
 [ 5.62574740e-01  8.11186101e-03  8.26706634e-01  1.74992987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.72327356
Centerline is valid?  [True, True]
Translation: X:259.06, Y:-6.08, Z:175.03
[[ 8.03455867e-01 -2.42925133e-01 -5.43549492e-01  2.59064780e+02]
 [ 1.94982509e-01  9.69985429e-01 -1.45293116e-01 -6.07621670e+00]
 [ 5.62530436e-01  1.07539628e-02  8.26706635e-01  1.75026548e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.78327356
Centerline is valid?  [True, True]
Translation: X:259.11, Y:-6.06, Z:175.06
[[ 8.04976814e-01 -2.37853947e-01 -5.43541929e-01  2.59110657e+02]
 [ 1.88843101e-01  9.71195126e-01 -1.45321404e-01 -6.06133591e+00]
 [ 5.62450542e-01  1.43362171e-02  8.26706636e-01  1.75059316e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.84327356
Centerline is valid?  [True, True]
Translation: X:259.16, Y:-6.05, Z:175.09
[[ 8.07034145e-01 -2.30806140e-01 -5.43529590e-01  2.59157925e+02]
 [ 1.80312721e-01  9.72808101e-01 -1.45367542e-01 -6.04849525e+00]
 [ 5.62301709e-01  1.93112707e-02  8.26706636e-01  1.75092632e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.90327356
Centerline is valid?  [True, True]
Translation: X:259.21, Y:-6.04, Z:175.13
[[ 8.08353129e-01 -2.26159819e-01 -5.43522727e-01  2.59205789e+02]
 [ 1.74696391e-01  9.73828521e-01 -1.45393200e-01 -6.03659579e+00]
 [ 5.62180033e-01  2.25775892e-02  8.26706637e-01  1.75126182e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 395.96327356
Centerline is valid?  [True, True]
Translation: X:259.25, Y:-6.03, Z:175.16
[[ 8.10084379e-01 -2.19902102e-01 -5.43512984e-01  2.59252859e+02]
 [ 1.67136228e-01  9.75149070e-01 -1.45429612e-01 -6.02509628e+00]
 [ 5.61986458e-01  2.69695466e-02  8.26706637e-01  1.75159136e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.962840 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.976652 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.980635 with order 1
Centerline goodness : 0.965154 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.943579 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.934728 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.938155 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.972974 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 396.02327356
Centerline is valid?  [True, True]
Translation: X:259.30, Y:-6.01, Z:175.19
[[ 8.11855934e-01 -2.13299530e-01 -5.43500922e-01  2.59300724e+02]
 [ 1.59161466e-01  9.76475676e-01 -1.45474678e-01 -6.01227290e+00]
 [ 5.61745111e-01  3.16000771e-02  8.26706638e-01  1.75192841e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 396.08327356
Centerline is valid?  [True, True]
Translation: X:259.35, Y:-6.01, Z:175.23
[[ 8.13276251e-01 -2.07843979e-01 -5.43491140e-01  2.59349050e+02]
 [ 1.52577577e-01  9.77520623e-01 -1.45511215e-01 -6.00597353e+00]
 [ 5.61517428e-01  3.54162546e-02  8.26706639e-01  1.75225705e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 396.14327356
Centerline is valid?  [True, True]
Translation: X:259.40, Y:-6.00, Z:175.26
[[ 8.14100121e-01 -2.04624401e-01 -5.43479390e-01  2.59399097e+02]
 [ 1.48679403e-01  9.78114590e-01 -1.45555091e-01 -6.00230256e+00]
 [ 5.61369244e-01  3.76922260e-02  8.26706640e-01  1.75259234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 396.20327356
Centerline is valid?  [True, True]
Translation: X:259.45, Y:-5.99, Z:175.29
[[ 8.13767870e-01 -2.05960791e-01 -5.43472177e-01  2.59446308e+02]
 [ 1.50267261e-01  9.77867898e-01 -1.45582019e-01 -5.98973476e+00]
 [ 5.61428183e-01  3.68038945e-02  8.26706640e-01  1.75292471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 396.26327356
Centerline is valid?  [True, False]
Translation: X:259.45, Y:-6.00, Z:175.30
[[ 8.14394871e-01 -2.02940046e-01 -5.43669322e-01  2.59448416e+02]
 [ 1.46962683e-01  9.78443430e-01 -1.45087642e-01 -5.99640994e+00]
 [ 5.61393769e-01  3.82595292e-02  8.26663925e-01  1.75295196e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 396.32327356
Centerline is valid?  [False, False]
Translation: X:259.45, Y:-6.00, Z:175.30
[[ 8.15424206e-01 -1.98651284e-01 -5.43710431e-01  2.59451726e+02]
 [ 1.42271747e-01  9.79237317e-01 -1.44405771e-01 -6.00317670e+00]
 [ 5.61107935e-01  4.03973283e-02  8.26756277e-01  1.75297997e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 396.38327356
Centerline is valid?  [False, True]
Translation: X:259.46, Y:-6.01, Z:175.30
[[ 8.16222787e-01 -1.95049344e-01 -5.43816252e-01  2.59455167e+02]
 [ 1.39152342e-01  9.79947112e-01 -1.42619365e-01 -6.00635638e+00]
 [ 5.60728979e-01  4.07358705e-02  8.26996736e-01  1.75300101e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 396.44327355999997
Centerline is valid?  [True, True]
Translation: X:259.51, Y:-6.00, Z:175.33
[[ 8.17248894e-01 -1.96197568e-01 -5.41858616e-01  2.59506027e+02]
 [ 1.35817964e-01  9.79349447e-01 -1.49760281e-01 -5.99869495e+00]
 [ 5.60051539e-01  4.87972896e-02  8.27019406e-01  1.75331625e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 396.50327355999997
Centerline is valid?  [True, True]
Translation: X:259.55, Y:-5.99, Z:175.36
[[ 8.17265774e-01 -1.96159726e-01 -5.41846858e-01  2.59554906e+02]
 [ 1.35744647e-01  9.79353107e-01 -1.49802813e-01 -5.99267794e+00]
 [ 5.60044682e-01  4.88759016e-02  8.27019407e-01  1.75364720e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 396.56327355999997
Centerline is valid?  [True, True]
Translation: X:259.60, Y:-5.98, Z:175.40
[[ 8.17271709e-01 -1.96262687e-01 -5.41800620e-01  2.59602116e+02]
 [ 1.35758164e-01  9.79325662e-01 -1.49969890e-01 -5.98473626e+00]
 [ 5.60032744e-01  4.90122906e-02  8.27019420e-01  1.75397011e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 396.62327356
Centerline is valid?  [True, False]
Translation: X:259.60, Y:-5.99, Z:175.40
[[ 8.16957904e-01 -1.98044135e-01 -5.41625612e-01  2.59604164e+02]
 [ 1.37922452e-01  9.79027103e-01 -1.49944420e-01 -5.99142876e+00]
 [ 5.59961767e-01  4.77959470e-02  8.27138663e-01  1.75397745e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 396.68327356
Centerline is valid?  [False, True]
Translation: X:259.61, Y:-6.00, Z:175.40
[[ 8.15925401e-01 -2.00530861e-01 -5.42266645e-01  2.59607709e+02]
 [ 1.41186942e-01  9.78635366e-01 -1.49462595e-01 -5.99967302e+00]
 [ 5.60653179e-01  4.53893584e-02  8.26805792e-01  1.75397865e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 396.74327356
Centerline is valid?  [True, True]
Translation: X:259.66, Y:-5.99, Z:175.43
[[ 8.15105022e-01 -2.03519954e-01 -5.42386791e-01  2.59655879e+02]
 [ 1.45061738e-01  9.78135207e-01 -1.49025534e-01 -5.99324176e+00]
 [ 5.60857286e-01  4.27918911e-02  8.26805877e-01  1.75430838e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 396.80327356
Centerline is valid?  [True, True]
Translation: X:259.71, Y:-6.00, Z:175.46
[[ 8.14464765e-01 -2.06092623e-01 -5.42377155e-01  2.59708748e+02]
 [ 1.48126246e-01  9.77670473e-01 -1.49060599e-01 -6.00364283e+00]
 [ 5.60986419e-01  4.10643141e-02  8.26805878e-01  1.75463627e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 396.86327356
Centerline is valid?  [True, True]
Translation: X:259.75, Y:-5.98, Z:175.50
[[ 8.14169719e-01 -2.07280267e-01 -5.42367550e-01  2.59752601e+02]
 [ 1.49528834e-01  9.77451609e-01 -1.49095538e-01 -5.98082611e+00]
 [ 5.61042598e-01  4.02894848e-02  8.26805879e-01  1.75496489e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 396.92327356
Centerline is valid?  [True, True]
Translation: X:259.80, Y:-5.97, Z:175.53
[[ 8.13094952e-01 -2.11495842e-01 -5.42352384e-01  2.59801689e+02]
 [ 1.54554563e-01  9.76661128e-01 -1.49150691e-01 -5.97384873e+00]
 [ 5.61239242e-01  3.74506378e-02  8.26805880e-01  1.75529920e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 396.98327356
Centerline is valid?  [True, True]
Translation: X:259.85, Y:-5.97, Z:175.56
[[ 8.11714993e-01 -2.16752977e-01 -5.42343911e-01  2.59850085e+02]
 [ 1.60850829e-01  9.75639222e-01 -1.49181496e-01 -5.96787779e+00]
 [ 5.61467525e-01  3.38563891e-02  8.26805880e-01  1.75562726e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 397.04327356
Centerline is valid?  [True, True]
Translation: X:259.90, Y:-5.96, Z:175.60
[[ 8.11337280e-01 -2.18186215e-01 -5.42334392e-01  2.59898279e+02]
 [ 1.62550622e-01  9.75352169e-01 -1.49216093e-01 -5.95741458e+00]
 [ 5.61523920e-01  3.29077861e-02  8.26805881e-01  1.75596209e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 397.10327356
Centerline is valid?  [True, True]
Translation: X:259.95, Y:-5.95, Z:175.63
[[ 8.10776718e-01 -2.20293638e-01 -5.42320778e-01  2.59946356e+02]
 [ 1.65051428e-01  9.74924520e-01 -1.49265560e-01 -5.94819680e+00]
 [ 5.61604077e-01  3.15102223e-02  8.26805882e-01  1.75629381e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 397.16327356
Centerline is valid?  [True, True]
Translation: X:259.99, Y:-5.94, Z:175.66
[[ 8.10374206e-01 -2.21870589e-01 -5.42279530e-01  2.59994278e+02]
 [ 1.66847951e-01  9.74595728e-01 -1.49415289e-01 -5.93881417e+00]
 [ 5.61654171e-01  3.06040677e-02  8.26805892e-01  1.75662426e+02]
 [ 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 : 0.983619 with order 1
Centerline goodness : 0.964072 with order 1
Centerline goodness : 0.961862 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.985143 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.985308 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.971058 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 397.22327356
Centerline is valid?  [True, True]
Translation: X:260.04, Y:-5.93, Z:175.69
[[ 8.10114868e-01 -2.22846266e-01 -5.42266947e-01  2.60041610e+02]
 [ 1.67990954e-01  9.74392357e-01 -1.49460943e-01 -5.93081516e+00]
 [ 5.61687582e-01  2.99845899e-02  8.26805893e-01  1.75694890e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 397.28327356
Centerline is valid?  [True, True]
Translation: X:260.09, Y:-5.94, Z:175.73
[[ 8.09762070e-01 -2.24181019e-01 -5.42243728e-01  2.60093252e+02]
 [ 1.69540286e-01  9.74111052e-01 -1.49545142e-01 -5.93712119e+00]
 [ 5.61730791e-01  2.91638268e-02  8.26805896e-01  1.75727572e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 397.34327356
Centerline is valid?  [True, True]
Translation: X:260.14, Y:-5.91, Z:175.76
[[ 8.09620824e-01 -2.24717407e-01 -5.42232615e-01  2.60136621e+02]
 [ 1.70158654e-01  9.73997039e-01 -1.49585430e-01 -5.91400706e+00]
 [ 5.61747411e-01  2.88419069e-02  8.26805897e-01  1.75760172e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 397.40327356
Centerline is valid?  [True, True]
Translation: X:260.18, Y:-5.91, Z:175.79
[[ 8.09663015e-01 -2.24598694e-01 -5.42218801e-01  2.60183885e+02]
 [ 1.69982413e-01  9.74020123e-01 -1.49635488e-01 -5.90576399e+00]
 [ 5.61739958e-01  2.89866604e-02  8.26805898e-01  1.75792632e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 397.46327356
Centerline is valid?  [True, True]
Translation: X:260.23, Y:-5.90, Z:175.83
[[ 8.09855383e-01 -2.24026351e-01 -5.42168289e-01  2.60232248e+02]
 [ 1.69171867e-01  9.74133128e-01 -1.49818321e-01 -5.89543318e+00]
 [ 5.61707343e-01  2.96115518e-02  8.26805913e-01  1.75826113e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 397.52327356
Centerline is valid?  [True, True]
Translation: X:260.28, Y:-5.89, Z:175.86
[[ 8.10169516e-01 -2.22931656e-01 -5.42150193e-01  2.60280170e+02]
 [ 1.67811539e-01  9.74358322e-01 -1.49883781e-01 -5.88515346e+00]
 [ 5.61662392e-01  3.04522119e-02  8.26805915e-01  1.75859362e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 397.58327356
Centerline is valid?  [True, True]
Translation: X:260.33, Y:-5.87, Z:175.89
[[ 8.10490780e-01 -2.21868809e-01 -5.42106011e-01  2.60327309e+02]
 [ 1.66426943e-01  9.74571208e-01 -1.50043440e-01 -5.87278318e+00]
 [ 5.61610869e-01  3.13877784e-02  8.26805926e-01  1.75892423e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 397.64327356
Centerline is valid?  [True, True]
Translation: X:260.37, Y:-5.86, Z:175.93
[[ 8.10786625e-01 -2.20897309e-01 -5.42060355e-01  2.60374290e+02]
 [ 1.65149047e-01  9.74763191e-01 -1.50208232e-01 -5.86015257e+00]
 [ 5.61561075e-01  3.22660743e-02  8.26805938e-01  1.75925424e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 397.70327356
Centerline is valid?  [True, True]
Translation: X:260.42, Y:-5.85, Z:175.96
[[ 8.10972901e-01 -2.20238570e-01 -5.42049745e-01  2.60422022e+02]
 [ 1.64331624e-01  9.74895432e-01 -1.50246509e-01 -5.84858154e+00]
 [ 5.61531897e-01  3.27699329e-02  8.26805939e-01  1.75958797e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 397.76327356
Centerline is valid?  [True, True]
Translation: X:260.47, Y:-5.84, Z:175.99
[[ 8.10808714e-01 -2.20943225e-01 -5.42008599e-01  2.60469111e+02]
 [ 1.65079953e-01  9.74746124e-01 -1.50394823e-01 -5.83543719e+00]
 [ 5.61549498e-01  3.24666787e-02  8.26805948e-01  1.75991971e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 397.82327356
Centerline is valid?  [True, True]
Translation: X:260.52, Y:-5.82, Z:176.02
[[ 8.10396013e-01 -2.22475098e-01 -5.41999200e-01  2.60515423e+02]
 [ 1.66899162e-01  9.74431054e-01 -1.50428688e-01 -5.82199824e+00]
 [ 5.61607489e-01  3.14475970e-02  8.26805949e-01  1.76024756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 397.88327356
Centerline is valid?  [True, True]
Translation: X:260.56, Y:-5.81, Z:176.06
[[ 8.09828655e-01 -2.24568997e-01 -5.41983685e-01  2.60563155e+02]
 [ 1.69379945e-01  9.73994265e-01 -1.50484571e-01 -5.80963974e+00]
 [ 5.61683170e-01  3.00655512e-02  8.26805950e-01  1.76058261e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 397.94327355999997
Centerline is valid?  [True, True]
Translation: X:260.61, Y:-5.80, Z:176.09
[[ 8.08917465e-01 -2.27862402e-01 -5.41969796e-01  2.60610997e+02]
 [ 1.73308396e-01  9.73295198e-01 -1.50534575e-01 -5.79657697e+00]
 [ 5.61797770e-01  2.78421311e-02  8.26805951e-01  1.76091971e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 398.00327355999997
Centerline is valid?  [True, True]
Translation: X:260.66, Y:-5.79, Z:176.13
[[ 8.07653548e-01 -2.32333683e-01 -5.41956461e-01  2.60661643e+02]
 [ 1.78657676e-01  9.72320073e-01 -1.50582571e-01 -5.79407908e+00]
 [ 5.61940549e-01  2.47938659e-02  8.26805952e-01  1.76125596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 398.06327355999997
Centerline is valid?  [True, True]
Translation: X:260.71, Y:-5.77, Z:176.16
[[ 8.08122226e-01 -2.30790495e-01 -5.41917166e-01  2.60706264e+02]
 [ 1.76705498e-01  9.72654862e-01 -1.50723878e-01 -5.77161838e+00]
 [ 5.61884005e-01  2.60435730e-02  8.26805961e-01  1.76158852e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 398.12327356
Centerline is valid?  [True, True]
Translation: X:260.75, Y:-5.76, Z:176.19
[[ 8.08063572e-01 -2.31018012e-01 -5.41907688e-01  2.60753974e+02]
 [ 1.76956545e-01  9.72603939e-01 -1.50757948e-01 -5.75954821e+00]
 [ 5.61889354e-01  2.59278935e-02  8.26805962e-01  1.76192304e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 398.18327356
Centerline is valid?  [True, True]
Translation: X:260.80, Y:-5.75, Z:176.23
[[ 8.07225256e-01 -2.34024931e-01 -5.41866882e-01  2.60803003e+02]
 [ 1.80478254e-01  9.71933862e-01 -1.50904499e-01 -5.75233241e+00]
 [ 5.61974186e-01  2.40187337e-02  8.26805971e-01  1.76225668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 398.24327356
Centerline is valid?  [True, True]
Translation: X:260.85, Y:-5.74, Z:176.26
[[ 8.07950935e-01 -2.31598730e-01 -5.41827754e-01  2.60850613e+02]
 [ 1.77463527e-01  9.72467038e-01 -1.51044881e-01 -5.74265126e+00]
 [ 5.61891434e-01  2.58821884e-02  8.26805980e-01  1.76258553e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 398.30327356
Centerline is valid?  [True, True]
Translation: X:260.90, Y:-5.73, Z:176.29
[[ 8.07887976e-01 -2.31848650e-01 -5.41814748e-01  2.60897436e+02]
 [ 1.77733130e-01  9.72410554e-01 -1.51091523e-01 -5.72782542e+00]
 [ 5.61896745e-01  2.57665941e-02  8.26805981e-01  1.76291918e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 398.36327356
Centerline is valid?  [True, True]
Translation: X:260.94, Y:-5.71, Z:176.33
[[ 8.07597491e-01 -2.32952246e-01 -5.41774439e-01  2.60944248e+02]
 [ 1.78964881e-01  9.72162157e-01 -1.51235945e-01 -5.71277260e+00]
 [ 5.61923361e-01  2.51791714e-02  8.26805991e-01  1.76325260e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.994270 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.994346 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.987289 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 398.42327356
Centerline is valid?  [True, True]
Translation: X:260.99, Y:-5.70, Z:176.36
[[ 8.07125233e-01 -2.34688117e-01 -5.41729034e-01  2.60990223e+02]
 [ 1.80945848e-01  9.71770092e-01 -1.51398444e-01 -5.69714340e+00]
 [ 5.61967488e-01  2.41738849e-02  8.26806002e-01  1.76358149e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 398.48327356
Centerline is valid?  [True, True]
Translation: X:261.04, Y:-5.68, Z:176.39
[[ 8.06771035e-01 -2.36006335e-01 -5.41683955e-01  2.61037010e+02]
 [ 1.82425105e-01  9.71468359e-01 -1.51559585e-01 -5.68419893e+00]
 [ 5.61997846e-01  2.34571308e-02  8.26806014e-01  1.76391079e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 398.54327356
Centerline is valid?  [True, True]
Translation: X:261.08, Y:-5.67, Z:176.42
[[ 8.05380440e-01 -2.40811684e-01 -5.41638329e-01  2.61084526e+02]
 [ 1.88103829e-01  9.70359332e-01 -1.51722499e-01 -5.67147913e+00]
 [ 5.62120357e-01  2.03100892e-02  8.26806026e-01  1.76424445e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 398.60327356
Centerline is valid?  [True, True]
Translation: X:261.13, Y:-5.66, Z:176.46
[[ 8.04474199e-01 -2.43908789e-01 -5.41599266e-01  2.61131876e+02]
 [ 1.91742415e-01  9.69625098e-01 -1.51861834e-01 -5.65755804e+00]
 [ 5.62188677e-01  1.83213763e-02  8.26806034e-01  1.76457936e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 398.66327356
Centerline is valid?  [True, True]
Translation: X:261.18, Y:-5.64, Z:176.49
[[ 8.03779236e-01 -2.46218738e-01 -5.41585887e-01  2.61179044e+02]
 [ 1.94494883e-01  9.69069261e-01 -1.51909537e-01 -5.64468633e+00]
 [ 5.62237209e-01  1.67660475e-02  8.26806035e-01  1.76491170e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 398.72327356
Centerline is valid?  [True, True]
Translation: X:261.23, Y:-5.63, Z:176.52
[[ 8.02758496e-01 -2.49554004e-01 -5.41573260e-01  2.61225951e+02]
 [ 1.98486560e-01  9.68252500e-01 -1.51954539e-01 -5.63166763e+00]
 [ 5.62300527e-01  1.44877837e-02  8.26806036e-01  1.76524261e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 398.78327356
Centerline is valid?  [True, True]
Translation: X:261.27, Y:-5.62, Z:176.56
[[ 8.03376357e-01 -2.47656206e-01 -5.41528239e-01  2.61271498e+02]
 [ 1.96089836e-01  9.68715567e-01 -1.52114845e-01 -5.61580520e+00]
 [ 5.62259020e-01  1.60172864e-02  8.26806048e-01  1.76556916e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 398.84327356
Centerline is valid?  [True, True]
Translation: X:261.32, Y:-5.60, Z:176.59
[[ 8.04141088e-01 -2.45189651e-01 -5.41515601e-01  2.61319054e+02]
 [ 1.93085876e-01  9.69311731e-01 -1.52159824e-01 -5.60164982e+00]
 [ 5.62205439e-01  1.77989527e-02  8.26806049e-01  1.76590642e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 398.90327356
Centerline is valid?  [True, True]
Translation: X:261.37, Y:-5.59, Z:176.62
[[ 8.06888765e-01 -2.36065800e-01 -5.41482649e-01  2.61367438e+02]
 [ 1.82016070e-01  9.71432891e-01 -1.52277013e-01 -5.59217807e+00]
 [ 5.61961450e-01  2.43120673e-02  8.26806055e-01  1.76624004e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 398.96327356
Centerline is valid?  [True, True]
Translation: X:261.41, Y:-5.58, Z:176.66
[[ 8.06868611e-01 -2.36161166e-01 -5.41471096e-01  2.61413739e+02]
 [ 1.82103377e-01  9.71410089e-01 -1.52318084e-01 -5.57730262e+00]
 [ 5.61962102e-01  2.42969657e-02  8.26806056e-01  1.76657043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 399.02327356
Centerline is valid?  [True, True]
Translation: X:261.46, Y:-5.57, Z:176.69
[[ 8.10126845e-01 -2.24755465e-01 -5.41460502e-01  2.61461951e+02]
 [ 1.68356852e-01  9.73880742e-01 -1.52355737e-01 -5.56689377e+00]
 [ 5.61560740e-01  3.22688864e-02  8.26806056e-01  1.76690512e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 399.08327356
Centerline is valid?  [True, True]
Translation: X:261.51, Y:-5.55, Z:176.72
[[ 8.12863837e-01 -2.14743843e-01 -5.41421706e-01  2.61509163e+02]
 [ 1.56238013e-01  9.75876742e-01 -1.52493502e-01 -5.55290579e+00]
 [ 5.61107891e-01  3.93658017e-02  8.26806065e-01  1.76723927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 399.14327356
Centerline is valid?  [True, True]
Translation: X:261.56, Y:-5.54, Z:176.76
[[ 8.14984562e-01 -2.06582262e-01 -5.41409211e-01  2.61555696e+02]
 [ 1.46415541e-01  9.77391780e-01 -1.52537853e-01 -5.53567644e+00]
 [ 5.60680527e-01  4.50452728e-02  8.26806065e-01  1.76757550e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 399.20327356
Centerline is valid?  [True, True]
Translation: X:261.60, Y:-5.52, Z:176.79
[[ 8.14925829e-01 -2.06906028e-01 -5.41373983e-01  2.61602430e+02]
 [ 1.46721400e-01  9.77326405e-01 -1.52662795e-01 -5.52433022e+00]
 [ 5.60685941e-01  4.49777059e-02  8.26806072e-01  1.76790172e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 399.26327356
Centerline is valid?  [True, True]
Translation: X:261.65, Y:-5.51, Z:176.82
[[ 8.14027725e-01 -2.10453872e-01 -5.41357582e-01  2.61649498e+02]
 [ 1.50938803e-01  9.76674866e-01 -1.52720938e-01 -5.50876080e+00]
 [ 5.60871056e-01  4.26072121e-02  8.26806074e-01  1.76823831e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 399.32327356
Centerline is valid?  [True, True]
Translation: X:261.70, Y:-5.50, Z:176.86
[[ 8.14812809e-01 -2.07412625e-01 -5.41350246e-01  2.61697279e+02]
 [ 1.47273450e-01  9.77230221e-01 -1.52746936e-01 -5.49656188e+00]
 [ 5.60705464e-01  4.47336416e-02  8.26806074e-01  1.76857355e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 399.38327356
Centerline is valid?  [True, True]
Translation: X:261.74, Y:-5.48, Z:176.89
[[ 8.15191976e-01 -2.06006135e-01 -5.41316465e-01  2.61742873e+02]
 [ 1.45507875e-01  9.77475968e-01 -1.52866576e-01 -5.48329533e+00]
 [ 5.60615288e-01  4.58497975e-02  8.26806081e-01  1.76889588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 399.44327355999997
Centerline is valid?  [True, True]
Translation: X:261.79, Y:-5.47, Z:176.92
[[ 8.14158755e-01 -2.10126886e-01 -5.41287551e-01  2.61790087e+02]
 [ 1.50382660e-01  9.76721849e-01 -1.52968901e-01 -5.46904683e+00]
 [ 5.60830256e-01  4.31407079e-02  8.26806085e-01  1.76923074e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 399.50327355999997
Centerline is valid?  [True, True]
Translation: X:261.84, Y:-5.46, Z:176.96
[[ 8.14944558e-01 -2.07076975e-01 -5.41280421e-01  2.61838003e+02]
 [ 1.46707848e-01  9.77276626e-01 -1.52994127e-01 -5.45612904e+00]
 [ 5.60662265e-01  4.52716454e-02  8.26806086e-01  1.76956818e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 399.56327355999997
Centerline is valid?  [True, True]
Translation: X:261.89, Y:-5.44, Z:176.99
[[ 8.15446396e-01 -2.05143228e-01 -5.41260964e-01  2.61885751e+02]
 [ 1.44343862e-01  9.77617812e-01 -1.53062936e-01 -5.44337026e+00]
 [ 5.60546184e-01  4.66869214e-02  8.26806088e-01  1.76990398e+02]
 [ 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 : 0.986291 with order 1
Centerline goodness : 0.987480 with order 1
Centerline goodness : 0.982526 with order 1
Centerline goodness : 0.980695 with order 1
Centerline goodness : 0.984495 with order 1
Centerline goodness : 0.981796 with order 1
Centerline goodness : 0.974994 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.990381 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.984560 with order 1
Centerline goodness : 0.979272 with order 1
Centerline goodness : 0.980063 with order 1
Centerline goodness : 0.985147 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 399.62327356
Centerline is valid?  [True, True]
Translation: X:261.93, Y:-5.41, Z:177.02
[[ 8.14016347e-01 -2.10764513e-01 -5.41253828e-01  2.61927972e+02]
 [ 1.51068824e-01  9.76597268e-01 -1.53088165e-01 -5.41139177e+00]
 [ 5.60852563e-01  4.28496896e-02  8.26806088e-01  1.77023943e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 399.68327356
Centerline is valid?  [True, True]
Translation: X:261.98, Y:-5.41, Z:177.06
[[ 8.16703871e-01 -2.00128028e-01 -5.41242607e-01  2.61980170e+02]
 [ 1.38290547e-01  9.78482290e-01 -1.53127830e-01 -5.41377407e+00]
 [ 5.60241476e-01  5.02113552e-02  8.26806089e-01  1.77057649e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 399.74327356
Centerline is valid?  [True, True]
Translation: X:262.03, Y:-5.40, Z:177.09
[[ 8.18462837e-01 -1.92837153e-01 -5.41232313e-01  2.62027043e+02]
 [ 1.29535676e-01  9.79674045e-01 -1.53164205e-01 -5.39806016e+00]
 [ 5.59766999e-01  5.52503165e-02  8.26806089e-01  1.77091222e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 399.80327356
Centerline is valid?  [True, True]
Translation: X:262.07, Y:-5.38, Z:177.12
[[ 8.18713730e-01 -1.91801511e-01 -5.41220850e-01  2.62073155e+02]
 [ 1.28269641e-01  9.79834281e-01 -1.53204703e-01 -5.38277399e+00]
 [ 5.59691636e-01  5.60085891e-02  8.26806090e-01  1.77124215e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 399.86327356
Centerline is valid?  [True, True]
Translation: X:262.12, Y:-5.37, Z:177.16
[[ 8.19671573e-01 -1.87798447e-01 -5.41174885e-01  2.62119581e+02]
 [ 1.23374151e-01  9.80437354e-01 -1.53366925e-01 -5.36506864e+00]
 [ 5.59390143e-01  5.89435171e-02  8.26806102e-01  1.77157794e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 399.92327356
Centerline is valid?  [True, True]
Translation: X:262.16, Y:-5.35, Z:177.19
[[ 8.19596257e-01 -1.88173346e-01 -5.41158727e-01  2.62164972e+02]
 [ 1.23785400e-01  9.80376598e-01 -1.53423923e-01 -5.34874442e+00]
 [ 5.59409645e-01  5.87581240e-02  8.26806103e-01  1.77190499e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 399.98327356
Centerline is valid?  [True, True]
Translation: X:262.21, Y:-5.32, Z:177.22
[[ 8.18027139e-01 -1.94927728e-01 -5.41142108e-01  2.62207075e+02]
 [ 1.31829861e-01  9.79318132e-01 -1.53482520e-01 -5.31526040e+00]
 [ 5.59868277e-01  5.42141777e-02  8.26806105e-01  1.77224238e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 400.04327356
Centerline is valid?  [True, True]
Translation: X:262.25, Y:-5.30, Z:177.26
[[ 8.17793250e-01 -1.95933885e-01 -5.41132252e-01  2.62252829e+02]
 [ 1.33011714e-01  9.79152865e-01 -1.53517265e-01 -5.29920711e+00]
 [ 5.59930429e-01  5.35684546e-02  8.26806105e-01  1.77257145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 400.10327356
Centerline is valid?  [True, True]
Translation: X:262.30, Y:-5.28, Z:177.29
[[ 8.16742434e-01 -2.00292918e-01 -5.41123410e-01  2.62299775e+02]
 [ 1.38211811e-01  9.78427502e-01 -1.53548426e-01 -5.28392683e+00]
 [ 5.60204688e-01  5.06198687e-02  8.26806106e-01  1.77290691e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 400.16327356
Centerline is valid?  [True, True]
Translation: X:262.35, Y:-5.27, Z:177.32
[[ 8.16367726e-01 -2.01833175e-01 -5.41116535e-01  2.62347350e+02]
 [ 1.40041244e-01  9.78163530e-01 -1.53572648e-01 -5.27008892e+00]
 [ 5.60296516e-01  4.95931211e-02  8.26806106e-01  1.77324384e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 400.22327356
Centerline is valid?  [True, True]
Translation: X:262.39, Y:-5.26, Z:177.36
[[ 8.15542849e-01 -2.05170653e-01 -5.41105225e-01  2.62394794e+02]
 [ 1.44014795e-01  9.77580146e-01 -1.53612489e-01 -5.25569908e+00]
 [ 5.60490500e-01  4.73504093e-02  8.26806107e-01  1.77358086e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 400.28327356
Centerline is valid?  [True, True]
Translation: X:262.45, Y:-5.26, Z:177.39
[[ 8.14215460e-01 -2.10436940e-01 -5.41081768e-01  2.62446546e+02]
 [ 1.50275023e-01  9.76624411e-01 -1.53695080e-01 -5.25663833e+00]
 [ 5.60776785e-01  4.38298357e-02  8.26806110e-01  1.77391735e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 400.34327356
Centerline is valid?  [True, True]
Translation: X:262.49, Y:-5.24, Z:177.43
[[ 8.13857559e-01 -2.11844646e-01 -5.41070901e-01  2.62493202e+02]
 [ 1.51938404e-01  9.76360991e-01 -1.53733327e-01 -5.24147075e+00]
 [ 5.60848104e-01  4.29075811e-02  8.26806110e-01  1.77425066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 400.40327356
Centerline is valid?  [True, True]
Translation: X:262.54, Y:-5.23, Z:177.46
[[ 8.13695456e-01 -2.12520464e-01 -5.41049681e-01  2.62540263e+02]
 [ 1.52699864e-01  9.76230432e-01 -1.53807980e-01 -5.22758456e+00]
 [ 5.60876507e-01  4.25346420e-02  8.26806113e-01  1.77458404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 400.46327356
Centerline is valid?  [True, True]
Translation: X:262.59, Y:-5.21, Z:177.49
[[ 8.13486933e-01 -2.13436414e-01 -5.41002686e-01  2.62585172e+02]
 [ 1.53689664e-01  9.76049057e-01 -1.53973131e-01 -5.20887217e+00]
 [ 5.60908635e-01  4.21086088e-02  8.26806125e-01  1.77491183e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 400.52327356
Centerline is valid?  [True, True]
Translation: X:262.63, Y:-5.19, Z:177.52
[[ 8.13508873e-01 -2.13377926e-01 -5.40992768e-01  2.62631232e+02]
 [ 1.53596458e-01  9.76058232e-01 -1.54007973e-01 -5.19193020e+00]
 [ 5.60902346e-01  4.21922799e-02  8.26806126e-01  1.77524457e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 400.58327356
Centerline is valid?  [True, True]
Translation: X:262.68, Y:-5.17, Z:177.56
[[ 8.13423822e-01 -2.13732252e-01 -5.40980786e-01  2.62677276e+02]
 [ 1.53993774e-01  9.75988985e-01 -1.54050054e-01 -5.17465961e+00]
 [ 5.60916753e-01  4.20003102e-02  8.26806126e-01  1.77557779e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 400.64327356
Centerline is valid?  [True, True]
Translation: X:262.72, Y:-5.16, Z:177.59
[[ 8.13736377e-01 -2.12648137e-01 -5.40937963e-01  2.62722530e+02]
 [ 1.52593829e-01  9.76185121e-01 -1.54200302e-01 -5.15602165e+00]
 [ 5.60845997e-01  4.29346003e-02  8.26806137e-01  1.77590782e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 400.70327356
Centerline is valid?  [True, True]
Translation: X:262.77, Y:-5.13, Z:177.62
[[ 8.12893149e-01 -2.15871033e-01 -5.40929223e-01  2.62765729e+02]
 [ 1.56440645e-01  9.75571185e-01 -1.54230954e-01 -5.12777765e+00]
 [ 5.61008959e-01  4.07499691e-02  8.26806137e-01  1.77624297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 400.76327356
Centerline is valid?  [True, True]
Translation: X:262.81, Y:-5.11, Z:177.66
[[ 8.12350650e-01 -2.17920032e-01 -5.40922620e-01  2.62811508e+02]
 [ 1.58884684e-01  9.75172460e-01 -1.54254112e-01 -5.11091495e+00]
 [ 5.61107903e-01  3.93641086e-02  8.26806137e-01  1.77657381e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.997719 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.963861 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.957067 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.968668 with order 1
Centerline goodness : 0.978829 with order 1
SLAMing on frame at distance 400.82327356
Centerline is valid?  [True, True]
Translation: X:262.86, Y:-5.09, Z:177.69
[[ 8.12035089e-01 -2.19115077e-01 -5.40913669e-01  2.62857779e+02]
 [ 1.60298568e-01  9.74936078e-01 -1.54285494e-01 -5.09159276e+00]
 [ 5.61162529e-01  3.85775481e-02  8.26806138e-01  1.77691242e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 400.88327355999996
Centerline is valid?  [True, True]
Translation: X:262.90, Y:-5.08, Z:177.72
[[ 8.11834213e-01 -2.19902523e-01 -5.40895637e-01  2.62904217e+02]
 [ 1.61202133e-01  9.74777080e-01 -1.54348688e-01 -5.07864603e+00]
 [ 5.61194335e-01  3.81120152e-02  8.26806139e-01  1.77724008e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 400.94327355999997
Centerline is valid?  [True, True]
Translation: X:262.95, Y:-5.07, Z:177.76
[[ 8.10991626e-01 -2.23120468e-01 -5.40841787e-01  2.62952677e+02]
 [ 1.64941600e-01  9.74121412e-01 -1.54537188e-01 -5.06798716e+00]
 [ 5.61325976e-01  3.61210562e-02  8.26806155e-01  1.77757605e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.00327355999997
Centerline is valid?  [True, True]
Translation: X:263.00, Y:-5.04, Z:177.79
[[ 8.10343893e-01 -2.25477522e-01 -5.40835152e-01  2.62995326e+02]
 [ 1.67757773e-01  9.73636693e-01 -1.54560408e-01 -5.04493742e+00]
 [ 5.61426846e-01  3.45177823e-02  8.26806156e-01  1.77789800e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.06327355999997
Centerline is valid?  [True, True]
Translation: X:263.04, Y:-5.03, Z:177.82
[[ 8.09589915e-01 -2.28217879e-01 -5.40814913e-01  2.63041308e+02]
 [ 1.71003814e-01  9.73060578e-01 -1.54631199e-01 -5.02618964e+00]
 [ 5.61535276e-01  3.27064466e-02  8.26806158e-01  1.77823349e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.12327356
Centerline is valid?  [True, True]
Translation: X:263.09, Y:-5.01, Z:177.86
[[ 8.08569695e-01 -2.31824429e-01 -5.40807250e-01  2.63088857e+02]
 [ 1.75321751e-01  9.72287606e-01 -1.54657993e-01 -5.01201397e+00]
 [ 5.61673688e-01  3.02364926e-02  8.26806158e-01  1.77857089e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.18327356
Centerline is valid?  [True, True]
Translation: X:263.13, Y:-5.00, Z:177.89
[[ 8.07952393e-01 -2.34055592e-01 -5.40768814e-01  2.63134523e+02]
 [ 1.77915435e-01  9.71794960e-01 -1.54792290e-01 -4.99650249e+00]
 [ 5.61746410e-01  2.88536821e-02  8.26806166e-01  1.77889796e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.24327356
Centerline is valid?  [True, True]
Translation: X:263.18, Y:-4.98, Z:177.92
[[ 8.07385658e-01 -2.36034969e-01 -5.40754928e-01  2.63180641e+02]
 [ 1.80264118e-01  9.71354301e-01 -1.54840788e-01 -4.97976948e+00]
 [ 5.61812466e-01  2.75375211e-02  8.26806167e-01  1.77923069e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.30327356
Centerline is valid?  [True, True]
Translation: X:263.23, Y:-4.97, Z:177.96
[[ 8.06249644e-01 -2.39992015e-01 -5.40708188e-01  2.63228217e+02]
 [ 1.84916890e-01  9.70453268e-01 -1.55003864e-01 -4.96565579e+00]
 [ 5.61931718e-01  2.49857336e-02  8.26806179e-01  1.77956751e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.36327356
Centerline is valid?  [True, True]
Translation: X:263.27, Y:-4.95, Z:177.99
[[ 8.06187709e-01 -2.40225738e-01 -5.40696747e-01  2.63274914e+02]
 [ 1.85171514e-01  9.70398342e-01 -1.55043764e-01 -4.95240624e+00]
 [ 5.61936729e-01  2.48727413e-02  8.26806180e-01  1.77989754e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.42327356
Centerline is valid?  [True, True]
Translation: X:263.32, Y:-4.94, Z:178.02
[[ 8.07096306e-01 -2.37260780e-01 -5.40650419e-01  2.63321755e+02]
 [ 1.81495473e-01  9.71066809e-01 -1.55205175e-01 -4.93618314e+00]
 [ 5.61831778e-01  2.71399194e-02  8.26806191e-01  1.78023352e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.48327356
Centerline is valid?  [True, True]
Translation: X:263.37, Y:-4.92, Z:178.06
[[ 8.07250023e-01 -2.36777867e-01 -5.40632632e-01  2.63367874e+02]
 [ 1.80873095e-01  9.71173026e-01 -1.55267112e-01 -4.92273285e+00]
 [ 5.61811645e-01  2.75534822e-02  8.26806193e-01  1.78056005e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.54327356
Centerline is valid?  [True, True]
Translation: X:263.42, Y:-4.91, Z:178.09
[[ 8.07615713e-01 -2.35557786e-01 -5.40619450e-01  2.63415685e+02]
 [ 1.79374747e-01  9.71443551e-01 -1.55312998e-01 -4.90940333e+00]
 [ 5.61766464e-01  2.84597402e-02  8.26806194e-01  1.78089749e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.60327356
Centerline is valid?  [True, True]
Translation: X:263.46, Y:-4.90, Z:178.12
[[ 8.08210387e-01 -2.33554897e-01 -5.40599742e-01  2.63461672e+02]
 [ 1.76920155e-01  9.71882619e-01 -1.55381572e-01 -4.89743397e+00]
 [ 5.61689620e-01  2.99380096e-02  8.26806196e-01  1.78122035e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.66327356
Centerline is valid?  [True, True]
Translation: X:263.51, Y:-4.89, Z:178.16
[[ 8.09596175e-01 -2.28742906e-01 -5.40583681e-01  2.63509732e+02]
 [ 1.71098360e-01  9.72915493e-01 -1.55437433e-01 -4.88598682e+00]
 [ 5.61497448e-01  3.33485701e-02  8.26806198e-01  1.78155583e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.72327356
Centerline is valid?  [True, True]
Translation: X:263.56, Y:-4.88, Z:178.19
[[ 8.10069228e-01 -2.27090470e-01 -5.40571701e-01  2.63557589e+02]
 [ 1.69085112e-01  9.73260745e-01 -1.55479087e-01 -4.87591700e+00]
 [ 5.61425036e-01  3.45461975e-02  8.26806198e-01  1.78188746e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.78327356
Centerline is valid?  [True, True]
Translation: X:263.60, Y:-4.86, Z:178.22
[[ 8.10211228e-01 -2.26687353e-01 -5.40528085e-01  2.63604629e+02]
 [ 1.68500136e-01  9.73337979e-01 -1.55630597e-01 -4.86394485e+00]
 [ 5.61396002e-01  3.50146014e-02  8.26806209e-01  1.78221679e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.84327356
Centerline is valid?  [True, True]
Translation: X:263.66, Y:-4.86, Z:178.26
[[ 8.10509550e-01 -2.25732121e-01 -5.40480600e-01  2.63655899e+02]
 [ 1.67243255e-01  9.73528376e-01 -1.55795361e-01 -4.86331635e+00]
 [ 5.61341218e-01  3.58818931e-02  8.26806221e-01  1.78255233e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.90327356
Centerline is valid?  [True, True]
Translation: X:263.70, Y:-4.85, Z:178.29
[[ 8.09904516e-01 -2.27984004e-01 -5.40442383e-01  2.63704379e+02]
 [ 1.69860415e-01  9.73053929e-01 -1.55927840e-01 -4.85284307e+00]
 [ 5.61428637e-01  3.44868943e-02  8.26806229e-01  1.78288831e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 401.96327356
Centerline is valid?  [True, True]
Translation: X:263.75, Y:-4.84, Z:178.32
[[ 8.10461360e-01 -2.26083375e-01 -5.40406043e-01  2.63753142e+02]
 [ 1.67493649e-01  9.73443948e-01 -1.56053700e-01 -4.84357973e+00]
 [ 5.61336139e-01  3.59609137e-02  8.26806236e-01  1.78322388e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.999779 with order 1
Centerline goodness : 0.980009 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.969661 with order 1
Centerline goodness : 0.985480 with order 1
Centerline goodness : 0.971416 with order 1
Centerline goodness : 0.984601 with order 1
Centerline goodness : 0.975127 with order 1
Centerline goodness : 0.982947 with order 1
Centerline goodness : 0.994985 with order 1
Centerline goodness : 0.966291 with order 1
Centerline goodness : 0.989971 with order 1
Centerline goodness : 0.994399 with order 1
Centerline goodness : 0.976441 with order 1
Centerline goodness : 0.974607 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.991648 with order 1
Centerline goodness : 0.975215 with order 1
Centerline goodness : 0.997254 with order 1
SLAMing on frame at distance 402.02327356
Centerline is valid?  [True, True]
Translation: X:263.80, Y:-4.83, Z:178.36
[[ 8.10987824e-01 -2.24233940e-01 -5.40386796e-01  2.63800959e+02]
 [ 1.65228381e-01  9.73820325e-01 -1.56120326e-01 -4.83263286e+00]
 [ 5.61247121e-01  3.73244479e-02  8.26806238e-01  1.78355673e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 402.08327356
Centerline is valid?  [True, True]
Translation: X:263.85, Y:-4.82, Z:178.39
[[ 8.11986422e-01 -2.20614619e-01 -5.40376943e-01  2.63849654e+02]
 [ 1.60860830e-01  9.74545838e-01 -1.56154421e-01 -4.82294309e+00]
 [ 5.61072049e-01  3.98697861e-02  8.26806238e-01  1.78389312e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 402.14327356
Centerline is valid?  [True, True]
Translation: X:263.90, Y:-4.81, Z:178.42
[[ 8.12240363e-01 -2.19770308e-01 -5.40339342e-01  2.63897812e+02]
 [ 1.59761531e-01  9.74705815e-01 -1.56284444e-01 -4.81426274e+00]
 [ 5.61018579e-01  4.06150930e-02  8.26806246e-01  1.78422357e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 402.20327356
Centerline is valid?  [True, True]
Translation: X:263.95, Y:-4.80, Z:178.46
[[ 8.12928820e-01 -2.17232935e-01 -5.40330071e-01  2.63945864e+02]
 [ 1.56695965e-01  9.75198200e-01 -1.56316492e-01 -4.80289226e+00]
 [ 5.60886003e-01  4.24066400e-02  8.26806246e-01  1.78455893e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 402.26327356
Centerline is valid?  [True, True]
Translation: X:263.99, Y:-4.79, Z:178.49
[[ 8.13567108e-01 -2.14860827e-01 -5.40317856e-01  2.63994518e+02]
 [ 1.53822953e-01  9.75648735e-01 -1.56358704e-01 -4.79416119e+00]
 [ 5.60755793e-01  4.40950103e-02  8.26806247e-01  1.78489317e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 402.32327356
Centerline is valid?  [True, True]
Translation: X:264.04, Y:-4.79, Z:178.52
[[ 8.14266910e-01 -2.12282058e-01 -5.40283007e-01  2.64043575e+02]
 [ 1.50651679e-01  9.76124162e-01 -1.56479046e-01 -4.78500105e+00]
 [ 5.60600991e-01  4.60211668e-02  8.26806254e-01  1.78523043e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 402.38327355999996
Centerline is valid?  [True, True]
Translation: X:264.09, Y:-4.77, Z:178.56
[[ 8.14486296e-01 -2.11522409e-01 -5.40250261e-01  2.64089613e+02]
 [ 1.49666684e-01  9.76257558e-01 -1.56592033e-01 -4.77297098e+00]
 [ 5.60546124e-01  4.66845999e-02  8.26806259e-01  1.78555342e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 402.44327355999997
Centerline is valid?  [True, True]
Translation: X:264.14, Y:-4.76, Z:178.59
[[ 8.14837045e-01 -2.10209388e-01 -5.40233841e-01  2.64136437e+02]
 [ 1.48055753e-01  9.76494081e-01 -1.56648666e-01 -4.75776658e+00]
 [ 5.60464168e-01  4.76584082e-02  8.26806261e-01  1.78588787e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 402.50327355999997
Centerline is valid?  [True, True]
Translation: X:264.18, Y:-4.75, Z:178.62
[[ 8.15852743e-01 -2.06250723e-01 -5.40226749e-01  2.64183982e+02]
 [ 1.43296894e-01  9.77199843e-01 -1.56673119e-01 -4.74802864e+00]
 [ 5.60223439e-01  5.04093785e-02  8.26806261e-01  1.78621684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 402.56327355999997
Centerline is valid?  [True, True]
Translation: X:264.23, Y:-4.73, Z:178.66
[[ 8.15591510e-01 -2.07312724e-01 -5.40214701e-01  2.64231658e+02]
 [ 1.44541733e-01  9.77009829e-01 -1.56714651e-01 -4.73493041e+00]
 [ 5.60284014e-01  4.97315698e-02  8.26806262e-01  1.78655294e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 402.62327356
Centerline is valid?  [True, True]
Translation: X:264.28, Y:-4.72, Z:178.69
[[ 8.15100963e-01 -2.09336353e-01 -5.40174705e-01  2.64278598e+02]
 [ 1.46875623e-01  9.76639581e-01 -1.56852414e-01 -4.72244706e+00]
 [ 5.60390910e-01  4.85120573e-02  8.26806270e-01  1.78688254e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 402.68327356
Centerline is valid?  [True, True]
Translation: X:264.33, Y:-4.71, Z:178.72
[[ 8.14805200e-01 -2.10604057e-01 -5.40128148e-01  2.64326392e+02]
 [ 1.48289330e-01  9.76400184e-01 -1.57012597e-01 -4.70926433e+00]
 [ 5.60448713e-01  4.78394393e-02  8.26806282e-01  1.78721892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 402.74327356
Centerline is valid?  [True, True]
Translation: X:264.38, Y:-4.70, Z:178.76
[[ 8.13976697e-01 -2.13885114e-01 -5.40088043e-01  2.64375018e+02]
 [ 1.52131124e-01  9.75786789e-01 -1.57150450e-01 -4.69930033e+00]
 [ 5.60622919e-01  4.57526030e-02  8.26806290e-01  1.78755474e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 402.80327356
Centerline is valid?  [True, True]
Translation: X:264.42, Y:-4.69, Z:178.79
[[ 8.13054143e-01 -2.17384121e-01 -5.40080646e-01  2.64422415e+02]
 [ 1.56309886e-01  9.75122026e-01 -1.57175868e-01 -4.68721935e+00]
 [ 5.60812072e-01  4.33725459e-02  8.26806291e-01  1.78788717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 402.86327356
Centerline is valid?  [True, True]
Translation: X:264.47, Y:-4.68, Z:178.82
[[ 8.12343523e-01 -2.20042650e-01 -5.40073359e-01  2.64470917e+02]
 [ 1.59482358e-01  9.74604152e-01 -1.57200902e-01 -4.67707021e+00]
 [ 5.60948642e-01  4.15689618e-02  8.26806291e-01  1.78822314e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 402.92327356
Centerline is valid?  [True, True]
Translation: X:264.52, Y:-4.67, Z:178.86
[[ 8.10858412e-01 -2.25471267e-01 -5.40066054e-01  2.64519818e+02]
 [ 1.65981014e-01  9.73514401e-01 -1.57225996e-01 -4.66875766e+00]
 [ 5.61212026e-01  3.78473103e-02  8.26806291e-01  1.78855823e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 402.98327356
Centerline is valid?  [True, True]
Translation: X:264.56, Y:-4.65, Z:178.89
[[ 8.09891860e-01 -2.28944562e-01 -5.40055149e-01  2.64564991e+02]
 [ 1.70127138e-01  9.72792354e-01 -1.57263449e-01 -4.64808458e+00]
 [ 5.61366131e-01  3.54883501e-02  8.26806292e-01  1.78889240e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 403.04327356
Centerline is valid?  [True, True]
Translation: X:264.62, Y:-4.65, Z:178.92
[[ 8.09111828e-01 -2.31713226e-01 -5.40043545e-01  2.64616264e+02]
 [ 1.73426813e-01  9.72203074e-01 -1.57303287e-01 -4.65026624e+00]
 [ 5.61481246e-01  3.36179197e-02  8.26806293e-01  1.78922292e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 403.10327356
Centerline is valid?  [True, True]
Translation: X:264.66, Y:-4.64, Z:178.95
[[ 8.09302179e-01 -2.31071347e-01 -5.40033346e-01  2.64663122e+02]
 [ 1.72632319e-01  9.72338801e-01 -1.57338293e-01 -4.64027094e+00]
 [ 5.61451748e-01  3.41070147e-02  8.26806293e-01  1.78954780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 403.16327356
Centerline is valid?  [True, True]
Translation: X:264.71, Y:-4.63, Z:178.99
[[ 8.10075144e-01 -2.28478217e-01 -5.39977745e-01  2.64710304e+02]
 [ 1.69390820e-01  9.72877890e-01 -1.57528923e-01 -4.62858917e+00]
 [ 5.61324337e-01  3.61429923e-02  8.26806309e-01  1.78987708e+02]
 [ 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 : 0.997789 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.998807 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 403.22327356
Centerline is valid?  [True, True]
Translation: X:264.76, Y:-4.62, Z:179.02
[[ 8.10382524e-01 -2.27413610e-01 -5.39965938e-01  2.64758712e+02]
 [ 1.68085511e-01  9.73097708e-01 -1.57569386e-01 -4.61745489e+00]
 [ 5.61273039e-01  3.69310256e-02  8.26806310e-01  1.79021420e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 403.28327356
Centerline is valid?  [True, True]
Translation: X:264.81, Y:-4.60, Z:179.05
[[ 8.11295206e-01 -2.24181346e-01 -5.39947046e-01  2.64805554e+02]
 [ 1.64162238e-01  9.73756771e-01 -1.57634101e-01 -4.60430260e+00]
 [ 5.61115717e-01  3.92488752e-02  8.26806312e-01  1.79054480e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 403.34327356
Centerline is valid?  [True, True]
Translation: X:264.85, Y:-4.59, Z:179.09
[[ 8.12048076e-01 -2.21469569e-01 -5.39934395e-01  2.64853509e+02]
 [ 1.60879376e-01  9.74297520e-01 -1.57677423e-01 -4.59366275e+00]
 [ 5.60977493e-01  4.11773388e-02  8.26806313e-01  1.79087800e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 403.40327356
Centerline is valid?  [True, True]
Translation: X:264.90, Y:-4.58, Z:179.12
[[ 8.12414906e-01 -2.20232846e-01 -5.39888428e-01  2.64901581e+02]
 [ 1.59291795e-01  9.74532881e-01 -1.57834687e-01 -4.58120992e+00]
 [ 5.60899407e-01  4.22274561e-02  8.26806324e-01  1.79121473e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 403.46327356
Centerline is valid?  [True, True]
Translation: X:264.95, Y:-4.57, Z:179.15
[[ 8.12258867e-01 -2.20899665e-01 -5.39850785e-01  2.64947840e+02]
 [ 1.60006711e-01  9.74394906e-01 -1.57963350e-01 -4.56721051e+00]
 [ 5.60921906e-01  4.19273835e-02  8.26806331e-01  1.79154275e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 403.52327356
Centerline is valid?  [True, True]
Translation: X:265.00, Y:-4.56, Z:179.19
[[ 8.12476341e-01 -2.20213944e-01 -5.39803681e-01  2.64995685e+02]
 [ 1.59077950e-01  9.74520881e-01 -1.58124184e-01 -4.55718719e+00]
 [ 5.60871109e-01  4.26012959e-02  8.26806343e-01  1.79187332e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 403.58327356
Centerline is valid?  [True, True]
Translation: X:265.04, Y:-4.55, Z:179.22
[[ 8.12445156e-01 -2.20444328e-01 -5.39756581e-01  2.65043316e+02]
 [ 1.59248221e-01  9.74466992e-01 -1.58284823e-01 -4.54638071e+00]
 [ 5.60867963e-01  4.26424628e-02  8.26806355e-01  1.79220399e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 403.64327356
Centerline is valid?  [True, True]
Translation: X:265.09, Y:-4.54, Z:179.25
[[ 8.11686630e-01 -2.23250410e-01 -5.39744448e-01  2.65091665e+02]
 [ 1.62587185e-01  9.73908736e-01 -1.58326187e-01 -4.53691648e+00]
 [ 5.61008219e-01  4.07557181e-02  8.26806355e-01  1.79253749e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 403.70327356
Centerline is valid?  [True, True]
Translation: X:265.14, Y:-4.52, Z:179.29
[[ 8.11285786e-01 -2.24810107e-01 -5.39699722e-01  2.65139385e+02]
 [ 1.64357997e-01  9.73586671e-01 -1.58478527e-01 -4.52349968e+00]
 [ 5.61072030e-01  3.98674111e-02  8.26806366e-01  1.79287376e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 403.76327356
Centerline is valid?  [True, True]
Translation: X:265.19, Y:-4.51, Z:179.32
[[ 8.10194108e-01 -2.28742568e-01 -5.39687266e-01  2.65187077e+02]
 [ 1.69050288e-01  9.72775983e-01 -1.58520935e-01 -4.51246717e+00]
 [ 5.61255297e-01  3.71984397e-02  8.26806367e-01  1.79320596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 403.82327356
Centerline is valid?  [True, True]
Translation: X:265.23, Y:-4.50, Z:179.35
[[ 8.10501230e-01 -2.27676769e-01 -5.39676796e-01  2.65234556e+02]
 [ 1.67747092e-01  9.72995748e-01 -1.58556574e-01 -4.50277275e+00]
 [ 5.61202876e-01  3.79810852e-02  8.26806367e-01  1.79353424e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 403.88327355999996
Centerline is valid?  [True, True]
Translation: X:265.28, Y:-4.49, Z:179.39
[[ 8.08999544e-01 -2.33014690e-01 -5.39651639e-01  2.65282396e+02]
 [ 1.74100627e-01  9.71865030e-01 -1.58642158e-01 -4.48999438e+00]
 [ 5.61434510e-01  3.43877449e-02  8.26806370e-01  1.79387047e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 403.94327355999997
Centerline is valid?  [True, True]
Translation: X:265.33, Y:-4.48, Z:179.42
[[ 8.07959132e-01 -2.36688965e-01 -5.39611318e-01  2.65328589e+02]
 [ 1.78424472e-01  9.71058119e-01 -1.58779210e-01 -4.47666273e+00]
 [ 5.61575238e-01  3.20072478e-02  8.26806379e-01  1.79419670e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 404.00327355999997
Centerline is valid?  [True, True]
Translation: X:265.38, Y:-4.47, Z:179.45
[[ 8.06506836e-01 -2.41625002e-01 -5.39596222e-01  2.65377603e+02]
 [ 1.84324688e-01  9.69947051e-01 -1.58830499e-01 -4.46903129e+00]
 [ 5.61757184e-01  2.86369778e-02  8.26806380e-01  1.79453091e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 404.06327355999997
Centerline is valid?  [True, True]
Translation: X:265.42, Y:-4.46, Z:179.49
[[ 8.05959643e-01 -2.43470244e-01 -5.39584372e-01  2.65424771e+02]
 [ 1.86517274e-01  9.69521218e-01 -1.58870748e-01 -4.45924163e+00]
 [ 5.61818797e-01  2.74016055e-02  8.26806381e-01  1.79485730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 404.12327356
Centerline is valid?  [True, True]
Translation: X:265.47, Y:-4.45, Z:179.52
[[ 8.03562059e-01 -2.51306618e-01 -5.39567420e-01  2.65471762e+02]
 [ 1.95910422e-01  9.67657430e-01 -1.58928302e-01 -4.44650566e+00]
 [ 5.62056157e-01  2.20018725e-02  8.26806382e-01  1.79518807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 404.18327356
Centerline is valid?  [True, True]
Translation: X:265.52, Y:-4.44, Z:179.55
[[ 8.01596193e-01 -2.57532442e-01 -5.39555915e-01  2.65520104e+02]
 [ 2.03384573e-01  9.66107704e-01 -1.58967355e-01 -4.43569823e+00]
 [ 5.62208377e-01  1.76902773e-02  8.26806383e-01  1.79552407e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 404.24327356
Centerline is valid?  [True, True]
Translation: X:265.57, Y:-4.42, Z:179.59
[[ 7.99613028e-01 -2.63711283e-01 -5.39514008e-01  2.65566211e+02]
 [ 2.10738847e-01  9.64506772e-01 -1.59109475e-01 -4.41868476e+00]
 [ 5.62323878e-01  1.35294487e-02  8.26806392e-01  1.79585675e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 404.30327356
Centerline is valid?  [True, True]
Translation: X:265.61, Y:-4.41, Z:179.62
[[ 7.99490075e-01 -2.64103253e-01 -5.39504486e-01  2.65613734e+02]
 [ 2.11189891e-01  9.64402785e-01 -1.59141756e-01 -4.40825834e+00]
 [ 5.62329485e-01  1.32943608e-02  8.26806393e-01  1.79618672e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 404.36327356
Centerline is valid?  [True, True]
Translation: X:265.66, Y:-4.39, Z:179.65
[[ 7.99075735e-01 -2.65374249e-01 -5.39494650e-01  2.65659073e+02]
 [ 2.12700696e-01  9.64065196e-01 -1.59175095e-01 -4.39143307e+00]
 [ 5.62348987e-01  1.24420686e-02  8.26806393e-01  1.79651473e+02]
 [ 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 : 0.987544 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.999767 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 404.42327356
Centerline is valid?  [True, True]
Translation: X:265.71, Y:-4.38, Z:179.68
[[ 8.00660651e-01 -2.60577303e-01 -5.39483077e-01  2.65705720e+02]
 [ 2.06888830e-01  9.65322648e-01 -1.59214311e-01 -4.37532619e+00]
 [ 5.62262868e-01  1.58636110e-02  8.26806394e-01  1.79684986e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 404.48327356
Centerline is valid?  [True, True]
Translation: X:265.75, Y:-4.36, Z:179.72
[[ 8.02426804e-01 -2.55116585e-01 -5.39468955e-01  2.65751918e+02]
 [ 2.00275443e-01  9.66708495e-01 -1.59262151e-01 -4.36151092e+00]
 [ 5.62139637e-01  1.97538346e-02  8.26806395e-01  1.79717760e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 404.54327356
Centerline is valid?  [True, True]
Translation: X:265.80, Y:-4.34, Z:179.75
[[ 8.05307733e-01 -2.45899991e-01 -5.39455883e-01  2.65797928e+02]
 [ 1.89149380e-01  9.68939615e-01 -1.59306418e-01 -4.34392394e+00]
 [ 5.61873622e-01  2.62529448e-02  8.26806396e-01  1.79751140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 404.60327356
Centerline is valid?  [True, True]
Translation: X:265.85, Y:-4.33, Z:179.78
[[ 8.06173993e-01 -2.43138350e-01 -5.39413790e-01  2.65845026e+02]
 [ 1.85732185e-01  9.69577033e-01 -1.59448840e-01 -4.32888799e+00]
 [ 5.61771350e-01  2.83570065e-02  8.26806405e-01  1.79784677e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 404.66327356
Centerline is valid?  [True, True]
Translation: X:265.89, Y:-4.31, Z:179.82
[[ 8.07506140e-01 -2.38711868e-01 -5.39398256e-01  2.65892142e+02]
 [ 1.80375134e-01  9.70579272e-01 -1.59501374e-01 -4.31368661e+00]
 [ 5.61603638e-01  3.15043061e-02  8.26806406e-01  1.79818314e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 404.72327356
Centerline is valid?  [True, True]
Translation: X:265.94, Y:-4.30, Z:179.85
[[ 8.07567737e-01 -2.38598356e-01 -5.39356260e-01  2.65938311e+02]
 [ 1.80144246e-01  9.70598822e-01 -1.59643281e-01 -4.30012826e+00]
 [ 5.61589175e-01  3.17608363e-02  8.26806415e-01  1.79850961e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 404.78327356
Centerline is valid?  [True, True]
Translation: X:265.99, Y:-4.29, Z:179.88
[[ 8.07893909e-01 -2.37517487e-01 -5.39344858e-01  2.65985601e+02]
 [ 1.78819648e-01  9.70837400e-01 -1.59681795e-01 -4.28872379e+00]
 [ 5.61543378e-01  3.25604918e-02  8.26806416e-01  1.79883987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 404.84327356
Centerline is valid?  [True, True]
Translation: X:266.03, Y:-4.28, Z:179.92
[[ 8.07313798e-01 -2.39590497e-01 -5.39296603e-01  2.66033426e+02]
 [ 1.81202695e-01  9.70368630e-01 -1.59844630e-01 -4.27756515e+00]
 [ 5.61613760e-01  3.13227776e-02  8.26806428e-01  1.79917236e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 404.90327356
Centerline is valid?  [True, True]
Translation: X:266.08, Y:-4.27, Z:179.95
[[ 8.06598687e-01 -2.42094845e-01 -5.39248221e-01  2.66081382e+02]
 [ 1.84104664e-01  9.69795342e-01 -1.60007710e-01 -4.26726069e+00]
 [ 5.61697455e-01  2.97838958e-02  8.26806440e-01  1.79950403e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 404.96327356
Centerline is valid?  [True, True]
Translation: X:266.13, Y:-4.26, Z:179.98
[[ 8.05490246e-01 -2.45782094e-01 -5.39237078e-01  2.66128524e+02]
 [ 1.88513989e-01  9.68941686e-01 -1.60045258e-01 -4.25621602e+00]
 [ 5.61825542e-01  2.72611618e-02  8.26806440e-01  1.79983263e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 405.02327356
Centerline is valid?  [True, True]
Translation: X:266.18, Y:-4.25, Z:180.02
[[ 8.04875884e-01 -2.47810706e-01 -5.39225987e-01  2.66179527e+02]
 [ 1.90929620e-01  9.68462408e-01 -1.60082616e-01 -4.25453807e+00]
 [ 5.61890284e-01  2.58924243e-02  8.26806441e-01  1.80016827e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 405.08327356
Centerline is valid?  [True, True]
Translation: X:266.22, Y:-4.24, Z:180.05
[[ 8.03653746e-01 -2.51835893e-01 -5.39183957e-01  2.66224502e+02]
 [ 1.95679509e-01  9.67490452e-01 -1.60224078e-01 -4.23543308e+00]
 [ 5.62005504e-01  2.32574288e-02  8.26806450e-01  1.80049765e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 405.14327356
Centerline is valid?  [True, True]
Translation: X:266.27, Y:-4.23, Z:180.08
[[ 8.03119768e-01 -2.53563024e-01 -5.39170132e-01  2.66272558e+02]
 [ 1.97727814e-01  9.67066207e-01 -1.60270590e-01 -4.22676203e+00]
 [ 5.62051910e-01  2.21075476e-02  8.26806451e-01  1.80082753e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 405.20327356
Centerline is valid?  [True, True]
Translation: X:266.32, Y:-4.21, Z:180.12
[[ 8.02292379e-01 -2.56193371e-01 -5.39158507e-01  2.66319721e+02]
 [ 2.00869453e-01  9.66412059e-01 -1.60309687e-01 -4.21474332e+00]
 [ 5.62119562e-01  2.03147662e-02  8.26806451e-01  1.80115813e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 405.26327356
Centerline is valid?  [True, True]
Translation: X:266.37, Y:-4.20, Z:180.15
[[ 8.01834756e-01 -2.57719064e-01 -5.39112148e-01  2.66367007e+02]
 [ 2.02602835e-01  9.66024289e-01 -1.60465464e-01 -4.20181977e+00]
 [ 5.62150439e-01  1.94411362e-02  8.26806462e-01  1.80149050e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 405.32327356
Centerline is valid?  [True, True]
Translation: X:266.41, Y:-4.19, Z:180.18
[[ 8.01053054e-01 -2.60234027e-01 -5.39066095e-01  2.66414837e+02]
 [ 2.05529390e-01  9.65380168e-01 -1.60620051e-01 -4.19009711e+00]
 [ 5.62202521e-01  1.78712567e-02  8.26806473e-01  1.80182409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 405.38327355999996
Centerline is valid?  [True, True]
Translation: X:266.46, Y:-4.17, Z:180.22
[[ 8.00722844e-01 -2.61327398e-01 -5.39027753e-01  2.66460913e+02]
 [ 2.06760676e-01  9.65095798e-01 -1.60748638e-01 -4.17256174e+00]
 [ 5.62221443e-01  1.72653640e-02  8.26806481e-01  1.80215771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 405.44327355999997
Centerline is valid?  [True, True]
Translation: X:266.51, Y:-4.16, Z:180.25
[[ 8.00408721e-01 -2.62349717e-01 -5.38997686e-01  2.66507786e+02]
 [ 2.07925153e-01  9.64828793e-01 -1.60849402e-01 -4.15883049e+00]
 [ 5.62239283e-01  1.66740875e-02  8.26806485e-01  1.80248932e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 405.50327355999997
Centerline is valid?  [True, True]
Translation: X:266.55, Y:-4.14, Z:180.28
[[ 8.08593527e-01 -2.35947682e-01 -5.38985343e-01  2.66554188e+02]
 [ 1.76130474e-01  9.71129353e-01 -1.60890756e-01 -4.14273392e+00]
 [ 5.61386288e-01  3.51634797e-02  8.26806486e-01  1.80282286e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 405.56327355999997
Centerline is valid?  [True, True]
Translation: X:266.60, Y:-4.12, Z:180.32
[[ 8.03286200e-01 -2.53461754e-01 -5.38969777e-01  2.66599795e+02]
 [ 1.97155466e-01  9.67071409e-01 -1.60942884e-01 -4.12477792e+00]
 [ 5.62015128e-01  2.30223605e-02  8.26806487e-01  1.80315477e+02]
 [ 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 405.62327356
Centerline is valid?  [True, True]
Translation: X:266.64, Y:-4.11, Z:180.35
[[ 8.03223577e-01 -2.53681539e-01 -5.38959704e-01  2.66644915e+02]
 [ 1.97397478e-01  9.67016425e-01 -1.60976612e-01 -4.10887034e+00]
 [ 5.62019681e-01  2.29109240e-02  8.26806488e-01  1.80347963e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 405.68327356
Centerline is valid?  [True, True]
Translation: X:266.69, Y:-4.10, Z:180.38
[[ 8.00886529e-01 -2.61000135e-01 -5.38943129e-01  2.66693163e+02]
 [ 2.06175684e-01  9.65173691e-01 -1.61032086e-01 -4.09834911e+00]
 [ 5.62203126e-01  1.78514607e-02  8.26806489e-01  1.80381426e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 405.74327356
Centerline is valid?  [True, True]
Translation: X:266.74, Y:-4.08, Z:180.41
[[ 8.00528669e-01 -2.62180737e-01 -5.38901765e-01  2.66739539e+02]
 [ 2.07505549e-01  9.64865558e-01 -1.61170417e-01 -4.08159100e+00]
 [ 5.62223530e-01  1.71964328e-02  8.26806498e-01  1.80414829e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 405.80327356
Centerline is valid?  [True, True]
Translation: X:266.78, Y:-4.06, Z:180.45
[[ 7.99405887e-01 -2.65670391e-01 -5.38859417e-01  2.66784491e+02]
 [ 2.11617307e-01  9.63948435e-01 -1.61311901e-01 -4.06293475e+00]
 [ 5.62288488e-01  1.49217046e-02  8.26806507e-01  1.80447673e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 405.86327356
Centerline is valid?  [True, True]
Translation: X:266.83, Y:-4.05, Z:180.48
[[ 7.97373225e-01 -2.71802821e-01 -5.38812738e-01  2.66831798e+02]
 [ 2.18909951e-01  9.62292376e-01 -1.61467692e-01 -4.04940018e+00]
 [ 5.62382765e-01  1.07985438e-02  8.26806518e-01  1.80481044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 405.92327356
Centerline is valid?  [True, True]
Translation: X:266.88, Y:-4.03, Z:180.51
[[ 7.96155347e-01 -2.75368990e-01 -5.38802916e-01  2.66878204e+02]
 [ 2.23192625e-01  9.61302582e-01 -1.61500462e-01 -4.03294683e+00]
 [ 5.62424853e-01  8.32261905e-03  8.26806518e-01  1.80514478e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 405.98327356
Centerline is valid?  [True, True]
Translation: X:266.92, Y:-4.01, Z:180.55
[[ 7.95527148e-01 -2.77265763e-01 -5.38758066e-01  2.66922804e+02]
 [ 2.25381920e-01  9.60766506e-01 -1.61649966e-01 -4.01293031e+00]
 [ 5.62440706e-01  7.17060907e-03  8.26806528e-01  1.80547357e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 406.04327356
Centerline is valid?  [True, True]
Translation: X:266.97, Y:-3.99, Z:180.58
[[ 7.93941313e-01 -2.81800788e-01 -5.38744380e-01  2.66966928e+02]
 [ 2.30829757e-01  9.59464521e-01 -1.61695566e-01 -3.99376348e+00]
 [ 5.62472057e-01  4.01855616e-03  8.26806529e-01  1.80579827e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 406.10327356
Centerline is valid?  [True, True]
Translation: X:267.01, Y:-3.97, Z:180.61
[[ 7.92347788e-01 -2.86354019e-01 -5.38689482e-01  2.67011133e+02]
 [ 2.36209832e-01  9.58123340e-01 -1.61878288e-01 -3.97313335e+00]
 [ 5.62485465e-01  1.02015169e-03  8.26806544e-01  1.80612552e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 406.16327356
Centerline is valid?  [True, True]
Translation: X:267.06, Y:-3.95, Z:180.65
[[ 7.92141383e-01 -2.86957242e-01 -5.38672044e-01  2.67056250e+02]
 [ 2.36899844e-01  9.57943160e-01 -1.61936300e-01 -3.95287985e+00]
 [ 5.62485994e-01  6.65121238e-04  8.26806546e-01  1.80645876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 406.22327356
Centerline is valid?  [True, True]
Translation: X:267.10, Y:-3.93, Z:180.68
[[ 7.92484208e-01 -2.86094796e-01 -5.38626539e-01  2.67101129e+02]
 [ 2.35754147e-01  9.58200194e-01 -1.62087540e-01 -3.93301126e+00]
 [ 5.62484456e-01  1.46837529e-03  8.26806556e-01  1.80678915e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 406.28327356
Centerline is valid?  [True, True]
Translation: X:267.15, Y:-3.91, Z:180.71
[[ 7.92146570e-01 -2.87120021e-01 -5.38577669e-01  2.67146378e+02]
 [ 2.36883528e-01  9.57894149e-01 -1.62249789e-01 -3.91295989e+00]
 [ 5.62485560e-01  9.45435428e-04  8.26806568e-01  1.80712226e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 406.34327356
Centerline is valid?  [True, True]
Translation: X:267.19, Y:-3.89, Z:180.74
[[ 7.93013386e-01 -2.84802214e-01 -5.38532699e-01  2.67189483e+02]
 [ 2.33979930e-01  9.58582275e-01 -1.62398936e-01 -3.89138056e+00]
 [ 5.62479477e-01  2.77868682e-03  8.26806578e-01  1.80744451e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 406.40327356
Centerline is valid?  [True, True]
Translation: X:267.23, Y:-3.87, Z:180.78
[[ 7.94065911e-01 -2.81886818e-01 -5.38515693e-01  2.67234101e+02]
 [ 2.30418357e-01  9.59435069e-01 -1.62455314e-01 -3.86963783e+00]
 [ 5.62464852e-01  4.91632614e-03  8.26806579e-01  1.80777751e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 406.46327356
Centerline is valid?  [True, True]
Translation: X:267.28, Y:-3.85, Z:180.81
[[ 7.95410118e-01 -2.78162319e-01 -5.38468632e-01  2.67279243e+02]
 [ 2.25813920e-01  9.60502826e-01 -1.62611175e-01 -3.84765367e+00]
 [ 5.62432945e-01  7.74886165e-03  8.26806590e-01  1.80811384e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 406.52327356
Centerline is valid?  [True, True]
Translation: X:267.32, Y:-3.82, Z:180.84
[[ 7.97450556e-01 -2.72326798e-01 -5.38433585e-01  2.67322742e+02]
 [ 2.18691878e-01  9.62129791e-01 -1.62727155e-01 -3.82205067e+00]
 [ 5.62357958e-01  1.20158083e-02  8.26806596e-01  1.80844684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 406.58327356
Centerline is valid?  [True, True]
Translation: X:267.37, Y:-3.81, Z:180.88
[[ 7.96200629e-01 -2.76055071e-01 -5.38384766e-01  2.67368516e+02]
 [ 2.23082167e-01  9.61093996e-01 -1.62888541e-01 -3.80809291e+00]
 [ 5.62404574e-01  9.58791886e-03  8.26806608e-01  1.80877151e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 406.64327356
Centerline is valid?  [True, True]
Translation: X:267.41, Y:-3.79, Z:180.91
[[ 7.98291213e-01 -2.69980547e-01 -5.38369431e-01  2.67412919e+02]
 [ 2.15718655e-01  9.62764912e-01 -1.62939211e-01 -3.78550011e+00]
 [ 5.62313615e-01  1.39366105e-02  8.26806609e-01  1.80910488e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 406.70327356
Centerline is valid?  [True, True]
Translation: X:267.46, Y:-3.77, Z:180.94
[[ 7.96859869e-01 -2.74202237e-01 -5.38356279e-01  2.67458222e+02]
 [ 2.20782349e-01  9.61608968e-01 -1.62982656e-01 -3.76761470e+00]
 [ 5.62378435e-01  1.10147736e-02  8.26806610e-01  1.80943488e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 406.76327356
Centerline is valid?  [True, True]
Translation: X:267.50, Y:-3.75, Z:180.98
[[ 7.98175826e-01 -2.70368957e-01 -5.38345594e-01  2.67503890e+02]
 [ 2.16134034e-01  9.62658418e-01 -1.63017944e-01 -3.74764212e+00]
 [ 5.62317909e-01  1.37621772e-02  8.26806611e-01  1.80977141e+02]
 [ 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 406.82327356
Centerline is valid?  [True, True]
Translation: X:267.55, Y:-3.73, Z:181.01
[[ 7.97866586e-01 -2.71316080e-01 -5.38327498e-01  2.67548471e+02]
 [ 2.17236128e-01  9.62400194e-01 -1.63077682e-01 -3.72919034e+00]
 [ 5.62332087e-01  1.31700518e-02  8.26806612e-01  1.81009775e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 406.88327355999996
Centerline is valid?  [True, True]
Translation: X:267.59, Y:-3.71, Z:181.04
[[ 7.96800672e-01 -2.74540524e-01 -5.38271484e-01  2.67594425e+02]
 [ 2.21001666e-01  9.61511130e-01 -1.63262397e-01 -3.71163087e+00]
 [ 5.62376166e-01  1.11286932e-02  8.26806628e-01  1.81043063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 406.94327355999997
Centerline is valid?  [True, True]
Translation: X:267.64, Y:-3.70, Z:181.08
[[ 7.94223289e-01 -2.81928785e-01 -5.38261580e-01  2.67639720e+02]
 [ 2.29899824e-01  9.59416906e-01 -1.63295044e-01 -3.69719744e+00]
 [ 5.62454833e-01  5.94648420e-03  8.26806628e-01  1.81075384e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.00327355999997
Centerline is valid?  [True, True]
Translation: X:267.69, Y:-3.68, Z:181.11
[[ 7.92649966e-01 -2.86354840e-01 -5.38244311e-01  2.67685669e+02]
 [ 2.35209552e-01  9.58119307e-01 -1.63351949e-01 -3.68029877e+00]
 [ 5.62478887e-01  2.88071345e-03  8.26806630e-01  1.81108606e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.06327355999997
Centerline is valid?  [True, True]
Translation: X:267.73, Y:-3.66, Z:181.14
[[ 7.92250846e-01 -2.87550105e-01 -5.38194700e-01  2.67732839e+02]
 [ 2.36543509e-01  9.57762980e-01 -1.63515267e-01 -3.66495630e+00]
 [ 5.62481791e-01  2.23864532e-03  8.26806642e-01  1.81142260e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.12327356
Centerline is valid?  [True, True]
Translation: X:267.78, Y:-3.64, Z:181.18
[[ 7.92924418e-01 -2.85768422e-01 -5.38151722e-01  2.67776406e+02]
 [ 2.34293958e-01  9.58291633e-01 -1.63656612e-01 -3.64237874e+00]
 [ 5.62474184e-01  3.68162662e-03  8.26806651e-01  1.81175013e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.18327356
Centerline is valid?  [True, True]
Translation: X:267.82, Y:-3.63, Z:181.21
[[ 7.94334642e-01 -2.81857860e-01 -5.38134391e-01  2.67824381e+02]
 [ 2.29530592e-01  9.59433984e-01 -1.63713582e-01 -3.63004640e+00]
 [ 5.62448383e-01  6.52506399e-03  8.26806652e-01  1.81208651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.24327356
Centerline is valid?  [True, True]
Translation: X:267.87, Y:-3.61, Z:181.24
[[ 7.95319057e-01 -2.79104452e-01 -5.38115510e-01  2.67868883e+02]
 [ 2.26163597e-01  9.60222668e-01 -1.63775624e-01 -3.60775347e+00]
 [ 5.62421217e-01  8.55173557e-03  8.26806654e-01  1.81241999e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.30327356
Centerline is valid?  [True, True]
Translation: X:267.91, Y:-3.59, Z:181.28
[[ 7.95778767e-01 -2.77886137e-01 -5.38066399e-01  2.67913889e+02]
 [ 2.24583822e-01  9.60565885e-01 -1.63936843e-01 -3.58850231e+00]
 [ 5.62404002e-01  9.61645007e-03  8.26806666e-01  1.81275025e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.36327356
Centerline is valid?  [True, True]
Translation: X:267.96, Y:-3.57, Z:181.31
[[ 7.96633174e-01 -2.75522412e-01 -5.38017646e-01  2.67958122e+02]
 [ 2.21623183e-01  9.61226005e-01 -1.64096714e-01 -3.56912126e+00]
 [ 5.62368875e-01  1.14877032e-02  8.26806677e-01  1.81307576e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.42327356
Centerline is valid?  [True, True]
Translation: X:268.00, Y:-3.55, Z:181.34
[[ 7.95632740e-01 -2.78431275e-01 -5.38000527e-01  2.68002812e+02]
 [ 2.25095860e-01  9.60409134e-01 -1.64152821e-01 -3.54636880e+00]
 [ 5.62405900e-01  9.50366795e-03  8.26806679e-01  1.81341146e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.48327356
Centerline is valid?  [True, True]
Translation: X:268.05, Y:-3.53, Z:181.37
[[ 7.95273221e-01 -2.79494008e-01 -5.37981044e-01  2.68048237e+02]
 [ 2.26335614e-01  9.60106807e-01 -1.64216654e-01 -3.52524333e+00]
 [ 5.62416833e-01  8.83283789e-03  8.26806680e-01  1.81374868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.54327356
Centerline is valid?  [True, True]
Translation: X:268.09, Y:-3.50, Z:181.41
[[ 7.92641705e-01 -2.86949152e-01 -5.37939877e-01  2.68093142e+02]
 [ 2.35249397e-01  9.57938585e-01 -1.64351418e-01 -3.50479479e+00]
 [ 5.62473864e-01  3.72175643e-03  8.26806689e-01  1.81408086e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.60327356
Centerline is valid?  [True, True]
Translation: X:268.14, Y:-3.49, Z:181.44
[[ 7.91266964e-01 -2.90802302e-01 -5.37894610e-01  2.68138365e+02]
 [ 2.39806760e-01  9.56782445e-01 -1.64499457e-01 -3.48607068e+00]
 [ 5.62484941e-01  1.17222215e-03  8.26806699e-01  1.81441165e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.66327356
Centerline is valid?  [True, True]
Translation: X:268.18, Y:-3.46, Z:181.47
[[ 7.90113095e-01 -2.94007283e-01 -5.37848505e-01  2.68182446e+02]
 [ 2.43580525e-01  9.55802739e-01 -1.64650088e-01 -3.46413940e+00]
 [ 5.62485400e-01 -9.17230651e-04  8.26806709e-01  1.81474140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.72327356
Centerline is valid?  [True, True]
Translation: X:268.23, Y:-3.44, Z:181.51
[[ 7.89847408e-01 -2.94745139e-01 -5.37834896e-01  2.68227248e+02]
 [ 2.44442895e-01  9.55574896e-01 -1.64694535e-01 -3.44323816e+00]
 [ 5.62484438e-01 -1.38636790e-03  8.26806710e-01  1.81507428e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.78327356
Centerline is valid?  [True, True]
Translation: X:268.27, Y:-3.42, Z:181.54
[[ 7.90426339e-01 -2.93282312e-01 -5.37784053e-01  2.68271947e+02]
 [ 2.42560459e-01  9.56025872e-01 -1.64860415e-01 -3.42407809e+00]
 [ 5.62486112e-01 -1.35132220e-04  8.26806722e-01  1.81540250e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.84327356
Centerline is valid?  [True, True]
Translation: X:268.31, Y:-3.40, Z:181.57
[[ 7.90471970e-01 -2.93182725e-01 -5.37771284e-01  2.68314162e+02]
 [ 2.42411678e-01  9.56056426e-01 -1.64902057e-01 -3.39646575e+00]
 [ 5.62486127e-01 -1.15855123e-05  8.26806723e-01  1.81573197e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.90327356
Centerline is valid?  [True, True]
Translation: X:268.36, Y:-3.37, Z:181.61
[[ 7.91278949e-01 -2.91090311e-01 -5.37721169e-01  2.68358148e+02]
 [ 2.39770379e-01  9.56694098e-01 -1.65065344e-01 -3.37407192e+00]
 [ 5.62483591e-01  1.68312352e-03  8.26806735e-01  1.81606208e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 407.96327356
Centerline is valid?  [True, True]
Translation: X:268.40, Y:-3.35, Z:181.64
[[ 7.92889448e-01 -2.86768335e-01 -5.37671131e-01  2.68401795e+02]
 [ 2.34436139e-01  9.57987129e-01 -1.65228199e-01 -3.34962515e+00]
 [ 5.62464239e-01  4.95815149e-03  8.26806747e-01  1.81639412e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.987282 with order 1
Centerline goodness : 0.993946 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.992399 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.986213 with order 1
Centerline goodness : 0.995507 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.999709 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.995470 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.990979 with order 1
Centerline goodness : 0.994044 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.994880 with order 1
SLAMing on frame at distance 408.02327356
Centerline is valid?  [True, True]
Translation: X:268.45, Y:-3.33, Z:181.67
[[ 7.94212706e-01 -2.83104314e-01 -5.37659859e-01  2.68447674e+02]
 [ 2.29985559e-01  9.59059000e-01 -1.65264872e-01 -3.33144127e+00]
 [ 5.62434725e-01  7.60145821e-03  8.26806748e-01  1.81672868e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 408.08327356
Centerline is valid?  [True, True]
Translation: X:268.50, Y:-3.32, Z:181.71
[[ 7.97224646e-01 -2.74580336e-01 -5.37623012e-01  2.68495179e+02]
 [ 2.19618028e-01  9.61465461e-01 -1.65384669e-01 -3.31692828e+00]
 [ 5.62317335e-01  1.37770286e-02  8.26806754e-01  1.81706615e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 408.14327356
Centerline is valid?  [True, True]
Translation: X:268.54, Y:-3.30, Z:181.74
[[ 7.99459854e-01 -2.68025791e-01 -5.37611493e-01  2.68540396e+02]
 [ 2.11691758e-01  9.63235240e-01 -1.65422105e-01 -3.29738669e+00]
 [ 5.62183726e-01  1.84404098e-02  8.26806755e-01  1.81739912e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 408.20327356
Centerline is valid?  [True, True]
Translation: X:268.58, Y:-3.27, Z:181.77
[[ 8.06881974e-01 -2.44870386e-01 -5.37568577e-01  2.68584765e+02]
 [ 1.83746548e-01  9.68930650e-01 -1.65561473e-01 -3.27259516e+00]
 [ 5.61407772e-01  3.48121973e-02  8.26806764e-01  1.81773672e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 408.26327356
Centerline is valid?  [True, True]
Translation: X:268.63, Y:-3.26, Z:181.81
[[ 8.07123816e-01 -2.44093871e-01 -5.37558673e-01  2.68631148e+02]
 [ 1.82792814e-01  9.69105536e-01 -1.65593622e-01 -3.25620594e+00]
 [ 5.61371474e-01  3.53926939e-02  8.26806764e-01  1.81807100e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 408.32327356
Centerline is valid?  [True, True]
Translation: X:268.68, Y:-3.24, Z:181.84
[[ 8.01314032e-01 -2.62553510e-01 -5.37551371e-01  2.68678059e+02]
 [ 2.04970296e-01  9.64654383e-01 -1.65617325e-01 -3.24193840e+00]
 [ 5.62034696e-01  2.25294232e-02  8.26806764e-01  1.81840449e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 408.38327355999996
Centerline is valid?  [True, True]
Translation: X:268.72, Y:-3.22, Z:181.87
[[ 8.01777818e-01 -2.61154627e-01 -5.37541247e-01  2.68724296e+02]
 [ 2.03264449e-01  9.65009628e-01 -1.65650178e-01 -3.22454510e+00]
 [ 5.61992789e-01  2.35516131e-02  8.26806765e-01  1.81873982e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 408.44327355999997
Centerline is valid?  [True, True]
Translation: X:268.77, Y:-3.21, Z:181.91
[[ 8.07939126e-01 -2.41436889e-01 -5.37533811e-01  2.68770958e+02]
 [ 1.79549776e-01  9.69697841e-01 -1.65674305e-01 -3.20779830e+00]
 [ 5.61245265e-01  3.73406781e-02  8.26806765e-01  1.81907666e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 408.50327355999997
Centerline is valid?  [True, True]
Translation: X:268.82, Y:-3.19, Z:181.94
[[ 8.02390605e-01 -2.59291222e-01 -5.37528957e-01  2.68817721e+02]
 [ 2.00995323e-01  9.65477958e-01 -1.65690053e-01 -3.19459684e+00]
 [ 5.61934336e-01  2.49073360e-02  8.26806765e-01  1.81940708e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 408.56327355999997
Centerline is valid?  [True, True]
Translation: X:268.86, Y:-3.18, Z:181.97
[[ 8.02655520e-01 -2.58494060e-01 -5.37517384e-01  2.68864712e+02]
 [ 2.00011109e-01  9.65675889e-01 -1.65727591e-01 -3.18059874e+00]
 [ 5.61907175e-01  2.55127177e-02  8.26806766e-01  1.81974050e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 408.62327356
Centerline is valid?  [True, True]
Translation: X:268.91, Y:-3.17, Z:182.01
[[ 8.02976098e-01 -2.57525756e-01 -5.37503368e-01  2.68912399e+02]
 [ 1.98815873e-01  9.65914877e-01 -1.65773036e-01 -3.16899567e+00]
 [ 5.61873326e-01  2.62475842e-02  8.26806767e-01  1.82007361e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 408.68327356
Centerline is valid?  [True, True]
Translation: X:268.96, Y:-3.16, Z:182.04
[[ 8.03319805e-01 -2.56551127e-01 -5.37455868e-01  2.68959321e+02]
 [ 1.97540855e-01  9.66150024e-01 -1.65926919e-01 -3.15649560e+00]
 [ 5.61831738e-01  2.71228886e-02  8.26806777e-01  1.82040317e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 408.74327356
Centerline is valid?  [True, True]
Translation: X:269.01, Y:-3.15, Z:182.07
[[ 8.03647434e-01 -2.55545435e-01 -5.37445190e-01  2.69006807e+02]
 [ 1.96308335e-01  9.66395270e-01 -1.65961502e-01 -3.14551844e+00]
 [ 5.61795193e-01  2.78695649e-02  8.26806778e-01  1.82073375e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 408.80327356
Centerline is valid?  [True, True]
Translation: X:269.05, Y:-3.13, Z:182.11
[[ 8.03909044e-01 -2.54827719e-01 -5.37394718e-01  2.69052933e+02]
 [ 1.95336455e-01  9.66564132e-01 -1.66124800e-01 -3.13323464e+00]
 [ 5.61759662e-01  2.85764503e-02  8.26806790e-01  1.82105764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 408.86327356
Centerline is valid?  [True, True]
Translation: X:269.10, Y:-3.12, Z:182.14
[[ 8.04235558e-01 -2.53920767e-01 -5.37335474e-01  2.69101036e+02]
 [ 1.94118531e-01  9.66776552e-01 -1.66316245e-01 -3.12209834e+00]
 [ 5.61714485e-01  2.94506651e-02  8.26806807e-01  1.82139196e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 408.92327356
Centerline is valid?  [True, True]
Translation: X:269.15, Y:-3.11, Z:182.17
[[ 8.06061119e-01 -2.48080581e-01 -5.37328110e-01  2.69149050e+02]
 [ 1.87085136e-01  9.68158120e-01 -1.66340033e-01 -3.11076550e+00]
 [ 5.61484305e-01  3.35541312e-02  8.26806807e-01  1.82172670e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 408.98327356
Centerline is valid?  [True, True]
Translation: X:269.20, Y:-3.10, Z:182.21
[[ 8.06927624e-01 -2.45282045e-01 -5.37312319e-01  2.69197150e+02]
 [ 1.83690679e-01  9.68799133e-01 -1.66391029e-01 -3.09823085e+00]
 [ 5.61360440e-01  3.55662527e-02  8.26806808e-01  1.82206432e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 409.04327356
Centerline is valid?  [True, True]
Translation: X:269.25, Y:-3.09, Z:182.24
[[ 8.08287277e-01 -2.40779825e-01 -5.37305084e-01  2.69245402e+02]
 [ 1.78271577e-01  9.69806938e-01 -1.66414389e-01 -3.08796092e+00]
 [ 5.61151425e-01  3.87244085e-02  8.26806808e-01  1.82239847e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 409.10327356
Centerline is valid?  [True, True]
Translation: X:269.29, Y:-3.08, Z:182.27
[[ 8.07448602e-01 -2.43632777e-01 -5.37280025e-01  2.69294176e+02]
 [ 1.81641762e-01  9.69167477e-01 -1.66495259e-01 -3.08070397e+00]
 [ 5.61278029e-01  3.68438731e-02  8.26806811e-01  1.82272973e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 409.16327356
Centerline is valid?  [True, True]
Translation: X:269.34, Y:-3.07, Z:182.31
[[ 8.05173032e-01 -2.51071657e-01 -5.37270335e-01  2.69343690e+02]
 [ 1.90554453e-01  9.67449180e-01 -1.66526525e-01 -3.07325672e+00]
 [ 5.61591835e-01  3.17034126e-02  8.26806812e-01  1.82306635e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.993570 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.996773 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.995126 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.989760 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.992945 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 409.22327356
Centerline is valid?  [True, True]
Translation: X:269.39, Y:-3.07, Z:182.34
[[ 8.01964624e-01 -2.61204606e-01 -5.37238211e-01  2.69392309e+02]
 [ 2.02669206e-01  9.64966114e-01 -1.66630106e-01 -3.06541809e+00]
 [ 5.61941220e-01  2.47498087e-02  8.26806817e-01  1.82339764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 409.28327356
Centerline is valid?  [True, True]
Translation: X:269.44, Y:-3.05, Z:182.37
[[ 7.99793701e-01 -2.67799764e-01 -5.37227440e-01  2.69439768e+02]
 [ 2.10585342e-01  9.63263541e-01 -1.66664828e-01 -3.05409928e+00]
 [ 5.62124408e-01  2.01652559e-02  8.26806817e-01  1.82372869e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 409.34327356
Centerline is valid?  [True, True]
Translation: X:269.49, Y:-3.04, Z:182.41
[[ 7.98193560e-01 -2.72631510e-01 -5.37176974e-01  2.69487885e+02]
 [ 2.16297417e-01  9.61968846e-01 -1.66827355e-01 -3.04470001e+00]
 [ 5.62229907e-01  1.69705288e-02  8.26806829e-01  1.82405960e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 409.40327356
Centerline is valid?  [True, True]
Translation: X:269.54, Y:-3.03, Z:182.44
[[ 7.96848503e-01 -2.76560042e-01 -5.37165716e-01  2.69535886e+02]
 [ 2.21008963e-01  9.60891034e-01 -1.66863596e-01 -3.03319618e+00]
 [ 5.62305523e-01  1.42465694e-02  8.26806830e-01  1.82439452e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 409.46327356
Centerline is valid?  [True, True]
Translation: X:269.58, Y:-3.02, Z:182.47
[[ 7.96833973e-01 -2.76686984e-01 -5.37121897e-01  2.69584311e+02]
 [ 2.21067090e-01  9.60853175e-01 -1.67004548e-01 -3.02376090e+00]
 [ 5.62303265e-01  1.43349228e-02  8.26806839e-01  1.82472756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 409.52327356
Centerline is valid?  [True, True]
Translation: X:269.63, Y:-3.01, Z:182.51
[[ 7.97802699e-01 -2.73971851e-01 -5.37075673e-01  2.69631498e+02]
 [ 2.17693818e-01  9.61597237e-01 -1.67153092e-01 -3.01012923e+00]
 [ 5.62245725e-01  1.64371338e-02  8.26806849e-01  1.82506099e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 409.58327356
Centerline is valid?  [True, True]
Translation: X:269.68, Y:-3.00, Z:182.54
[[ 7.99018662e-01 -2.70506077e-01 -5.37024804e-01  2.69678551e+02]
 [ 2.13407932e-01  9.62529106e-01 -1.67316390e-01 -2.99567978e+00]
 [ 5.62162105e-01  1.90835649e-02  8.26806861e-01  1.82539515e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 409.64327356
Centerline is valid?  [True, True]
Translation: X:269.73, Y:-2.98, Z:182.57
[[ 8.01407320e-01 -2.63427474e-01 -5.36984426e-01  2.69725652e+02]
 [ 2.04798564e-01  9.64375144e-01 -1.67445899e-01 -2.98288396e+00]
 [ 5.61964283e-01  2.42187298e-02  8.26806868e-01  1.82572640e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 409.70327356
Centerline is valid?  [True, True]
Translation: X:269.77, Y:-2.97, Z:182.61
[[ 8.04940526e-01 -2.52448542e-01 -5.36973447e-01  2.69772223e+02]
 [ 1.91574126e-01  9.67082952e-01 -1.67481100e-01 -2.96775771e+00]
 [ 5.61578225e-01  3.19421065e-02  8.26806869e-01  1.82605935e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 409.76327356
Centerline is valid?  [True, True]
Translation: X:269.82, Y:-2.95, Z:182.64
[[ 8.06990050e-01 -2.45847347e-01 -5.36960092e-01  2.69819018e+02]
 [ 1.83618622e-01  9.68617542e-01 -1.67523907e-01 -2.95176402e+00]
 [ 5.61294273e-01  3.65942536e-02  8.26806870e-01  1.82639547e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 409.82327356
Centerline is valid?  [True, True]
Translation: X:269.87, Y:-2.94, Z:182.67
[[ 8.08004808e-01 -2.42589540e-01 -5.36915770e-01  2.69865447e+02]
 [ 1.79615399e-01  9.69343318e-01 -1.67665859e-01 -2.93536484e+00]
 [ 5.61129698e-01  3.90364802e-02  8.26806879e-01  1.82672962e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 409.88327355999996
Centerline is valid?  [True, True]
Translation: X:269.91, Y:-2.92, Z:182.71
[[ 8.09566097e-01 -2.37353102e-01 -5.36904312e-01  2.69912954e+02]
 [ 1.73311531e-01  9.70483884e-01 -1.67702547e-01 -2.92289436e+00]
 [ 5.60861701e-01  4.27145879e-02  8.26806880e-01  1.82706325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 409.94327355999997
Centerline is valid?  [True, True]
Translation: X:269.96, Y:-2.91, Z:182.74
[[ 8.09937337e-01 -2.36111686e-01 -5.36891778e-01  2.69960454e+02]
 [ 1.71797072e-01  9.70746190e-01 -1.67742663e-01 -2.90867819e+00]
 [ 5.60791651e-01  4.36246106e-02  8.26806880e-01  1.82740036e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 410.00327355999997
Centerline is valid?  [True, True]
Translation: X:270.01, Y:-2.90, Z:182.77
[[ 8.10005720e-01 -2.35893651e-01 -5.36884456e-01  2.70007183e+02]
 [ 1.71520322e-01  9.70791077e-01 -1.67766097e-01 -2.89630209e+00]
 [ 5.60777596e-01  4.38049031e-02  8.26806881e-01  1.82772880e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 410.06327355999997
Centerline is valid?  [True, True]
Translation: X:270.05, Y:-2.88, Z:182.81
[[ 8.09257224e-01 -2.38510361e-01 -5.36857106e-01  2.70053648e+02]
 [ 1.74599347e-01  9.70226904e-01 -1.67853578e-01 -2.88447028e+00]
 [ 5.60908026e-01  4.21018209e-02  8.26806884e-01  1.82805414e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 410.12327356
Centerline is valid?  [True, True]
Translation: X:270.10, Y:-2.87, Z:182.84
[[ 8.09046638e-01 -2.39284446e-01 -5.36830040e-01  2.70101406e+02]
 [ 1.75470386e-01  9.70054774e-01 -1.67940104e-01 -2.87467537e+00]
 [ 5.60939998e-01  4.16736021e-02  8.26806887e-01  1.82838374e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 410.18327356
Centerline is valid?  [True, True]
Translation: X:270.15, Y:-2.87, Z:182.87
[[ 8.08724892e-01 -2.40481134e-01 -5.36780098e-01  2.70150466e+02]
 [ 1.76800090e-01  9.69785672e-01 -1.68099608e-01 -2.86574036e+00]
 [ 5.60986432e-01  4.10435679e-02  8.26806899e-01  1.82871970e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 410.24327356
Centerline is valid?  [True, True]
Translation: X:270.20, Y:-2.86, Z:182.90
[[ 8.08654971e-01 -2.40808551e-01 -5.36738652e-01  2.70198164e+02]
 [ 1.77105447e-01  9.69707019e-01 -1.68231859e-01 -2.85668638e+00]
 [ 5.60990908e-01  4.09821904e-02  8.26806907e-01  1.82904716e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 410.30327356
Centerline is valid?  [True, True]
Translation: X:270.25, Y:-2.85, Z:182.94
[[ 8.08682605e-01 -2.40745748e-01 -5.36725190e-01  2.70246679e+02]
 [ 1.77001804e-01  9.69718492e-01 -1.68274799e-01 -2.84556300e+00]
 [ 5.60983784e-01  4.10795761e-02  8.26806908e-01  1.82938454e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 410.36327356
Centerline is valid?  [True, True]
Translation: X:270.30, Y:-2.84, Z:182.97
[[ 8.08635771e-01 -2.40986333e-01 -5.36687784e-01  2.70296650e+02]
 [ 1.77211628e-01  9.69659471e-01 -1.68394029e-01 -2.84070154e+00]
 [ 5.60985052e-01  4.10621190e-02  8.26806914e-01  1.82971824e+02]
 [ 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 410.42327356
Centerline is valid?  [True, True]
Translation: X:270.34, Y:-2.83, Z:183.01
[[ 8.07920968e-01 -2.43395625e-01 -5.36677072e-01  2.70343882e+02]
 [ 1.80078628e-01  9.69125194e-01 -1.68428163e-01 -2.82754676e+00]
 [ 5.61101950e-01  3.94325733e-02  8.26806915e-01  1.83005146e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 410.48327356
Centerline is valid?  [True, True]
Translation: X:270.39, Y:-2.82, Z:183.04
[[ 8.07609422e-01 -2.44444427e-01 -5.36669306e-01  2.70393171e+02]
 [ 1.81320434e-01  9.68889322e-01 -1.68452906e-01 -2.82205967e+00]
 [ 5.61150534e-01  3.87350428e-02  8.26806915e-01  1.83038245e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 410.54327356
Centerline is valid?  [True, True]
Translation: X:270.44, Y:-2.81, Z:183.07
[[ 8.06255438e-01 -2.48898703e-01 -5.36657809e-01  2.70441426e+02]
 [ 1.86641670e-01  9.67871979e-01 -1.68489524e-01 -2.81294657e+00]
 [ 5.61352880e-01  3.56828853e-02  8.26806916e-01  1.83071405e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 410.60327356
Centerline is valid?  [True, True]
Translation: X:270.49, Y:-2.80, Z:183.10
[[ 8.04146057e-01 -2.55649881e-01 -5.36649100e-01  2.70489994e+02]
 [ 1.94731637e-01  9.66271971e-01 -1.68517260e-01 -2.80299114e+00]
 [ 5.61630401e-01  3.10099325e-02  8.26806916e-01  1.83104943e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 410.66327356
Centerline is valid?  [True, True]
Translation: X:270.54, Y:-2.79, Z:183.14
[[ 8.01170186e-01 -2.64844854e-01 -5.36640975e-01  2.70537478e+02]
 [ 2.05770518e-01  9.63977026e-01 -1.68543131e-01 -2.79064508e+00]
 [ 5.61947352e-01  2.46068399e-02  8.26806916e-01  1.83138267e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 410.72327356
Centerline is valid?  [True, True]
Translation: X:270.58, Y:-2.78, Z:183.17
[[ 8.00322671e-01 -2.67413386e-01 -5.36631813e-01  2.70584532e+02]
 [ 2.08842063e-01  9.63311150e-01 -1.68572299e-01 -2.78016869e+00]
 [ 5.62021898e-01  2.28409372e-02  8.26806917e-01  1.83170928e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 410.78327356
Centerline is valid?  [True, True]
Translation: X:270.63, Y:-2.77, Z:183.20
[[ 7.99120919e-01 -2.71018781e-01 -5.36613993e-01  2.70632075e+02]
 [ 2.13144832e-01  9.62358321e-01 -1.68629008e-01 -2.76791200e+00]
 [ 5.62116570e-01  2.03784687e-02  8.26806918e-01  1.83204254e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 410.84327356
Centerline is valid?  [True, True]
Translation: X:270.68, Y:-2.76, Z:183.24
[[ 7.98882679e-01 -2.71810589e-01 -5.36568234e-01  2.70679200e+02]
 [ 2.14000843e-01  9.62142819e-01 -1.68774509e-01 -2.75569823e+00]
 [ 5.62129972e-01  2.00049775e-02  8.26806928e-01  1.83237255e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 410.90327356
Centerline is valid?  [True, True]
Translation: X:270.72, Y:-2.74, Z:183.27
[[ 7.99989339e-01 -2.68564947e-01 -5.36553750e-01  2.70724912e+02]
 [ 2.10062030e-01  9.63002372e-01 -1.68820544e-01 -2.74008258e+00]
 [ 5.62041814e-01  2.23450657e-02  8.26806929e-01  1.83270083e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 410.96327356
Centerline is valid?  [True, True]
Translation: X:270.77, Y:-2.73, Z:183.30
[[ 8.00895275e-01 -2.65872722e-01 -5.36543059e-01  2.70772314e+02]
 [ 2.06799142e-01  9.63702375e-01 -1.68854515e-01 -2.72987492e+00]
 [ 5.61961630e-01  2.42781391e-02  8.26806929e-01  1.83302911e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 411.02327356
Centerline is valid?  [True, True]
Translation: X:270.82, Y:-2.72, Z:183.34
[[ 8.02598578e-01 -2.60738233e-01 -5.36517563e-01  2.70820463e+02]
 [ 2.00569239e-01  9.65004031e-01 -1.68935494e-01 -2.71725973e+00]
 [ 5.61789553e-01  2.79784676e-02  8.26806932e-01  1.83336690e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 411.08327356
Centerline is valid?  [True, True]
Translation: X:270.87, Y:-2.70, Z:183.37
[[ 8.04724897e-01 -2.54158506e-01 -5.36489789e-01  2.70868528e+02]
 [ 1.92603331e-01  9.66610035e-01 -1.69023658e-01 -2.70468460e+00]
 [ 5.61535214e-01  3.26878251e-02  8.26806936e-01  1.83370401e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 411.14327356
Centerline is valid?  [True, True]
Translation: X:270.91, Y:-2.69, Z:183.40
[[ 8.06826356e-01 -2.47467453e-01 -5.36461640e-01  2.70914709e+02]
 [ 1.84511043e-01  9.68171721e-01 -1.69112962e-01 -2.68981651e+00]
 [ 5.61236943e-01  3.74616988e-02  8.26806939e-01  1.83403359e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 411.20327356
Centerline is valid?  [True, True]
Translation: X:270.96, Y:-2.68, Z:183.44
[[ 8.07725274e-01 -2.44550190e-01 -5.36446723e-01  2.70962979e+02]
 [ 1.80979886e-01  9.68829750e-01 -1.69160268e-01 -2.67834248e+00]
 [ 5.61093721e-01  3.95489573e-02  8.26806940e-01  1.83436999e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 411.26327356
Centerline is valid?  [True, True]
Translation: X:271.01, Y:-2.66, Z:183.47
[[ 8.08090301e-01 -2.43360923e-01 -5.36437812e-01  2.71007641e+02]
 [ 1.79534886e-01  9.69093633e-01 -1.69188522e-01 -2.66435313e+00]
 [ 5.61032343e-01  4.04103026e-02  8.26806941e-01  1.83468824e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 411.32327356
Centerline is valid?  [True, True]
Translation: X:271.06, Y:-2.65, Z:183.50
[[ 8.08129232e-01 -2.43287434e-01 -5.36412499e-01  2.71056430e+02]
 [ 1.79393808e-01  9.69105749e-01 -1.69268746e-01 -2.65403299e+00]
 [ 5.61021396e-01  4.05619412e-02  8.26806944e-01  1.83502546e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 411.38327355999996
Centerline is valid?  [True, True]
Translation: X:271.11, Y:-2.65, Z:183.54
[[ 8.08192408e-01 -2.43123566e-01 -5.36391614e-01  2.71106190e+02]
 [ 1.79153640e-01  9.69138618e-01 -1.69334909e-01 -2.64793119e+00]
 [ 5.61007134e-01  4.07586777e-02  8.26806946e-01  1.83536042e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 411.44327355999997
Centerline is valid?  [True, True]
Translation: X:271.15, Y:-2.63, Z:183.57
[[ 8.07765323e-01 -2.44636128e-01 -5.36347227e-01  2.71152777e+02]
 [ 1.80874839e-01  9.68794292e-01 -1.69475401e-01 -2.63212520e+00]
 [ 5.61069938e-01  3.98846333e-02  8.26806955e-01  1.83569424e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 411.50327355999997
Centerline is valid?  [True, True]
Translation: X:271.20, Y:-2.62, Z:183.60
[[ 8.07506429e-01 -2.45593812e-01 -5.36299400e-01  2.71200502e+02]
 [ 1.81923609e-01  9.68571424e-01 -1.69626638e-01 -2.62257573e+00]
 [ 5.61103526e-01  3.94090788e-02  8.26806965e-01  1.83602256e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 411.56327355999997
Centerline is valid?  [True, True]
Translation: X:271.25, Y:-2.61, Z:183.64
[[ 8.07546948e-01 -2.45572051e-01 -5.36248351e-01  2.71248421e+02]
 [ 1.81791002e-01  9.68568068e-01 -1.69787894e-01 -2.61198354e+00]
 [ 5.61088191e-01  3.96265705e-02  8.26806977e-01  1.83635419e+02]
 [ 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 411.62327356
Centerline is valid?  [True, True]
Translation: X:271.30, Y:-2.60, Z:183.67
[[ 8.06717022e-01 -2.48395552e-01 -5.36197068e-01  2.71296140e+02]
 [ 1.85071153e-01  9.67918262e-01 -1.69949719e-01 -2.59851939e+00]
 [ 5.61209689e-01  3.78667216e-02  8.26806989e-01  1.83669041e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 411.68327356
Centerline is valid?  [True, True]
Translation: X:271.34, Y:-2.59, Z:183.70
[[ 8.06122659e-01 -2.50414561e-01 -5.36151849e-01  2.71343490e+02]
 [ 1.87399583e-01  9.67445096e-01 -1.70092276e-01 -2.58532949e+00]
 [ 5.61291060e-01  3.66406048e-02  8.26806998e-01  1.83702378e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 411.74327356
Centerline is valid?  [True, True]
Translation: X:271.39, Y:-2.58, Z:183.74
[[ 8.04744797e-01 -2.54841619e-01 -5.36135768e-01  2.71391150e+02]
 [ 1.92680669e-01  9.66398228e-01 -1.70142953e-01 -2.57510833e+00]
 [ 5.61480162e-01  3.36186575e-02  8.26806999e-01  1.83735357e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 411.80327356
Centerline is valid?  [True, True]
Translation: X:271.44, Y:-2.56, Z:183.77
[[ 8.04274276e-01 -2.56345397e-01 -5.36124916e-01  2.71438269e+02]
 [ 1.94464012e-01  9.66034931e-01 -1.70177141e-01 -2.56263739e+00]
 [ 5.61539523e-01  3.26120950e-02  8.26807000e-01  1.83768457e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 411.86327356
Centerline is valid?  [True, True]
Translation: X:271.48, Y:-2.55, Z:183.80
[[ 8.03187463e-01 -2.59832751e-01 -5.36075405e-01  2.71484200e+02]
 [ 1.98550140e-01  9.65175899e-01 -1.70332988e-01 -2.54878561e+00]
 [ 5.61665150e-01  3.03714734e-02  8.26807011e-01  1.83801001e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 411.92327356
Centerline is valid?  [True, True]
Translation: X:271.53, Y:-2.54, Z:183.83
[[ 8.02989664e-01 -2.60476004e-01 -5.36059559e-01  2.71531296e+02]
 [ 1.99289982e-01  9.65014606e-01 -1.70382845e-01 -2.53891278e+00]
 [ 5.61685947e-01  2.99843634e-02  8.26807012e-01  1.83833541e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 411.98327356
Centerline is valid?  [True, True]
Translation: X:271.58, Y:-2.52, Z:183.87
[[ 8.01787502e-01 -2.64184814e-01 -5.36044015e-01  2.71577308e+02]
 [ 2.03715758e-01  9.64081383e-01 -1.70431737e-01 -2.52439324e+00]
 [ 5.61815532e-01  2.74494238e-02  8.26807013e-01  1.83866336e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 412.04327356
Centerline is valid?  [True, True]
Translation: X:271.62, Y:-2.51, Z:183.90
[[ 8.00734807e-01 -2.67472111e-01 -5.35987349e-01  2.71624917e+02]
 [ 2.07550484e-01  9.63231590e-01 -1.70609791e-01 -2.51064320e+00]
 [ 5.61913308e-01  2.53687639e-02  8.26807027e-01  1.83899931e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 412.10327356
Centerline is valid?  [True, True]
Translation: X:271.67, Y:-2.50, Z:183.93
[[ 8.00425988e-01 -2.68484312e-01 -5.35942545e-01  2.71672050e+02]
 [ 2.08674207e-01  9.62963843e-01 -1.70750441e-01 -2.49530968e+00]
 [ 5.61937107e-01  2.48357047e-02  8.26807036e-01  1.83933566e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 412.16327356
Centerline is valid?  [True, True]
Translation: X:271.72, Y:-2.48, Z:183.97
[[ 7.98964411e-01 -2.72831879e-01 -5.35927827e-01  2.71718775e+02]
 [ 2.13875371e-01  9.61813828e-01 -1.70796625e-01 -2.48110861e+00]
 [ 5.62061559e-01  2.18386623e-02  8.26807037e-01  1.83966759e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 412.22327356
Centerline is valid?  [True, True]
Translation: X:271.77, Y:-2.47, Z:184.00
[[ 7.97589643e-01 -2.76922110e-01 -5.35877697e-01  2.71765772e+02]
 [ 2.18695333e-01  9.60701386e-01 -1.70953788e-01 -2.46683159e+00]
 [ 5.62159330e-01  1.91570197e-02  8.26807049e-01  1.84000078e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 412.28327356
Centerline is valid?  [True, True]
Translation: X:271.81, Y:-2.45, Z:184.03
[[ 7.97269042e-01 -2.77931106e-01 -5.35832414e-01  2.71811934e+02]
 [ 2.19815547e-01  9.60420435e-01 -1.71095627e-01 -2.45193507e+00]
 [ 5.62177197e-01  1.86249510e-02  8.26807058e-01  1.84032994e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 412.34327356
Centerline is valid?  [True, True]
Translation: X:271.86, Y:-2.44, Z:184.07
[[ 7.95269663e-01 -2.83699033e-01 -5.35780760e-01  2.71857266e+02]
 [ 2.26658012e-01  9.58799822e-01 -1.71257253e-01 -2.43500026e+00]
 [ 5.62292014e-01  1.47566960e-02  8.26807070e-01  1.84065781e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 412.40327356
Centerline is valid?  [True, True]
Translation: X:271.90, Y:-2.42, Z:184.10
[[ 7.94115969e-01 -2.86936368e-01 -5.35767999e-01  2.71903501e+02]
 [ 2.30535079e-01  9.57867871e-01 -1.71297167e-01 -2.41886093e+00]
 [ 5.62346339e-01  1.25164976e-02  8.26807070e-01  1.84099061e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 412.46327356
Centerline is valid?  [True, True]
Translation: X:271.95, Y:-2.40, Z:184.13
[[ 7.93012101e-01 -2.90057417e-01 -5.35722411e-01  2.71948308e+02]
 [ 2.34204383e-01  9.56951804e-01 -1.71439642e-01 -2.40113373e+00]
 [ 5.62387868e-01  1.04851743e-02  8.26807080e-01  1.84131686e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 412.52327356
Centerline is valid?  [True, True]
Translation: X:271.99, Y:-2.38, Z:184.17
[[ 7.93114314e-01 -2.89810503e-01 -5.35704730e-01  2.71994703e+02]
 [ 2.33869136e-01  9.57023894e-01 -1.71494877e-01 -2.38413758e+00]
 [ 5.62383244e-01  1.07302397e-02  8.26807081e-01  1.84165239e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 412.58327356
Centerline is valid?  [True, True]
Translation: X:272.04, Y:-2.36, Z:184.20
[[ 7.93833204e-01 -2.87906200e-01 -5.35666748e-01  2.72039683e+02]
 [ 2.31491641e-01  9.57580516e-01 -1.71613446e-01 -2.36428328e+00]
 [ 5.62352616e-01  1.22300774e-02  8.26807088e-01  1.84198432e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 412.64327356
Centerline is valid?  [True, True]
Translation: X:272.09, Y:-2.34, Z:184.23
[[ 7.95454531e-01 -2.83423365e-01 -5.35652206e-01  2.72085333e+02]
 [ 2.26055421e-01  9.58870269e-01 -1.71658827e-01 -2.34428408e+00]
 [ 5.62273097e-01  1.54597067e-02  8.26807088e-01  1.84232133e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 412.70327356
Centerline is valid?  [True, True]
Translation: X:272.13, Y:-2.31, Z:184.27
[[ 7.99656188e-01 -2.71431231e-01 -5.35607195e-01  2.72127439e+02]
 [ 2.11518906e-01  9.62156326e-01 -1.71799175e-01 -2.31433454e+00]
 [ 5.61969512e-01  2.40892253e-02  8.26807097e-01  1.84265552e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 412.76327356
Centerline is valid?  [True, True]
Translation: X:272.18, Y:-2.30, Z:184.30
[[ 8.01617527e-01 -2.65610434e-01 -5.35593537e-01  2.72175022e+02]
 [ 2.04489927e-01  9.63667103e-01 -1.71841744e-01 -2.30167530e+00]
 [ 5.61776833e-01  2.82278704e-02  8.26807098e-01  1.84298983e+02]
 [ 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 : 0.992802 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.992451 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 412.82327356
Centerline is valid?  [True, True]
Translation: X:272.22, Y:-2.29, Z:184.33
[[ 8.02145254e-01 -2.64095730e-01 -5.35552459e-01  2.72220060e+02]
 [ 2.02584056e-01  9.64046745e-01 -1.71969688e-01 -2.28548915e+00]
 [ 5.61714065e-01  2.94502792e-02  8.26807106e-01  1.84331452e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 412.88327355999996
Centerline is valid?  [True, True]
Translation: X:272.26, Y:-2.26, Z:184.36
[[ 8.03721491e-01 -2.59297559e-01 -5.35533883e-01  2.72263929e+02]
 [ 1.96781104e-01  9.65237655e-01 -1.72027519e-01 -2.26458673e+00]
 [ 5.61523785e-01  3.28792648e-02  8.26807107e-01  1.84364184e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 412.94327355999997
Centerline is valid?  [True, True]
Translation: X:272.31, Y:-2.25, Z:184.40
[[ 8.05394922e-01 -2.54085343e-01 -5.35518121e-01  2.72310078e+02]
 [ 1.90491378e-01  9.66489879e-01 -1.72076575e-01 -2.24622167e+00]
 [ 5.61294980e-01  3.65780153e-02  8.26807108e-01  1.84397870e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.00327355999997
Centerline is valid?  [True, True]
Translation: X:272.36, Y:-2.23, Z:184.43
[[ 8.07425849e-01 -2.47624362e-01 -5.35486390e-01  2.72358120e+02]
 [ 1.82676671e-01  9.67979808e-01 -1.72175274e-01 -2.23471705e+00]
 [ 5.60974805e-01  4.11978956e-02  8.26807113e-01  1.84431327e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.06327355999997
Centerline is valid?  [True, True]
Translation: X:272.40, Y:-2.22, Z:184.46
[[ 8.07575760e-01 -2.47227667e-01 -5.35443622e-01  2.72404712e+02]
 [ 1.82113508e-01  9.68062270e-01 -1.72308191e-01 -2.21950909e+00]
 [ 5.60942120e-01  4.16404021e-02  8.26807121e-01  1.84464598e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.12327356
Centerline is valid?  [True, True]
Translation: X:272.45, Y:-2.21, Z:184.50
[[ 8.07601335e-01 -2.47258128e-01 -5.35390981e-01  2.72451687e+02]
 [ 1.82042325e-01  9.68046553e-01 -1.72471628e-01 -2.20761980e+00]
 [ 5.60928405e-01  4.18244983e-02  8.26807133e-01  1.84497407e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.18327356
Centerline is valid?  [True, True]
Translation: X:272.50, Y:-2.19, Z:184.53
[[ 8.06810718e-01 -2.49866205e-01 -5.35372155e-01  2.72498306e+02]
 [ 1.85130592e-01  9.67450281e-01 -1.72530049e-01 -2.19187751e+00]
 [ 5.61055370e-01  4.00853285e-02  8.26807135e-01  1.84530847e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.24327356
Centerline is valid?  [True, True]
Translation: X:272.55, Y:-2.18, Z:184.56
[[ 8.06133828e-01 -2.52075349e-01 -5.35356209e-01  2.72545443e+02]
 [ 1.87747333e-01  9.66937045e-01 -1.72579518e-01 -2.17660870e+00]
 [ 5.61158793e-01  3.86104873e-02  8.26807136e-01  1.84564528e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.30327356
Centerline is valid?  [True, True]
Translation: X:272.59, Y:-2.17, Z:184.60
[[ 8.06487740e-01 -2.51037873e-01 -5.35310669e-01  2.72593902e+02]
 [ 1.86409809e-01  9.67170590e-01 -1.72720680e-01 -2.16668534e+00]
 [ 5.61096167e-01  3.95099509e-02  8.26807145e-01  1.84597898e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.36327356
Centerline is valid?  [True, True]
Translation: X:272.64, Y:-2.15, Z:184.63
[[ 8.06225951e-01 -2.51901109e-01 -5.35299493e-01  2.72640224e+02]
 [ 1.87422227e-01  9.66968723e-01 -1.72755311e-01 -2.15282438e+00]
 [ 5.61135121e-01  3.89527916e-02  8.26807145e-01  1.84630765e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.42327356
Centerline is valid?  [True, True]
Translation: X:272.69, Y:-2.14, Z:184.66
[[ 8.06474864e-01 -2.51128178e-01 -5.35287710e-01  2.72688279e+02]
 [ 1.86471148e-01  9.67146059e-01 -1.72791815e-01 -2.14017858e+00]
 [ 5.61094293e-01  3.95365415e-02  8.26807146e-01  1.84664500e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.48327356
Centerline is valid?  [True, True]
Translation: X:272.74, Y:-2.13, Z:184.70
[[ 8.06204458e-01 -2.52046594e-01 -5.35263380e-01  2.72735552e+02]
 [ 1.87522854e-01  9.66929225e-01 -1.72867154e-01 -2.12647390e+00]
 [ 5.61132383e-01  3.89921533e-02  8.26807149e-01  1.84697927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.54327356
Centerline is valid?  [True, True]
Translation: X:272.78, Y:-2.11, Z:184.73
[[ 8.07071267e-01 -2.49288478e-01 -5.35248750e-01  2.72782918e+02]
 [ 1.84185689e-01  9.67562359e-01 -1.72912444e-01 -2.11291504e+00]
 [ 5.60991623e-01  4.09675054e-02  8.26807150e-01  1.84731401e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.60327356
Centerline is valid?  [True, True]
Translation: X:272.83, Y:-2.10, Z:184.76
[[ 8.07901948e-01 -2.46682187e-01 -5.35203084e-01  2.72830395e+02]
 [ 1.80968742e-01  9.68143963e-01 -1.73053694e-01 -2.10043143e+00]
 [ 5.60842899e-01  4.29553876e-02  8.26807159e-01  1.84764666e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.66327356
Centerline is valid?  [True, True]
Translation: X:272.88, Y:-2.09, Z:184.80
[[ 8.07766426e-01 -2.47148737e-01 -5.35192398e-01  2.72877657e+02]
 [ 1.81506095e-01  9.68037457e-01 -1.73086737e-01 -2.08666639e+00]
 [ 5.60864457e-01  4.26729729e-02  8.26807159e-01  1.84798122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.72327356
Centerline is valid?  [True, True]
Translation: X:272.92, Y:-2.07, Z:184.83
[[ 8.07700909e-01 -2.47387147e-01 -5.35181128e-01  2.72924886e+02]
 [ 1.81768874e-01  9.67981919e-01 -1.73121577e-01 -2.07279023e+00]
 [ 5.60873709e-01  4.25511842e-02  8.26807160e-01  1.84831578e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.78327356
Centerline is valid?  [True, True]
Translation: X:272.97, Y:-2.06, Z:184.87
[[ 8.07258014e-01 -2.48871352e-01 -5.35161237e-01  2.72973800e+02]
 [ 1.83507292e-01  9.67642860e-01 -1.73183049e-01 -2.06400397e+00]
 [ 5.60945250e-01  4.15974149e-02  8.26807161e-01  1.84865044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.84327356
Centerline is valid?  [True, True]
Translation: X:273.02, Y:-2.05, Z:184.90
[[ 8.06125401e-01 -2.52613670e-01 -5.35115101e-01  2.73022741e+02]
 [ 1.87900299e-01  9.66773886e-01 -1.73325505e-01 -2.05450126e+00]
 [ 5.61119698e-01  3.91738053e-02  8.26807171e-01  1.84898629e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.90327356
Centerline is valid?  [True, True]
Translation: X:273.07, Y:-2.05, Z:184.93
[[ 8.04208361e-01 -2.58669916e-01 -5.35106332e-01  2.73071665e+02]
 [ 1.95148783e-01  9.65331983e-01 -1.73352575e-01 -2.04509038e+00]
 [ 5.61396353e-01  3.49862408e-02  8.26807171e-01  1.84932249e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 413.96327356
Centerline is valid?  [True, True]
Translation: X:273.12, Y:-2.03, Z:184.97
[[ 8.02513017e-01 -2.63974149e-01 -5.35061218e-01  2.73119442e+02]
 [ 2.01425769e-01  9.64016742e-01 -1.73491731e-01 -2.03174844e+00]
 [ 5.61605304e-01  3.14542554e-02  8.26807180e-01  1.84965885e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.980050 with order 1
Centerline goodness : 0.967683 with order 1
Centerline goodness : 0.972639 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.976771 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.991038 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.984378 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.975168 with order 1
Centerline goodness : 0.983249 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.981273 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.995198 with order 1
SLAMing on frame at distance 414.02327356
Centerline is valid?  [True, True]
Translation: X:273.17, Y:-2.02, Z:185.00
[[ 8.00196921e-01 -2.71005143e-01 -5.35015047e-01  2.73167384e+02]
 [ 2.09781284e-01  9.62207380e-01 -1.73634015e-01 -2.02023908e+00]
 [ 5.61851138e-01  2.67052603e-02  8.26807189e-01  1.84999239e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 414.08327356
Centerline is valid?  [True, True]
Translation: X:273.21, Y:-2.01, Z:185.03
[[ 7.98781295e-01 -2.75170391e-01 -5.35004392e-01  2.73213904e+02]
 [ 2.14769474e-01  9.61100360e-01 -1.73666842e-01 -2.00829715e+00]
 [ 5.61980886e-01  2.38192126e-02  8.26807190e-01  1.85031830e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 414.14327356
Centerline is valid?  [True, True]
Translation: X:273.26, Y:-1.98, Z:185.07
[[ 7.97429229e-01 -2.79101453e-01 -5.34985051e-01  2.73256948e+02]
 [ 2.19460872e-01  9.60029198e-01 -1.73726406e-01 -1.98226740e+00]
 [ 5.62088562e-01  2.11262284e-02  8.26807191e-01  1.85065115e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 414.20327356
Centerline is valid?  [True, True]
Translation: X:273.31, Y:-1.98, Z:185.10
[[ 7.96548162e-01 -2.81705491e-01 -5.34932746e-01  2.73308092e+02]
 [ 2.22488567e-01  9.59302888e-01 -1.73887339e-01 -1.98246884e+00]
 [ 5.62147546e-01  1.94932200e-02  8.26807203e-01  1.85098067e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 414.26327356
Centerline is valid?  [True, True]
Translation: X:273.35, Y:-1.97, Z:185.13
[[ 7.96169067e-01 -2.82798562e-01 -5.34920358e-01  2.73354146e+02]
 [ 2.23779523e-01  9.58995655e-01 -1.73925439e-01 -1.96773111e+00]
 [ 5.62172163e-01  1.87698316e-02  8.26807204e-01  1.85130940e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 414.32327356
Centerline is valid?  [True, True]
Translation: X:273.40, Y:-1.95, Z:185.16
[[ 7.95394021e-01 -2.85066414e-01 -5.34869602e-01  2.73399720e+02]
 [ 2.26406870e-01  9.58350453e-01 -1.74081412e-01 -1.95052872e+00]
 [ 5.62217290e-01  1.73651619e-02  8.26807215e-01  1.85163948e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 414.38327355999996
Centerline is valid?  [True, True]
Translation: X:273.45, Y:-1.93, Z:185.20
[[ 7.95173461e-01 -2.85706766e-01 -5.34855878e-01  2.73445229e+02]
 [ 2.27150124e-01  9.58166897e-01 -1.74123572e-01 -1.93350012e+00]
 [ 5.62229479e-01  1.69658647e-02  8.26807216e-01  1.85196948e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 414.44327355999997
Centerline is valid?  [True, True]
Translation: X:273.49, Y:-1.92, Z:185.23
[[ 7.95852469e-01 -2.83910715e-01 -5.34802350e-01  2.73490248e+02]
 [ 2.24875951e-01  9.58673330e-01 -1.74287847e-01 -1.91595589e+00]
 [ 5.62182937e-01  1.84432264e-02  8.26807228e-01  1.85229667e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 414.50327355999997
Centerline is valid?  [True, True]
Translation: X:273.54, Y:-1.90, Z:185.26
[[ 7.97003767e-01 -2.80691145e-01 -5.34787319e-01  2.73535259e+02]
 [ 2.20967760e-01  9.59573301e-01 -1.74333961e-01 -1.89794077e+00]
 [ 5.62101632e-01  2.07740676e-02  8.26807229e-01  1.85262551e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 414.56327355999997
Centerline is valid?  [True, True]
Translation: X:273.58, Y:-1.88, Z:185.30
[[ 7.98852985e-01 -2.75438837e-01 -5.34759157e-01  2.73581283e+02]
 [ 2.14588959e-01  9.61004232e-01 -1.74420310e-01 -1.87919984e+00]
 [ 5.61947940e-01  2.45827740e-02  8.26807232e-01  1.85296220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 414.62327356
Centerline is valid?  [True, True]
Translation: X:273.63, Y:-1.86, Z:185.33
[[ 8.01202366e-01 -2.68556192e-01 -5.34745117e-01  2.73627137e+02]
 [ 2.06284959e-01  9.62813096e-01 -1.74463345e-01 -1.86159842e+00]
 [ 5.61712813e-01  2.94705702e-02  8.26807233e-01  1.85329565e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 414.68327356
Centerline is valid?  [True, True]
Translation: X:273.67, Y:-1.83, Z:185.36
[[ 8.03038675e-01 -2.63046875e-01 -5.34729116e-01  2.73669171e+02]
 [ 1.99634579e-01  9.64205095e-01 -1.74512377e-01 -1.83083540e+00]
 [ 5.61493474e-01  3.33897657e-02  8.26807234e-01  1.85363214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 414.74327356
Centerline is valid?  [True, True]
Translation: X:273.72, Y:-1.81, Z:185.40
[[ 8.04714495e-01 -2.57961964e-01 -5.34687017e-01  2.73715524e+02]
 [ 1.93446229e-01  9.65442375e-01 -1.74641284e-01 -1.81392589e+00]
 [ 5.61260312e-01  3.71031857e-02  8.26807242e-01  1.85396688e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 414.80327356
Centerline is valid?  [True, True]
Translation: X:273.76, Y:-1.80, Z:185.43
[[ 8.05787563e-01 -2.54617053e-01 -5.34674256e-01  2.73761299e+02]
 [ 1.89408450e-01  9.66235590e-01 -1.74680348e-01 -1.79864063e+00]
 [ 5.61097890e-01  3.94834296e-02  8.26807243e-01  1.85429497e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 414.86327356
Centerline is valid?  [True, True]
Translation: X:273.81, Y:-1.78, Z:185.46
[[ 8.06035649e-01 -2.53862592e-01 -5.34659066e-01  2.73808340e+02]
 [ 1.88473152e-01  9.66410061e-01 -1.74726830e-01 -1.78420792e+00]
 [ 5.61056507e-01  4.00671739e-02  8.26807244e-01  1.85462940e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 414.92327356
Centerline is valid?  [True, True]
Translation: X:273.86, Y:-1.77, Z:185.50
[[ 8.05667696e-01 -2.55048777e-01 -5.34649123e-01  2.73855813e+02]
 [ 1.89875395e-01  9.66130032e-01 -1.74757250e-01 -1.77249294e+00]
 [ 5.61112197e-01  3.92795578e-02  8.26807244e-01  1.85496097e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 414.98327356
Centerline is valid?  [True, True]
Translation: X:273.90, Y:-1.76, Z:185.53
[[ 8.05227468e-01 -2.56544211e-01 -5.34596851e-01  2.73901780e+02]
 [ 1.91563328e-01  9.65767841e-01 -1.74917033e-01 -1.75986785e+00]
 [ 5.61170399e-01  3.84388480e-02  8.26807256e-01  1.85528397e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 415.04327356
Centerline is valid?  [True, True]
Translation: X:273.95, Y:-1.75, Z:185.56
[[ 8.03711976e-01 -2.61290939e-01 -5.34578437e-01  2.73949702e+02]
 [ 1.97221184e-01  9.64618137e-01 -1.74973297e-01 -1.74833300e+00]
 [ 5.61382993e-01  3.51979422e-02  8.26807257e-01  1.85561790e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 415.10327356
Centerline is valid?  [True, True]
Translation: X:274.00, Y:-1.74, Z:185.59
[[ 8.02432250e-01 -2.65222156e-01 -5.34564956e-01  2.73997629e+02]
 [ 2.01913509e-01  9.63639387e-01 -1.75014474e-01 -1.73786269e+00]
 [ 5.61545563e-01  3.25013716e-02  8.26807258e-01  1.85594969e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 415.16327356
Centerline is valid?  [True, True]
Translation: X:274.05, Y:-1.73, Z:185.63
[[ 8.01687639e-01 -2.67493176e-01 -5.34550588e-01  2.74045890e+02]
 [ 2.04612082e-01  9.63062028e-01 -1.75058350e-01 -1.72643995e+00]
 [ 5.61632287e-01  3.09666069e-02  8.26807259e-01  1.85628564e+02]
 [ 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 : 0.980369 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.994518 with order 1
Centerline goodness : 0.999867 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.977404 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.982100 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.993736 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.987496 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 415.22327356
Centerline is valid?  [True, True]
Translation: X:274.09, Y:-1.72, Z:185.66
[[ 8.00950895e-01 -2.69765751e-01 -5.34512959e-01  2.74093941e+02]
 [ 2.07266178e-01  9.62473422e-01 -1.75173180e-01 -1.71782525e+00]
 [ 5.61710242e-01  2.95186570e-02  8.26807265e-01  1.85661384e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 415.28327356
Centerline is valid?  [True, True]
Translation: X:274.14, Y:-1.71, Z:185.69
[[ 8.01565307e-01 -2.67961431e-01 -5.34499514e-01  2.74141529e+02]
 [ 2.05071027e-01  9.62936061e-01 -1.75214199e-01 -1.70848672e+00]
 [ 5.61639504e-01  3.08352591e-02  8.26807266e-01  1.85694103e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 415.34327356
Centerline is valid?  [True, True]
Translation: X:274.19, Y:-1.70, Z:185.73
[[ 8.02463430e-01 -2.65289773e-01 -5.34484592e-01  2.74188834e+02]
 [ 2.01831963e-01  9.63611900e-01 -1.75259705e-01 -1.69836731e+00]
 [ 5.61530321e-01  3.27634297e-02  8.26807267e-01  1.85726800e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 415.40327356
Centerline is valid?  [True, True]
Translation: X:274.24, Y:-1.69, Z:185.76
[[ 8.03125590e-01 -2.63330764e-01 -5.34458787e-01  2.74236401e+02]
 [ 1.99427763e-01  9.64098036e-01 -1.75338370e-01 -1.68848168e+00]
 [ 5.61442654e-01  3.42328120e-02  8.26807269e-01  1.85759596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 415.46327356
Centerline is valid?  [True, True]
Translation: X:274.28, Y:-1.68, Z:185.79
[[ 8.03391377e-01 -2.62541310e-01 -5.34447712e-01  2.74283728e+02]
 [ 1.98457774e-01  9.64292036e-01 -1.75372124e-01 -1.67905815e+00]
 [ 5.61406099e-01  3.48271491e-02  8.26807270e-01  1.85792166e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 415.52327356
Centerline is valid?  [True, True]
Translation: X:274.33, Y:-1.67, Z:185.83
[[ 8.02193347e-01 -2.66230283e-01 -5.34422370e-01  2.74331525e+02]
 [ 2.02835553e-01  9.63366636e-01 -1.75449320e-01 -1.66743555e+00]
 [ 5.61554603e-01  3.23444207e-02  8.26807273e-01  1.85825478e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 415.58327356
Centerline is valid?  [True, True]
Translation: X:274.38, Y:-1.66, Z:185.86
[[ 8.00219620e-01 -2.72198548e-01 -5.34374878e-01  2.74380301e+02]
 [ 2.09909913e-01  9.61823591e-01 -1.75593872e-01 -1.65694936e+00]
 [ 5.61770761e-01  2.83430778e-02  8.26807282e-01  1.85859137e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 415.64327356
Centerline is valid?  [True, True]
Translation: X:274.43, Y:-1.66, Z:185.89
[[ 7.97323600e-01 -2.80598166e-01 -5.34359192e-01  2.74430855e+02]
 [ 2.19980384e-01  9.59561702e-01 -1.75641597e-01 -1.65685413e+00]
 [ 5.62035325e-01  2.24946505e-02  8.26807283e-01  1.85891799e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 415.70327356
Centerline is valid?  [True, True]
Translation: X:274.48, Y:-1.65, Z:185.93
[[ 7.95295476e-01 -2.86325598e-01 -5.34343295e-01  2.74478911e+02]
 [ 2.26843823e-01  9.57953508e-01 -1.75689946e-01 -1.64566927e+00]
 [ 5.62180563e-01  1.85129433e-02  8.26807284e-01  1.85925202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 415.76327356
Centerline is valid?  [True, True]
Translation: X:274.53, Y:-1.64, Z:185.96
[[ 7.92214065e-01 -2.94829187e-01 -5.34296384e-01  2.74526793e+02]
 [ 2.36997280e-01  9.55465968e-01 -1.75832513e-01 -1.63746909e+00]
 [ 5.62342569e-01  1.26702003e-02  8.26807294e-01  1.85957792e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 415.82327356
Centerline is valid?  [True, True]
Translation: X:274.57, Y:-1.62, Z:185.99
[[ 7.90472164e-01 -2.99491227e-01 -5.34283411e-01  2.74573773e+02]
 [ 2.42595453e-01  9.54052677e-01 -1.75871929e-01 -1.62246526e+00]
 [ 5.62406618e-01  9.40713778e-03  8.26807294e-01  1.85991315e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 415.88327355999996
Centerline is valid?  [True, True]
Translation: X:274.62, Y:-1.61, Z:186.02
[[ 7.90046826e-01 -3.00697845e-01 -5.34234798e-01  2.74619507e+02]
 [ 2.43952143e-01  9.53679448e-01 -1.76019494e-01 -1.60865637e+00]
 [ 5.62417430e-01  8.73591920e-03  8.26807304e-01  1.86023706e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 415.94327355999997
Centerline is valid?  [True, True]
Translation: X:274.67, Y:-1.59, Z:186.06
[[ 7.91208361e-01 -2.97661718e-01 -5.34216091e-01  2.74665474e+02]
 [ 2.40249749e-01  9.54608407e-01 -1.76076254e-01 -1.59239438e+00]
 [ 5.62378332e-01  1.09677229e-02  8.26807306e-01  1.86056830e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 416.00327355999997
Centerline is valid?  [True, True]
Translation: X:274.71, Y:-1.57, Z:186.09
[[ 7.92051453e-01 -2.95438790e-01 -5.34200727e-01  2.74709680e+02]
 [ 2.37536797e-01  9.55278498e-01 -1.76122857e-01 -1.57372156e+00]
 [ 5.62343992e-01  1.26060354e-02  8.26807307e-01  1.86089338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 416.06327355999997
Centerline is valid?  [True, True]
Translation: X:274.76, Y:-1.56, Z:186.12
[[ 7.92559021e-01 -2.94125660e-01 -5.34172532e-01  2.74755236e+02]
 [ 2.35895641e-01  9.55669330e-01 -1.76208337e-01 -1.55529103e+00]
 [ 5.62319699e-01  1.36465350e-02  8.26807310e-01  1.86122640e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 416.12327356
Centerline is valid?  [True, True]
Translation: X:274.80, Y:-1.54, Z:186.16
[[ 7.92850982e-01 -2.93357439e-01 -5.34161711e-01  2.74801394e+02]
 [ 2.34947292e-01  9.55896873e-01 -1.76241136e-01 -1.53873402e+00]
 [ 5.62305157e-01  1.42331102e-02  8.26807311e-01  1.86155968e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 416.18327356
Centerline is valid?  [True, True]
Translation: X:274.85, Y:-1.52, Z:186.19
[[ 7.92545233e-01 -2.94276281e-01 -5.34110030e-01  2.74848491e+02]
 [ 2.35949760e-01  9.55621046e-01 -1.76397643e-01 -1.52375571e+00]
 [ 5.62316428e-01  1.37799775e-02  8.26807322e-01  1.86189483e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 416.24327356
Centerline is valid?  [True, True]
Translation: X:274.89, Y:-1.50, Z:186.22
[[ 7.90661522e-01 -2.99382009e-01 -5.34064388e-01  2.74893586e+02]
 [ 2.42015275e-01  9.54077428e-01 -1.76535740e-01 -1.50400412e+00]
 [ 5.62390402e-01  1.03282773e-02  8.26807331e-01  1.86222736e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 416.30327356
Centerline is valid?  [True, True]
Translation: X:274.94, Y:-1.48, Z:186.26
[[ 7.88413583e-01 -3.05333414e-01 -5.34018284e-01  2.74938119e+02]
 [ 2.49105723e-01  9.52224891e-01 -1.76675113e-01 -1.48464112e+00]
 [ 5.62450318e-01  6.26604756e-03  8.26807340e-01  1.86255544e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 416.36327356
Centerline is valid?  [True, True]
Translation: X:274.98, Y:-1.46, Z:186.29
[[ 7.86234359e-01 -3.11001020e-01 -5.33960577e-01  2.74983114e+02]
 [ 2.55835652e-01  9.50406448e-01 -1.76849377e-01 -1.46459973e+00]
 [ 5.62479913e-01  2.43890464e-03  8.26807353e-01  1.86288774e+02]
 [ 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 : 0.987178 with order 1
SLAMing on frame at distance 416.42327356
Centerline is valid?  [True, True]
Translation: X:275.03, Y:-1.44, Z:186.32
[[ 7.86138481e-01 -3.11323109e-01 -5.33914047e-01  2.75027845e+02]
 [ 2.56129658e-01  9.50301122e-01 -1.76989761e-01 -1.44451844e+00]
 [ 5.62480121e-01  2.38724000e-03  8.26807363e-01  1.86321867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 416.48327356
Centerline is valid?  [True, True]
Translation: X:275.07, Y:-1.42, Z:186.35
[[ 7.85697761e-01 -3.12520465e-01 -5.33863267e-01  2.75070790e+02]
 [ 2.57473179e-01  9.49909460e-01 -1.77142824e-01 -1.42123385e+00]
 [ 5.62482525e-01  1.72524758e-03  8.26807373e-01  1.86354486e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 416.54327356
Centerline is valid?  [True, True]
Translation: X:275.11, Y:-1.40, Z:186.39
[[ 7.86462541e-01 -3.10624650e-01 -5.33843609e-01  2.75113949e+02]
 [ 2.55141285e-01  9.50527411e-01 -1.77202048e-01 -1.39711819e+00]
 [ 5.62476308e-01  3.15722831e-03  8.26807375e-01  1.86387483e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 416.60327356
Centerline is valid?  [True, True]
Translation: X:275.16, Y:-1.37, Z:186.42
[[ 7.86488072e-01 -3.10649602e-01 -5.33791474e-01  2.75156761e+02]
 [ 2.55064928e-01  9.50518635e-01 -1.77358980e-01 -1.37142463e+00]
 [ 5.62475240e-01  3.33923854e-03  8.26807386e-01  1.86420537e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 416.66327356
Centerline is valid?  [True, True]
Translation: X:275.20, Y:-1.35, Z:186.45
[[ 7.86709260e-01 -3.10110601e-01 -5.33778939e-01  2.75200752e+02]
 [ 2.54387948e-01  9.50693001e-01 -1.77396701e-01 -1.34836834e+00]
 [ 5.62472499e-01  3.77269875e-03  8.26807387e-01  1.86453861e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 416.72327356
Centerline is valid?  [True, True]
Translation: X:275.25, Y:-1.33, Z:186.49
[[ 7.87984426e-01 -3.06939017e-01 -5.33731191e-01  2.75245072e+02]
 [ 2.50459015e-01  9.51708851e-01 -1.77540263e-01 -1.32653218e+00]
 [ 5.62450732e-01  6.22117357e-03  8.26807396e-01  1.86487074e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 416.78327356
Centerline is valid?  [True, True]
Translation: X:275.29, Y:-1.29, Z:186.52
[[ 7.88133830e-01 -3.06639893e-01 -5.33682529e-01  2.75285553e+02]
 [ 2.49998773e-01  9.51802575e-01 -1.77686441e-01 -1.29310097e+00]
 [ 5.62446157e-01  6.62071771e-03  8.26807406e-01  1.86520301e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 416.84327356
Centerline is valid?  [True, True]
Translation: X:275.33, Y:-1.28, Z:186.55
[[ 7.91651820e-01 -2.97536153e-01 -5.33628741e-01  2.75331683e+02]
 [ 2.38903739e-01  9.54617800e-01 -1.77847858e-01 -1.27562689e+00]
 [ 5.62327662e-01  1.33076793e-02  8.26807418e-01  1.86553741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 416.90327356
Centerline is valid?  [True, True]
Translation: X:275.37, Y:-1.25, Z:186.59
[[ 7.92131338e-01 -2.96340377e-01 -5.33582538e-01  2.75373196e+02]
 [ 2.37368688e-01  9.54974844e-01 -1.77986388e-01 -1.24708541e+00]
 [ 5.62302454e-01  1.43328087e-02  8.26807427e-01  1.86586597e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 416.96327356
Centerline is valid?  [True, True]
Translation: X:275.41, Y:-1.22, Z:186.62
[[ 7.91453718e-01 -2.98241014e-01 -5.33529109e-01  2.75414303e+02]
 [ 2.39552569e-01  9.54399506e-01 -1.78146428e-01 -1.21596191e+00]
 [ 5.62330489e-01  1.31863840e-02  8.26807439e-01  1.86619742e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 417.02327356
Centerline is valid?  [True, True]
Translation: X:275.46, Y:-1.20, Z:186.65
[[ 7.93294645e-01 -2.93405022e-01 -5.33476428e-01  2.75460214e+02]
 [ 2.33617258e-01  9.55840277e-01 -1.78304070e-01 -1.19813902e+00]
 [ 5.62233566e-01  1.68183632e-02  8.26807450e-01  1.86653125e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 417.08327356
Centerline is valid?  [True, True]
Translation: X:275.50, Y:-1.18, Z:186.69
[[ 7.94513922e-01 -2.90170290e-01 -5.33431187e-01  2.75504712e+02]
 [ 2.29630024e-01  9.56780778e-01 -1.78439333e-01 -1.17545283e+00]
 [ 5.62154499e-01  1.92807176e-02  8.26807458e-01  1.86686659e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 417.14327356
Centerline is valid?  [True, True]
Translation: X:275.54, Y:-1.14, Z:186.72
[[ 7.94827371e-01 -2.89336866e-01 -5.33416936e-01  2.75541627e+02]
 [ 2.28597908e-01  9.57019957e-01 -1.78481925e-01 -1.13575750e+00]
 [ 5.62132054e-01  1.99243235e-02  8.26807459e-01  1.86719022e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 417.20327356
Centerline is valid?  [True, True]
Translation: X:275.59, Y:-1.12, Z:186.75
[[ 7.96513468e-01 -2.84697693e-01 -5.33398087e-01  2.75588360e+02]
 [ 2.22976457e-01  9.58334804e-01 -1.78538243e-01 -1.12017695e+00]
 [ 5.62003376e-01  2.32728996e-02  8.26807461e-01  1.86752508e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 417.26327356
Centerline is valid?  [True, True]
Translation: X:275.63, Y:-1.09, Z:186.79
[[ 7.99538352e-01 -2.76157835e-01 -5.33362235e-01  2.75631247e+02]
 [ 2.12637270e-01  9.60661882e-01 -1.78645293e-01 -1.09289163e+00]
 [ 5.61715065e-01  2.94210737e-02  8.26807466e-01  1.86786018e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 417.32327356
Centerline is valid?  [True, True]
Translation: X:275.68, Y:-1.08, Z:186.82
[[ 8.01331244e-01 -2.70928806e-01 -5.33353372e-01  2.75676691e+02]
 [ 2.06339484e-01  9.62029325e-01 -1.78671751e-01 -1.07504486e+00]
 [ 5.61508908e-01  3.31233969e-02  8.26807466e-01  1.86819177e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 417.38327355999996
Centerline is valid?  [True, True]
Translation: X:275.73, Y:-1.07, Z:186.85
[[ 8.03626042e-01 -2.64075326e-01 -5.33337986e-01  2.75726516e+02]
 [ 1.98085632e-01  9.63754158e-01 -1.78717668e-01 -1.06939315e+00]
 [ 5.61201628e-01  3.79755805e-02  8.26807467e-01  1.86852518e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 417.44327355999997
Centerline is valid?  [True, True]
Translation: X:275.78, Y:-1.06, Z:186.89
[[ 8.04904867e-01 -2.60181522e-01 -5.33323289e-01  2.75775351e+02]
 [ 1.93388465e-01  9.64699550e-01 -1.78761518e-01 -1.06123570e+00]
 [ 5.61007180e-01  4.07474441e-02  8.26807468e-01  1.86885761e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 417.50327355999997
Centerline is valid?  [True, True]
Translation: X:275.82, Y:-1.04, Z:186.92
[[ 8.04975617e-01 -2.59993716e-01 -5.33308094e-01  2.75818423e+02]
 [ 1.93133528e-01  9.64742222e-01 -1.78806839e-01 -1.03643960e+00]
 [ 5.60993490e-01  4.09354722e-02  8.26807469e-01  1.86918884e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 417.56327355999997
Centerline is valid?  [True, True]
Translation: X:275.87, Y:-1.03, Z:186.95
[[ 8.05052604e-01 -2.59786691e-01 -5.33292772e-01  2.75868275e+02]
 [ 1.92855331e-01  9.64789404e-01 -1.78852528e-01 -1.03084272e+00]
 [ 5.60978722e-01  4.11373395e-02  8.26807470e-01  1.86952227e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.968765 with order 1
Centerline goodness : 0.974308 with order 1
Centerline goodness : 0.978440 with order 1
Centerline goodness : 0.975503 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.982287 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.974758 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 417.62327356
Centerline is valid?  [True, True]
Translation: X:275.92, Y:-1.02, Z:186.99
[[ 8.05010571e-01 -2.59941016e-01 -5.33281022e-01  2.75917178e+02]
 [ 1.93017210e-01  9.64750537e-01 -1.78887557e-01 -1.02129784e+00]
 [ 5.60983365e-01  4.10739595e-02  8.26807471e-01  1.86985817e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 417.68327356
Centerline is valid?  [True, True]
Translation: X:275.97, Y:-1.02, Z:187.02
[[ 8.05000180e-01 -2.60071002e-01 -5.33233330e-01  2.75967573e+02]
 [ 1.93079439e-01  9.64711731e-01 -1.79029626e-01 -1.01700330e+00]
 [ 5.60976863e-01  4.11624891e-02  8.26807480e-01  1.87019178e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 417.74327356
Centerline is valid?  [True, True]
Translation: X:276.02, Y:-1.01, Z:187.05
[[ 8.04810318e-01 -2.60693383e-01 -5.33216009e-01  2.76018039e+02]
 [ 1.93791363e-01  9.64559397e-01 -1.79081201e-01 -1.01392673e+00]
 [ 5.61003797e-01  4.07937412e-02  8.26807481e-01  1.87052364e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 417.80327356
Centerline is valid?  [True, True]
Translation: X:276.07, Y:-1.01, Z:187.09
[[ 8.04287858e-01 -2.62326015e-01 -5.33203623e-01  2.76068499e+02]
 [ 1.95723997e-01  9.64162244e-01 -1.79118074e-01 -1.01107543e+00]
 [ 5.61082132e-01  3.97017477e-02  8.26807482e-01  1.87085504e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 417.86327356
Centerline is valid?  [True, True]
Translation: X:276.12, Y:-1.01, Z:187.12
[[ 8.03322154e-01 -2.65378227e-01 -5.33149054e-01  2.76119467e+02]
 [ 1.99276587e-01  9.63404062e-01 -1.79280380e-01 -1.00711525e+00]
 [ 5.61215073e-01  3.77757770e-02  8.26807494e-01  1.87119140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 417.92327356
Centerline is valid?  [True, True]
Translation: X:276.17, Y:-1.00, Z:187.15
[[ 8.02366555e-01 -2.68335153e-01 -5.33108016e-01  2.76169366e+02]
 [ 2.02742889e-01  9.62657842e-01 -1.79402341e-01 -1.00357796e+00]
 [ 5.61340567e-01  3.58625793e-02  8.26807501e-01  1.87152012e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 417.98327356
Centerline is valid?  [True, True]
Translation: X:276.22, Y:-1.00, Z:187.19
[[ 8.01901622e-01 -2.69846129e-01 -5.33044890e-01  2.76218936e+02]
 [ 2.04431885e-01  9.62265623e-01 -1.79589740e-01 -9.96323895e-01]
 [ 5.61392370e-01  3.50419326e-02  8.26807517e-01  1.87185438e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 418.04327356
Centerline is valid?  [True, True]
Translation: X:276.27, Y:-0.99, Z:187.22
[[ 8.01389231e-01 -2.71458594e-01 -5.32996746e-01  2.76268368e+02]
 [ 2.06272464e-01  9.61846083e-01 -1.79732531e-01 -9.87726705e-01]
 [ 5.61450773e-01  3.40931629e-02  8.26807526e-01  1.87219089e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 418.10327356
Centerline is valid?  [True, True]
Translation: X:276.32, Y:-0.98, Z:187.25
[[ 8.01435487e-01 -2.71415829e-01 -5.32948973e-01  2.76317167e+02]
 [ 2.06127377e-01  9.61850723e-01 -1.79874099e-01 -9.82000158e-01]
 [ 5.61438032e-01  3.43021124e-02  8.26807536e-01  1.87251705e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 418.16327356
Centerline is valid?  [True, True]
Translation: X:276.37, Y:-0.97, Z:187.28
[[ 8.01472444e-01 -2.71336945e-01 -5.32933564e-01  2.76365027e+02]
 [ 2.06002480e-01  9.61868944e-01 -1.79919742e-01 -9.71398144e-01]
 [ 5.61431118e-01  3.44150791e-02  8.26807537e-01  1.87284834e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 418.22327356
Centerline is valid?  [True, True]
Translation: X:276.42, Y:-0.97, Z:187.32
[[ 8.01976481e-01 -2.69874190e-01 -5.32918048e-01  2.76415179e+02]
 [ 2.04216788e-01  9.62241058e-01 -1.79965690e-01 -9.65808014e-01]
 [ 5.61363721e-01  3.54974386e-02  8.26807538e-01  1.87318347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 418.28327356
Centerline is valid?  [True, True]
Translation: X:276.46, Y:-0.96, Z:187.35
[[ 8.01928051e-01 -2.70046589e-01 -5.32903595e-01  2.76464166e+02]
 [ 2.04395332e-01  9.62195144e-01 -1.80008481e-01 -9.60022699e-01]
 [ 5.61367927e-01  3.54308436e-02  8.26807538e-01  1.87351154e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 418.34327356
Centerline is valid?  [True, True]
Translation: X:276.51, Y:-0.95, Z:187.38
[[ 8.01651608e-01 -2.70903639e-01 -5.32884525e-01  2.76513231e+02]
 [ 2.05386377e-01  9.61973524e-01 -1.80064919e-01 -9.53496742e-01]
 [ 5.61401046e-01  3.49021099e-02  8.26807540e-01  1.87384162e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 418.40327356
Centerline is valid?  [True, True]
Translation: X:276.56, Y:-0.94, Z:187.42
[[ 8.01129903e-01 -2.72469019e-01 -5.32871008e-01  2.76561949e+02]
 [ 2.07238550e-01  9.61568720e-01 -1.80104912e-01 -9.43298893e-01]
 [ 5.61465102e-01  3.38560157e-02  8.26807541e-01  1.87417755e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 418.46327356
Centerline is valid?  [True, True]
Translation: X:276.62, Y:-0.95, Z:187.45
[[ 7.99026884e-01 -2.78666409e-01 -5.32823677e-01  2.76615335e+02]
 [ 2.14587626e-01  9.59929136e-01 -1.80244847e-01 -9.46609678e-01]
 [ 5.61701156e-01  2.96831105e-02  8.26807550e-01  1.87451344e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 418.52327356
Centerline is valid?  [True, True]
Translation: X:276.66, Y:-0.94, Z:187.48
[[ 7.97966520e-01 -2.81781598e-01 -5.32774403e-01  2.76663245e+02]
 [ 2.18234121e-01  9.59079336e-01 -1.80390396e-01 -9.38453846e-01]
 [ 5.61803615e-01  2.76759429e-02  8.26807559e-01  1.87483895e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 418.58327356
Centerline is valid?  [True, True]
Translation: X:276.71, Y:-0.92, Z:187.52
[[ 7.96274460e-01 -2.86553812e-01 -5.32760638e-01  2.76709508e+02]
 [ 2.23944885e-01  9.57754315e-01 -1.80431044e-01 -9.22104512e-01]
 [ 5.61957003e-01  2.43636124e-02  8.26807560e-01  1.87517244e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 418.64327356
Centerline is valid?  [True, True]
Translation: X:276.76, Y:-0.91, Z:187.55
[[ 7.95660859e-01 -2.88344848e-01 -5.32711034e-01  2.76755103e+02]
 [ 2.26001630e-01  9.57243473e-01 -1.80577397e-01 -9.06201480e-01]
 [ 5.62002722e-01  2.32848049e-02  8.26807570e-01  1.87549992e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 418.70327356
Centerline is valid?  [True, True]
Translation: X:276.80, Y:-0.89, Z:187.58
[[ 7.94904748e-01 -2.90521418e-01 -5.32657251e-01  2.76800932e+02]
 [ 2.28514612e-01  9.56616745e-01 -1.80735929e-01 -8.90320283e-01]
 [ 5.62056504e-01  2.19478834e-02  8.26807582e-01  1.87582877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 418.76327356
Centerline is valid?  [True, True]
Translation: X:276.85, Y:-0.88, Z:187.62
[[ 7.95803536e-01 -2.88151280e-01 -5.32602639e-01  2.76847752e+02]
 [ 2.25555419e-01  9.57288421e-01 -1.80896744e-01 -8.75438975e-01]
 [ 5.61979968e-01  2.38268566e-02  8.26807593e-01  1.87616180e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.984871 with order 1
Centerline goodness : 0.983330 with order 1
Centerline goodness : 0.989939 with order 1
Centerline goodness : 0.970813 with order 1
Centerline goodness : 0.986097 with order 1
Centerline goodness : 0.975121 with order 1
Centerline goodness : 0.987990 with order 1
Centerline goodness : 0.986480 with order 1
Centerline goodness : 0.973550 with order 1
Centerline goodness : 0.997345 with order 1
Centerline goodness : 0.993402 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.985126 with order 1
Centerline goodness : 0.974173 with order 1
Centerline goodness : 0.992597 with order 1
Centerline goodness : 0.971708 with order 1
Centerline goodness : 0.974668 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.984886 with order 1
Centerline goodness : 0.985405 with order 1
SLAMing on frame at distance 418.82327356
Centerline is valid?  [True, True]
Translation: X:276.89, Y:-0.86, Z:187.65
[[ 7.96105867e-01 -2.87346059e-01 -5.32585853e-01  2.76894432e+02]
 [ 2.24553879e-01  9.57514514e-01 -1.80946153e-01 -8.61607699e-01]
 [ 5.61952849e-01  2.44580753e-02  8.26807595e-01  1.87649241e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 418.88327355999996
Centerline is valid?  [True, True]
Translation: X:276.94, Y:-0.85, Z:187.68
[[ 7.94800782e-01 -2.91035919e-01 -5.32531512e-01  2.76939472e+02]
 [ 2.28886250e-01  9.56457900e-01 -1.81105966e-01 -8.45142667e-01]
 [ 5.62052313e-01  2.20540224e-02  8.26807606e-01  1.87681745e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 418.94327355999997
Centerline is valid?  [True, True]
Translation: X:276.98, Y:-0.82, Z:187.72
[[ 7.92895067e-01 -2.96223103e-01 -5.32512241e-01  2.76984825e+02]
 [ 2.35093061e-01  9.54940501e-01 -1.81162615e-01 -8.24911361e-01]
 [ 5.62182058e-01  1.84530106e-02  8.26807608e-01  1.87715348e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.00327355999997
Centerline is valid?  [True, True]
Translation: X:277.03, Y:-0.81, Z:187.75
[[ 7.93016275e-01 -2.95931997e-01 -5.32493606e-01  2.77032187e+02]
 [ 2.34705744e-01  9.55025380e-01 -1.81217374e-01 -8.11177577e-01]
 [ 5.62172928e-01  1.87290188e-02  8.26807609e-01  1.87748823e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.06327355999997
Centerline is valid?  [True, True]
Translation: X:277.08, Y:-0.79, Z:187.78
[[ 7.94149326e-01 -2.92960752e-01 -5.32447974e-01  2.77076313e+02]
 [ 2.31038638e-01  9.55893733e-01 -1.81351368e-01 -7.91455608e-01]
 [ 5.62092515e-01  2.10040119e-02  8.26807618e-01  1.87781471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.12327356
Centerline is valid?  [True, True]
Translation: X:277.12, Y:-0.77, Z:187.81
[[ 7.93860504e-01 -2.93776710e-01 -5.32429098e-01  2.77119691e+02]
 [ 2.31983743e-01  9.55654292e-01 -1.81406771e-01 -7.68762289e-01]
 [ 5.62111238e-01  2.04967751e-02  8.26807619e-01  1.87814346e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.18327356
Centerline is valid?  [True, True]
Translation: X:277.16, Y:-0.75, Z:187.85
[[ 7.94158606e-01 -2.93022298e-01 -5.32400265e-01  2.77164844e+02]
 [ 2.31019010e-01  9.55871908e-01 -1.81491359e-01 -7.50515455e-01]
 [ 5.62087472e-01  2.11383423e-02  8.26807622e-01  1.87847368e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.24327356
Centerline is valid?  [True, True]
Translation: X:277.21, Y:-0.73, Z:187.88
[[ 7.93570278e-01 -2.94711682e-01 -5.32345037e-01  2.77209814e+02]
 [ 2.32944234e-01  9.55373794e-01 -1.81653235e-01 -7.28438944e-01]
 [ 5.62123828e-01  2.01479012e-02  8.26807634e-01  1.87881063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.30327356
Centerline is valid?  [True, True]
Translation: X:277.25, Y:-0.70, Z:187.91
[[ 7.92623880e-01 -2.97330765e-01 -5.32298601e-01  2.77253483e+02]
 [ 2.36006773e-01  9.54595978e-01 -1.81789222e-01 -7.03938040e-01]
 [ 5.62181632e-01  1.84644036e-02  8.26807643e-01  1.87914472e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.36327356
Centerline is valid?  [True, True]
Translation: X:277.30, Y:-0.68, Z:187.95
[[ 7.91937944e-01 -2.99185598e-01 -5.32280255e-01  2.77297661e+02]
 [ 2.38204916e-01  9.54039605e-01 -1.81842925e-01 -6.83805780e-01]
 [ 5.62221229e-01  1.72165386e-02  8.26807644e-01  1.87947305e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.42327356
Centerline is valid?  [True, True]
Translation: X:277.34, Y:-0.66, Z:187.98
[[ 7.90589191e-01 -3.02756009e-01 -5.32266409e-01  2.77341836e+02]
 [ 2.42480137e-01  9.52954246e-01 -1.81883446e-01 -6.63235517e-01]
 [ 5.62291841e-01  1.47310548e-02  8.26807645e-01  1.87980242e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.48327356
Centerline is valid?  [True, True]
Translation: X:277.38, Y:-0.63, Z:188.01
[[ 7.91076224e-01 -3.01507188e-01 -5.32251654e-01  2.77384280e+02]
 [ 2.40945975e-01  9.53335064e-01 -1.81926615e-01 -6.34929365e-01]
 [ 5.62266347e-01  1.56739258e-02  8.26807646e-01  1.88013765e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.54327356
Centerline is valid?  [True, True]
Translation: X:277.43, Y:-0.63, Z:188.05
[[ 7.90054178e-01 -3.04257850e-01 -5.32204431e-01  2.77433380e+02]
 [ 2.44168627e-01  9.52488392e-01 -1.82064674e-01 -6.26770705e-01]
 [ 5.62313149e-01  1.38933310e-02  8.26807655e-01  1.88047080e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.60327356
Centerline is valid?  [True, True]
Translation: X:277.48, Y:-0.61, Z:188.08
[[ 7.89526530e-01 -3.05713064e-01 -5.32153532e-01  2.77479095e+02]
 [ 2.45823084e-01  9.52034300e-01 -1.82213348e-01 -6.07613406e-01]
 [ 5.62333416e-01  1.30466497e-02  8.26807665e-01  1.88080629e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.66327356
Centerline is valid?  [True, True]
Translation: X:277.52, Y:-0.59, Z:188.11
[[ 7.88951686e-01 -3.07228258e-01 -5.32133474e-01  2.77522418e+02]
 [ 2.47610897e-01  9.51559665e-01 -1.82271908e-01 -5.85035822e-01]
 [ 5.62355831e-01  1.20416824e-02  8.26807666e-01  1.88113452e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.72327356
Centerline is valid?  [True, True]
Translation: X:277.57, Y:-0.56, Z:188.15
[[ 7.89510149e-01 -3.05841180e-01 -5.32104216e-01  2.77565595e+02]
 [ 2.45880612e-01  9.51991883e-01 -1.82357287e-01 -5.63175604e-01]
 [ 5.62331262e-01  1.31388184e-02  8.26807670e-01  1.88146006e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.78327356
Centerline is valid?  [True, True]
Translation: X:277.61, Y:-0.54, Z:188.18
[[ 7.90848972e-01 -3.02474699e-01 -5.32040374e-01  2.77610153e+02]
 [ 2.41697318e-01  9.53026923e-01 -1.82543394e-01 -5.42501655e-01]
 [ 5.62263559e-01  1.57715243e-02  8.26807686e-01  1.88179128e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.84327356
Centerline is valid?  [True, True]
Translation: X:277.66, Y:-0.52, Z:188.21
[[ 7.91520926e-01 -3.00743097e-01 -5.32022757e-01  2.77655117e+02]
 [ 2.39576445e-01  9.53552459e-01 -1.82594727e-01 -5.24355170e-01]
 [ 5.62225712e-01  1.70674270e-02  8.26807687e-01  1.88212037e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.90327356
Centerline is valid?  [True, True]
Translation: X:277.70, Y:-0.50, Z:188.25
[[ 7.92578096e-01 -2.98043446e-01 -5.31968106e-01  2.77699780e+02]
 [ 2.36218204e-01  9.54359469e-01 -1.82753833e-01 -5.03781196e-01]
 [ 5.62157382e-01  1.91861341e-02  8.26807699e-01  1.88245223e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 419.96327356
Centerline is valid?  [True, True]
Translation: X:277.75, Y:-0.49, Z:188.28
[[ 7.93805365e-01 -2.94779465e-01 -5.31956869e-01  2.77745020e+02]
 [ 2.32267135e-01  9.55322490e-01 -1.82786538e-01 -4.85216246e-01]
 [ 5.62072078e-01  2.15408366e-02  8.26807699e-01  1.88278414e+02]
 [ 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 : 0.993046 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.997772 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 420.02327356
Centerline is valid?  [True, True]
Translation: X:277.79, Y:-0.47, Z:188.31
[[ 7.94281150e-01 -2.93525962e-01 -5.31939813e-01  2.77789856e+02]
 [ 2.30725557e-01  9.55686484e-01 -1.82836162e-01 -4.65518123e-01]
 [ 5.62034850e-01  2.24912070e-02  8.26807700e-01  1.88311586e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 420.08327356
Centerline is valid?  [True, True]
Translation: X:277.84, Y:-0.45, Z:188.35
[[ 7.95805589e-01 -2.89388840e-01 -5.31928156e-01  2.77835859e+02]
 [ 2.25726778e-01  9.56873011e-01 -1.82870070e-01 -4.47829332e-01]
 [ 5.61908254e-01  2.54585950e-02  8.26807701e-01  1.88345075e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 420.14327356
Centerline is valid?  [True, True]
Translation: X:277.88, Y:-0.41, Z:188.38
[[ 7.96314009e-01 -2.88006702e-01 -5.31917417e-01  2.77875623e+02]
 [ 2.24044274e-01  9.57262386e-01 -1.82901304e-01 -4.12247950e-01]
 [ 5.61861337e-01  2.64738189e-02  8.26807701e-01  1.88378509e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 420.20327356
Centerline is valid?  [True, True]
Translation: X:277.92, Y:-0.39, Z:188.41
[[ 7.96951500e-01 -2.86331501e-01 -5.31867067e-01  2.77920456e+02]
 [ 2.21933369e-01  9.57726030e-01 -1.83047620e-01 -3.91553541e-01]
 [ 5.61795235e-01  2.78410257e-02  8.26807711e-01  1.88411847e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 420.26327356
Centerline is valid?  [True, True]
Translation: X:277.96, Y:-0.37, Z:188.44
[[ 7.96794784e-01 -2.86788778e-01 -5.31855496e-01  2.77963921e+02]
 [ 2.22460536e-01  9.57597291e-01 -1.83081236e-01 -3.70705575e-01]
 [ 5.61809026e-01  2.75613149e-02  8.26807712e-01  1.88444404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 420.32327356
Centerline is valid?  [True, True]
Translation: X:278.01, Y:-0.35, Z:188.48
[[ 7.96944388e-01 -2.86408423e-01 -5.31836307e-01  2.78008261e+02]
 [ 2.21966346e-01  9.57701307e-01 -1.83136966e-01 -3.50507588e-01]
 [ 5.61792296e-01  2.79002152e-02  8.26807713e-01  1.88477369e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 420.38327355999996
Centerline is valid?  [True, True]
Translation: X:278.05, Y:-0.34, Z:188.51
[[ 7.95966255e-01 -2.89211978e-01 -5.31783934e-01  2.78054854e+02]
 [ 2.25234884e-01  9.56908779e-01 -1.83288940e-01 -3.36329108e-01]
 [ 5.61878072e-01  2.61155181e-02  8.26807724e-01  1.88510396e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 420.44327355999997
Centerline is valid?  [True, True]
Translation: X:278.10, Y:-0.32, Z:188.54
[[ 7.96756480e-01 -2.87053312e-01 -5.31770165e-01  2.78099665e+02]
 [ 2.22613606e-01  9.57514336e-01 -1.83328879e-01 -3.19487796e-01]
 [ 5.61802719e-01  2.76891986e-02  8.26807725e-01  1.88542929e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 420.50327355999997
Centerline is valid?  [True, True]
Translation: X:278.14, Y:-0.29, Z:188.58
[[ 7.98123744e-01 -2.83341176e-01 -5.31710698e-01  2.78141935e+02]
 [ 2.18039371e-01  9.58533325e-01 -1.83501218e-01 -2.92122547e-01]
 [ 5.61655875e-01  3.05228133e-02  8.26807738e-01  1.88576091e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 420.56327355999997
Centerline is valid?  [True, True]
Translation: X:278.19, Y:-0.28, Z:188.61
[[ 7.96414536e-01 -2.88199442e-01 -5.31662458e-01  2.78188356e+02]
 [ 2.23783328e-01  9.57181823e-01 -1.83640899e-01 -2.77882771e-01]
 [ 5.61822845e-01  2.72770869e-02  8.26807747e-01  1.88609029e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 420.62327356
Centerline is valid?  [True, True]
Translation: X:278.23, Y:-0.25, Z:188.64
[[ 7.96774904e-01 -2.87230721e-01 -5.31646749e-01  2.78231312e+02]
 [ 2.22588893e-01  9.57451567e-01 -1.83686366e-01 -2.52128428e-01]
 [ 5.61786381e-01  2.80180251e-02  8.26807748e-01  1.88642348e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 420.68327356
Centerline is valid?  [True, True]
Translation: X:278.28, Y:-0.24, Z:188.68
[[ 7.95282270e-01 -2.91431843e-01 -5.31595327e-01  2.78277453e+02]
 [ 2.27539722e-01  9.56258509e-01 -1.83835086e-01 -2.38310819e-01]
 [ 5.61917953e-01  2.52417314e-02  8.26807759e-01  1.88675008e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 420.74327356
Centerline is valid?  [True, True]
Translation: X:278.32, Y:-0.21, Z:188.71
[[ 7.95227641e-01 -2.91609251e-01 -5.31579762e-01  2.78321326e+02]
 [ 2.27723030e-01  9.56206220e-01 -1.83880085e-01 -2.14945356e-01]
 [ 5.61921009e-01  2.51735718e-02  8.26807760e-01  1.88708389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 420.80327356
Centerline is valid?  [True, True]
Translation: X:278.37, Y:-0.19, Z:188.74
[[ 7.95284187e-01 -2.91542042e-01 -5.31532030e-01  2.78366125e+02]
 [ 2.27550260e-01  9.56220824e-01 -1.84017975e-01 -1.94525090e-01]
 [ 5.61910972e-01  2.53963335e-02  8.26807768e-01  1.88741662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 420.86327356
Centerline is valid?  [True, True]
Translation: X:278.41, Y:-0.17, Z:188.77
[[ 7.96559023e-01 -2.88106892e-01 -5.31496135e-01  2.78410604e+02]
 [ 2.23352150e-01  9.57190186e-01 -1.84121602e-01 -1.74229093e-01]
 [ 5.61789587e-01  2.79529188e-02  8.26807773e-01  1.88774721e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 420.92327356
Centerline is valid?  [True, True]
Translation: X:278.46, Y:-0.15, Z:188.81
[[ 7.98115461e-01 -2.83791337e-01 -5.31483007e-01  2.78455372e+02]
 [ 2.18142990e-01  9.58383492e-01 -1.84159490e-01 -1.52394097e-01]
 [ 5.61627409e-01  3.10412441e-02  8.26807774e-01  1.88808344e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 420.98327356
Centerline is valid?  [True, True]
Translation: X:278.50, Y:-0.13, Z:188.84
[[ 7.99417110e-01 -2.80128685e-01 -5.31469852e-01  2.78500696e+02]
 [ 2.13721001e-01  9.59371999e-01 -1.84197449e-01 -1.32817921e-01]
 [ 5.61476284e-01  3.36643236e-02  8.26807775e-01  1.88841820e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 421.04327356
Centerline is valid?  [True, True]
Translation: X:278.55, Y:-0.12, Z:188.88
[[ 7.99967456e-01 -2.78571468e-01 -5.31460258e-01  2.78546965e+02]
 [ 2.11834125e-01  9.59785083e-01 -1.84225126e-01 -1.15876462e-01]
 [ 5.61407492e-01  3.47926862e-02  8.26807775e-01  1.88875322e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 421.10327356
Centerline is valid?  [True, True]
Translation: X:278.59, Y:-0.10, Z:188.91
[[ 8.01112336e-01 -2.75279887e-01 -5.31450853e-01  2.78592355e+02]
 [ 2.07868077e-01  9.60646641e-01 -1.84252254e-01 -9.52003715e-02]
 [ 5.61257417e-01  3.71350865e-02  8.26807775e-01  1.88909092e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 421.16327356
Centerline is valid?  [True, True]
Translation: X:278.64, Y:-0.08, Z:188.94
[[ 8.01533942e-01 -2.74085677e-01 -5.31432386e-01  2.78637128e+02]
 [ 2.06401060e-01  9.60952696e-01 -1.84305506e-01 -7.51417601e-02]
 [ 5.61196883e-01  3.80389111e-02  8.26807777e-01  1.88942315e+02]
 [ 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 421.22327356
Centerline is valid?  [True, True]
Translation: X:278.68, Y:-0.06, Z:188.98
[[ 8.01162031e-01 -2.75235767e-01 -5.31398789e-01  2.78682535e+02]
 [ 2.07716110e-01  9.60650716e-01 -1.84402332e-01 -5.70156559e-02]
 [ 5.61242745e-01  3.73560575e-02  8.26807781e-01  1.88975495e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 421.28327356
Centerline is valid?  [True, True]
Translation: X:278.73, Y:-0.04, Z:189.01
[[ 8.01107666e-01 -2.75425041e-01 -5.31382681e-01  2.78727812e+02]
 [ 2.07912434e-01  9.60599335e-01 -1.84448741e-01 -3.93226207e-02]
 [ 5.61247652e-01  3.72822342e-02  8.26807782e-01  1.89008519e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 421.34327356
Centerline is valid?  [True, True]
Translation: X:278.77, Y:-0.02, Z:189.04
[[ 8.00487366e-01 -2.77253268e-01 -5.31366731e-01  2.78773764e+02]
 [ 2.10074603e-01  9.60119979e-01 -1.84494681e-01 -2.38536450e-02]
 [ 5.61327568e-01  3.60590060e-02  8.26807783e-01  1.89041481e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 421.40327356
Centerline is valid?  [True, True]
Translation: X:278.82, Y:-0.01, Z:189.07
[[ 8.00600090e-01 -2.76957822e-01 -5.31350977e-01  2.78819809e+02]
 [ 2.09690282e-01  9.60195271e-01 -1.84540043e-01 -7.39497333e-03]
 [ 5.61310504e-01  3.63236384e-02  8.26807784e-01  1.89074724e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 421.46327356
Centerline is valid?  [True, True]
Translation: X:278.86, Y:0.01, Z:189.11
[[ 8.00682712e-01 -2.76827870e-01 -5.31294198e-01  2.78864934e+02]
 [ 2.09426541e-01  9.60221423e-01 -1.84703392e-01  1.02285126e-02]
 [ 5.61291118e-01  3.66217065e-02  8.26807796e-01  1.89107580e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 421.52327356
Centerline is valid?  [True, True]
Translation: X:278.91, Y:0.03, Z:189.14
[[ 8.00733173e-01 -2.76790373e-01 -5.31237683e-01  2.78910157e+02]
 [ 2.09274318e-01  9.60223353e-01 -1.84865822e-01  2.75512039e-02]
 [ 5.61275909e-01  3.68537927e-02  8.26807808e-01  1.89140433e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 421.58327356
Centerline is valid?  [True, True]
Translation: X:278.96, Y:0.05, Z:189.17
[[ 8.00138227e-01 -2.78528266e-01 -5.31225775e-01  2.78955779e+02]
 [ 2.11336041e-01  9.59765104e-01 -1.84900036e-01  4.60285620e-02]
 [ 5.61351847e-01  3.56784350e-02  8.26807809e-01  1.89173861e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 421.64327356
Centerline is valid?  [True, True]
Translation: X:279.00, Y:0.07, Z:189.21
[[ 7.99911723e-01 -2.79271036e-01 -5.31176923e-01  2.79000031e+02]
 [ 2.12134317e-01  9.59561943e-01 -1.85040288e-01  6.61236474e-02]
 [ 5.61373554e-01  3.53350418e-02  8.26807818e-01  1.89206722e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 421.70327356
Centerline is valid?  [True, True]
Translation: X:279.04, Y:0.09, Z:189.24
[[ 7.98963911e-01 -2.81993492e-01 -5.31165078e-01  2.79044767e+02]
 [ 2.15378334e-01  9.58832458e-01 -1.85074285e-01  8.71319737e-02]
 [ 5.61488061e-01  3.34662248e-02  8.26807819e-01  1.89240149e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 421.76327356
Centerline is valid?  [True, True]
Translation: X:279.09, Y:0.11, Z:189.27
[[ 7.98370614e-01 -2.83761284e-01 -5.31115708e-01  2.79090091e+02]
 [ 2.17406305e-01  9.58347316e-01 -1.85215874e-01  1.05949786e-01]
 [ 5.61550408e-01  3.24030075e-02  8.26807828e-01  1.89273414e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 421.82327356
Centerline is valid?  [True, True]
Translation: X:279.13, Y:0.13, Z:189.31
[[ 7.97294945e-01 -2.86865658e-01 -5.31063898e-01  2.79133817e+02]
 [ 2.21035096e-01  9.57488147e-01 -1.85364329e-01  1.28365478e-01]
 [ 5.61662048e-01  3.04062832e-02  8.26807838e-01  1.89306458e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 421.88327355999996
Centerline is valid?  [True, True]
Translation: X:279.18, Y:0.15, Z:189.34
[[ 7.99306736e-01 -2.81234679e-01 -5.31051595e-01  2.79177279e+02]
 [ 2.14252489e-01  9.59021830e-01 -1.85399571e-01  1.52455420e-01]
 [ 5.61430861e-01  3.44119999e-02  8.26807839e-01  1.89339760e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 421.94327355999997
Centerline is valid?  [True, True]
Translation: X:279.22, Y:0.17, Z:189.37
[[ 7.97574045e-01 -2.86137896e-01 -5.31037425e-01  2.79222757e+02]
 [ 2.20110848e-01  9.57686360e-01 -1.85440152e-01  1.71378895e-01]
 [ 5.61628753e-01  3.10151544e-02  8.26807840e-01  1.89373196e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 422.00327355999997
Centerline is valid?  [True, True]
Translation: X:279.27, Y:0.19, Z:189.41
[[ 7.98614892e-01 -2.83236378e-01 -5.31028633e-01  2.79266566e+02]
 [ 2.16610995e-01  9.58479155e-01 -1.85465325e-01  1.92883782e-01]
 [ 5.61510402e-01  3.30887299e-02  8.26807840e-01  1.89406146e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 422.06327355999997
Centerline is valid?  [True, True]
Translation: X:279.31, Y:0.22, Z:189.44
[[ 7.99881484e-01 -2.79667288e-01 -5.31013954e-01  2.79309770e+02]
 [ 2.12300914e-01  9.59434910e-01 -1.85507345e-01  2.17546169e-01]
 [ 5.61353661e-01  3.56491428e-02  8.26807841e-01  1.89439409e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 422.12327356
Centerline is valid?  [True, True]
Translation: X:279.35, Y:0.24, Z:189.47
[[ 8.00403767e-01 -2.78192014e-01 -5.31001895e-01  2.79352261e+02]
 [ 2.10508788e-01  9.59823041e-01 -1.85541858e-01  2.42082508e-01]
 [ 5.61284117e-01  3.67278363e-02  8.26807841e-01  1.89472190e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 422.18327356
Centerline is valid?  [True, True]
Translation: X:279.40, Y:0.27, Z:189.51
[[ 8.00261342e-01 -2.78626166e-01 -5.30988931e-01  2.79395086e+02]
 [ 2.11004931e-01  9.59706919e-01 -1.85578954e-01  2.68661036e-01]
 [ 5.61300903e-01  3.64703806e-02  8.26807842e-01  1.89505643e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 422.24327356
Centerline is valid?  [True, True]
Translation: X:279.44, Y:0.29, Z:189.54
[[ 7.98814008e-01 -2.82839017e-01 -5.30940929e-01  2.79439784e+02]
 [ 2.15968004e-01  9.58575669e-01 -1.85716203e-01  2.89581305e-01]
 [ 5.61474845e-01  3.36864519e-02  8.26807851e-01  1.89538993e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 422.30327356
Centerline is valid?  [True, True]
Translation: X:279.48, Y:0.31, Z:189.57
[[ 7.97760581e-01 -2.85813490e-01 -5.30931921e-01  2.79482406e+02]
 [ 2.19521147e-01  9.57763224e-01 -1.85741954e-01  3.11425769e-01]
 [ 5.61594624e-01  3.16268248e-02  8.26807851e-01  1.89571260e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 422.36327356
Centerline is valid?  [True, True]
Translation: X:279.53, Y:0.33, Z:189.60
[[ 8.05443153e-01 -2.63427416e-01 -5.30911786e-01  2.79527714e+02]
 [ 1.92655785e-01  9.63515593e-01 -1.85799491e-01  3.30916133e-01]
 [ 5.60486464e-01  4.73677006e-02  8.26807852e-01  1.89604712e+02]
 [ 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 : 0.986482 with order 1
Centerline goodness : 0.977893 with order 1
Centerline goodness : 0.994612 with order 1
Centerline goodness : 0.983030 with order 1
Centerline goodness : 0.954327 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.957651 with order 1
Centerline goodness : 0.972553 with order 1
Centerline goodness : 0.964853 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.981521 with order 1
Centerline goodness : 0.994415 with order 1
SLAMing on frame at distance 422.42327356
Centerline is valid?  [True, True]
Translation: X:279.57, Y:0.35, Z:189.64
[[ 7.96645181e-01 -2.88970162e-01 -5.30898014e-01  2.79573787e+02]
 [ 2.23247538e-01  9.56882680e-01 -1.85838836e-01  3.45539467e-01]
 [ 5.61708993e-01  2.95259385e-02  8.26807853e-01  1.89637569e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 422.48327356
Centerline is valid?  [True, True]
Translation: X:279.62, Y:0.37, Z:189.67
[[ 8.04257338e-01 -2.67077686e-01 -5.30885716e-01  2.79617489e+02]
 [ 1.96974892e-01  9.62627530e-01 -1.85873962e-01  3.70100000e-01]
 [ 5.60687993e-01  4.49193409e-02  8.26807854e-01  1.89671138e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 422.54327356
Centerline is valid?  [True, True]
Translation: X:279.66, Y:0.39, Z:189.70
[[ 7.97257026e-01 -2.87324114e-01 -5.30872949e-01  2.79663473e+02]
 [ 2.21223160e-01  9.57338827e-01 -1.85910418e-01  3.89005102e-01]
 [ 5.61641833e-01  3.07769956e-02  8.26807854e-01  1.89704900e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 422.60327356
Centerline is valid?  [True, True]
Translation: X:279.71, Y:0.41, Z:189.74
[[ 7.96675782e-01 -2.88953483e-01 -5.30861172e-01  2.79708476e+02]
 [ 2.23157612e-01  9.56883218e-01 -1.85944044e-01  4.08694981e-01]
 [ 5.61701325e-01  2.96714054e-02  8.26807855e-01  1.89738212e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 422.66327356
Centerline is valid?  [True, True]
Translation: X:279.75, Y:0.43, Z:189.77
[[ 8.03789305e-01 -2.68548629e-01 -5.30852510e-01  2.79753204e+02]
 [ 1.98673502e-01  9.62260077e-01 -1.85968769e-01  4.30735394e-01]
 [ 5.60759835e-01  4.40133803e-02  8.26807855e-01  1.89771878e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 422.72327356
Centerline is valid?  [True, True]
Translation: X:279.80, Y:0.45, Z:189.80
[[ 8.02094468e-01 -2.73592118e-01 -5.30840670e-01  2.79798167e+02]
 [ 2.04691527e-01  9.60991377e-01 -1.86002562e-01  4.48437550e-01]
 [ 5.61022141e-01  4.05330385e-02  8.26807856e-01  1.89804717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 422.78327356
Centerline is valid?  [True, True]
Translation: X:279.84, Y:0.47, Z:189.84
[[ 8.04185132e-01 -2.67408066e-01 -5.30828785e-01  2.79842806e+02]
 [ 1.97263823e-01  9.62536968e-01 -1.86036474e-01  4.70581005e-01]
 [ 5.60689983e-01  4.48944513e-02  8.26807856e-01  1.89838347e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 422.84327356
Centerline is valid?  [True, True]
Translation: X:279.89, Y:0.49, Z:189.87
[[ 8.03694233e-01 -2.68949686e-01 -5.30793411e-01  2.79887370e+02]
 [ 1.99043054e-01  9.62151104e-01 -1.86137356e-01  4.89966843e-01]
 [ 5.60765050e-01  4.39467781e-02  8.26807861e-01  1.89871287e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 422.90327356
Centerline is valid?  [True, True]
Translation: X:279.93, Y:0.50, Z:189.90
[[ 7.96979707e-01 -2.88347907e-01 -5.30734238e-01  2.79934103e+02]
 [ 2.22190035e-01  9.57037972e-01 -1.86305951e-01  5.04518977e-01]
 [ 5.61653751e-01  3.05582034e-02  8.26807874e-01  1.89904509e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 422.96327356
Centerline is valid?  [True, True]
Translation: X:279.98, Y:0.53, Z:189.94
[[ 8.04236954e-01 -2.67462430e-01 -5.30722875e-01  2.79978590e+02]
 [ 1.97131112e-01  9.62505770e-01 -1.86338316e-01  5.26534724e-01]
 [ 5.60662328e-01  4.52381693e-02  8.26807875e-01  1.89938017e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 423.02327356
Centerline is valid?  [True, True]
Translation: X:280.02, Y:0.54, Z:189.97
[[ 8.04404026e-01 -2.66985214e-01 -5.30709956e-01  2.80023541e+02]
 [ 1.96535912e-01  9.62620359e-01 -1.86375105e-01  5.43165556e-01]
 [ 5.60631606e-01  4.56173197e-02  8.26807875e-01  1.89970606e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 423.08327356
Centerline is valid?  [True, True]
Translation: X:280.07, Y:0.56, Z:190.00
[[ 7.96479827e-01 -2.89808525e-01 -5.30689084e-01  2.80070604e+02]
 [ 2.23858797e-01  9.56623964e-01 -1.86434520e-01  5.57868446e-01]
 [ 5.61700209e-01  2.96919146e-02  8.26807877e-01  1.90004110e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 423.14327356
Centerline is valid?  [True, True]
Translation: X:280.12, Y:0.57, Z:190.04
[[ 7.97719814e-01 -2.86399354e-01 -5.30677405e-01  2.80115384e+02]
 [ 2.19743264e-01  9.57571236e-01 -1.86467761e-01  5.73615244e-01]
 [ 5.61565665e-01  3.21362426e-02  8.26807877e-01  1.90036392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 423.20327356
Centerline is valid?  [True, True]
Translation: X:280.16, Y:0.59, Z:190.07
[[ 7.97401239e-01 -2.87340730e-01 -5.30647311e-01  2.80161876e+02]
 [ 2.20816594e-01  9.57307616e-01 -1.86553369e-01  5.90289419e-01]
 [ 5.61597094e-01  3.15821562e-02  8.26807881e-01  1.90069966e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 423.26327356
Centerline is valid?  [True, True]
Translation: X:280.21, Y:0.61, Z:190.10
[[ 7.96630114e-01 -2.89484161e-01 -5.30640540e-01  2.80207247e+02]
 [ 2.23377519e-01  9.56709537e-01 -1.86572628e-01  6.07921307e-01]
 [ 5.61678686e-01  3.00962066e-02  8.26807881e-01  1.90103057e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 423.32327356
Centerline is valid?  [True, True]
Translation: X:280.26, Y:0.62, Z:190.14
[[ 7.97672373e-01 -2.86620698e-01 -5.30629212e-01  2.80255130e+02]
 [ 2.19918107e-01  9.57504392e-01 -1.86604840e-01  6.21328298e-01]
 [ 5.61564611e-01  3.21545540e-02  8.26807881e-01  1.90136803e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 423.38327355999996
Centerline is valid?  [True, True]
Translation: X:280.30, Y:0.64, Z:190.17
[[ 7.97652528e-01 -2.86699513e-01 -5.30616466e-01  2.80299552e+02]
 [ 2.19988696e-01  9.57481113e-01 -1.86641077e-01  6.36126833e-01]
 [ 5.61565151e-01  3.21451026e-02  8.26807882e-01  1.90168641e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 423.44327355999997
Centerline is valid?  [True, True]
Translation: X:280.35, Y:0.65, Z:190.20
[[ 7.99413330e-01 -2.81806326e-01 -5.30587902e-01  2.80348139e+02]
 [ 2.14063740e-01  9.58807341e-01 -1.86722251e-01  6.47566650e-01]
 [ 5.61351087e-01  3.56886255e-02  8.26807885e-01  1.90202377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 423.50327355999997
Centerline is valid?  [True, True]
Translation: X:280.39, Y:0.67, Z:190.24
[[ 8.00862876e-01 -2.77692124e-01 -5.30571144e-01  2.80391506e+02]
 [ 2.09099475e-01  9.59892926e-01 -1.86769860e-01  6.72261140e-01]
 [ 5.61156007e-01  3.86348996e-02  8.26807886e-01  1.90235769e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 423.56327355999997
Centerline is valid?  [True, True]
Translation: X:280.44, Y:0.67, Z:190.27
[[ 7.99668729e-01 -2.81135144e-01 -5.30559097e-01  2.80441236e+02]
 [ 2.13204736e-01  9.58982783e-01 -1.86804077e-01  6.74517886e-01]
 [ 5.61314230e-01  3.62636668e-02  8.26807887e-01  1.90268179e+02]
 [ 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 : 0.997701 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.999107 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.994822 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 423.62327356
Centerline is valid?  [True, True]
Translation: X:280.49, Y:0.69, Z:190.30
[[ 8.02159316e-01 -2.73986234e-01 -5.30539326e-01  2.80485573e+02]
 [ 2.04599616e-01  9.60844554e-01 -1.86860214e-01  6.94352937e-01]
 [ 5.60962948e-01  4.13435190e-02  8.26807888e-01  1.90301093e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 423.68327356
Centerline is valid?  [True, True]
Translation: X:280.53, Y:0.71, Z:190.33
[[ 8.02526258e-01 -2.72938257e-01 -5.30524564e-01  2.80532621e+02]
 [ 2.03316904e-01  9.61108649e-01 -1.86902119e-01  7.07470242e-01]
 [ 5.60904485e-01  4.21292467e-02  8.26807889e-01  1.90334232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 423.74327356
Centerline is valid?  [True, True]
Translation: X:280.58, Y:0.72, Z:190.37
[[ 8.02671841e-01 -2.72622343e-01 -5.30466751e-01  2.80579419e+02]
 [ 2.02830899e-01  9.61179435e-01 -1.87066086e-01  7.20320815e-01]
 [ 5.60872126e-01  4.25576317e-02  8.26807901e-01  1.90367110e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 423.80327356
Centerline is valid?  [True, True]
Translation: X:280.63, Y:0.73, Z:190.40
[[ 8.03169519e-01 -2.71185661e-01 -5.30449867e-01  2.80627632e+02]
 [ 2.01079306e-01  9.61538081e-01 -1.87113952e-01  7.29409744e-01]
 [ 5.60790368e-01  4.36217321e-02  8.26807903e-01  1.90400081e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 423.86327356
Centerline is valid?  [True, True]
Translation: X:280.67, Y:0.74, Z:190.43
[[ 8.03214657e-01 -2.71074049e-01 -5.30438568e-01  2.80674610e+02]
 [ 2.00924680e-01  9.61564171e-01 -1.87145979e-01  7.42446385e-01]
 [ 5.60781140e-01  4.37401937e-02  8.26807903e-01  1.90433160e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 423.92327356
Centerline is valid?  [True, True]
Translation: X:280.72, Y:0.75, Z:190.47
[[ 8.03638276e-01 -2.69847985e-01 -5.30422083e-01  2.80721382e+02]
 [ 1.99426435e-01  9.61866931e-01 -1.87192691e-01  7.54718530e-01]
 [ 5.60709032e-01  4.46550261e-02  8.26807904e-01  1.90465927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 423.98327356
Centerline is valid?  [True, True]
Translation: X:280.77, Y:0.76, Z:190.50
[[ 8.04462511e-01 -2.67412981e-01 -5.30405850e-01  2.80770431e+02]
 [ 1.96482480e-01  9.62463668e-01 -1.87238677e-01  7.64765543e-01]
 [ 5.60566413e-01  4.64110391e-02  8.26807905e-01  1.90499651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 424.04327356
Centerline is valid?  [True, True]
Translation: X:280.82, Y:0.78, Z:190.53
[[ 8.04144775e-01 -2.68392054e-01 -5.30393144e-01  2.80817452e+02]
 [ 1.97630379e-01  9.62221613e-01 -1.87274665e-01  7.78241779e-01]
 [ 5.60618778e-01  4.57741456e-02  8.26807906e-01  1.90532854e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 424.10327356
Centerline is valid?  [True, True]
Translation: X:280.87, Y:0.79, Z:190.57
[[ 8.03719154e-01 -2.69780964e-01 -5.30333624e-01  2.80865614e+02]
 [ 1.99182155e-01  9.61868783e-01 -1.87443093e-01  7.89058217e-01]
 [ 5.60679936e-01  4.50186102e-02  8.26807919e-01  1.90566135e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 424.16327356
Centerline is valid?  [True, True]
Translation: X:280.91, Y:0.80, Z:190.60
[[ 8.02398392e-01 -2.73710544e-01 -5.30320054e-01  2.80913925e+02]
 [ 2.03861239e-01  9.60880477e-01 -1.87481479e-01  8.00756238e-01]
 [ 5.60889843e-01  4.23231344e-02  8.26807920e-01  1.90599760e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 424.22327356
Centerline is valid?  [True, True]
Translation: X:280.96, Y:0.81, Z:190.63
[[ 8.00477859e-01 -2.79355558e-01 -5.30278860e-01  2.80963180e+02]
 [ 2.10547531e-01  9.59414797e-01 -1.87597933e-01  8.08636402e-01]
 [ 5.61163910e-01  3.85190872e-02  8.26807926e-01  1.90633093e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 424.28327356
Centerline is valid?  [True, True]
Translation: X:281.01, Y:0.82, Z:190.67
[[ 7.98748141e-01 -2.84286212e-01 -5.30266684e-01  2.81011204e+02]
 [ 2.16436798e-01  9.58096663e-01 -1.87632345e-01  8.17424449e-01]
 [ 5.61388029e-01  3.51017636e-02  8.26807926e-01  1.90665874e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 424.34327356
Centerline is valid?  [True, True]
Translation: X:281.06, Y:0.83, Z:190.70
[[ 7.97373402e-01 -2.88143067e-01 -5.30253930e-01  2.81059538e+02]
 [ 2.21040666e-01  9.57037932e-01 -1.87668381e-01  8.28170485e-01]
 [ 5.61548468e-01  3.24340938e-02  8.26807927e-01  1.90699296e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 424.40327356
Centerline is valid?  [True, True]
Translation: X:281.11, Y:0.84, Z:190.73
[[ 7.95861240e-01 -2.92384972e-01 -5.30203654e-01  2.81107545e+02]
 [ 2.26039451e-01  9.55841747e-01 -1.87810333e-01  8.39626421e-01]
 [ 5.61703706e-01  2.96240216e-02  8.26807936e-01  1.90732623e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 424.46327356
Centerline is valid?  [True, True]
Translation: X:281.15, Y:0.85, Z:190.76
[[ 7.94799016e-01 -2.95284752e-01 -5.30190003e-01  2.81152942e+02]
 [ 2.29497330e-01  9.55009832e-01 -1.87848864e-01  8.53231605e-01]
 [ 5.61805571e-01  2.76249027e-02  8.26807937e-01  1.90764809e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 424.52327356
Centerline is valid?  [True, True]
Translation: X:281.20, Y:0.87, Z:190.80
[[ 8.00574499e-01 -2.79294189e-01 -5.30165284e-01  2.81197996e+02]
 [ 2.10262721e-01  9.59414501e-01 -1.87918609e-01  8.70243183e-01]
 [ 5.61132836e-01  3.89688511e-02  8.26807939e-01  1.90797535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 424.58327356
Centerline is valid?  [True, True]
Translation: X:281.24, Y:0.88, Z:190.83
[[ 8.00102048e-01 -2.80675816e-01 -5.30148846e-01  2.81244798e+02]
 [ 2.11888096e-01  9.59047759e-01 -1.87964971e-01  8.84610277e-01]
 [ 5.61195285e-01  3.80589287e-02  8.26807940e-01  1.90830791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 424.64327356
Centerline is valid?  [True, True]
Translation: X:281.29, Y:0.90, Z:190.86
[[ 7.97824994e-01 -2.87108800e-01 -5.30135659e-01  2.81291811e+02]
 [ 2.19578461e-01  9.57308982e-01 -1.88002160e-01  8.98858485e-01]
 [ 5.61480702e-01  3.35864501e-02  8.26807941e-01  1.90864159e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 424.70327356
Centerline is valid?  [True, True]
Translation: X:281.34, Y:0.91, Z:190.90
[[ 7.88220862e-01 -3.12531791e-01 -5.30124280e-01  2.81338469e+02]
 [ 2.50126089e-01  9.49778955e-01 -1.88034240e-01  9.14538354e-01]
 [ 5.62267563e-01  1.56145977e-02  8.26807941e-01  1.90897627e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 424.76327356
Centerline is valid?  [True, True]
Translation: X:281.38, Y:0.94, Z:190.93
[[ 7.90722516e-01 -3.06170064e-01 -5.30111116e-01  2.81382828e+02]
 [ 2.42439692e-01  9.51762662e-01 -1.88071347e-01  9.36152054e-01]
 [ 5.62121783e-01  2.01922733e-02  8.26807942e-01  1.90930968e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.977927 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.972827 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.974541 with order 1
Centerline goodness : 0.996789 with order 1
Centerline goodness : 0.996660 with order 1
Centerline goodness : 0.984828 with order 1
Centerline goodness : 0.990969 with order 1
Centerline goodness : 0.983941 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.978121 with order 1
Centerline goodness : 0.994987 with order 1
Centerline goodness : 0.982645 with order 1
Centerline goodness : 0.974698 with order 1
Centerline goodness : 0.999292 with order 1
Centerline goodness : 0.971964 with order 1
SLAMing on frame at distance 424.82327356
Centerline is valid?  [True, True]
Translation: X:281.43, Y:0.95, Z:190.96
[[ 7.85330402e-01 -3.19765125e-01 -5.30100390e-01  2.81430323e+02]
 [ 2.58801917e-01  9.47438317e-01 -1.88101574e-01  9.49973453e-01]
 [ 5.62385745e-01  1.05308875e-02  8.26807942e-01  1.90964550e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 424.88327355999996
Centerline is valid?  [True, True]
Translation: X:281.47, Y:0.97, Z:191.00
[[ 7.83899184e-01 -3.23280901e-01 -5.30086341e-01  2.81474754e+02]
 [ 2.63017932e-01  9.46268710e-01 -1.88141160e-01  9.69948669e-01]
 [ 5.62426562e-01  8.06148885e-03  8.26807943e-01  1.90997564e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 424.94327355999997
Centerline is valid?  [True, True]
Translation: X:281.52, Y:0.99, Z:191.03
[[ 7.82422145e-01 -3.26931469e-01 -5.30029623e-01  2.81519843e+02]
 [ 2.67317863e-01  9.45031193e-01 -1.88300835e-01  9.89559014e-01]
 [ 5.62455995e-01  5.64435688e-03  8.26807955e-01  1.91030867e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.00327355999997
Centerline is valid?  [True, True]
Translation: X:281.57, Y:1.01, Z:191.06
[[ 7.81285293e-01 -3.29720324e-01 -5.29979054e-01  2.81565230e+02]
 [ 2.70590644e-01  9.44070925e-01 -1.88443073e-01  1.00983810e+00]
 [ 5.62471327e-01  3.82042796e-03  8.26807965e-01  1.91064522e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.06327355999997
Centerline is valid?  [True, True]
Translation: X:281.61, Y:1.03, Z:191.10
[[ 7.79860914e-01 -3.33114463e-01 -5.29954441e-01  2.81609046e+02]
 [ 2.74646155e-01  9.42885260e-01 -1.88512272e-01  1.03341734e+00]
 [ 5.62482395e-01  1.46340297e-03  8.26807967e-01  1.91097954e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.12327356
Centerline is valid?  [True, True]
Translation: X:281.65, Y:1.06, Z:191.13
[[ 7.78895395e-01 -3.35445320e-01 -5.29904143e-01  2.81652280e+02]
 [ 2.77368697e-01  9.42059677e-01 -1.88653572e-01  1.05782068e+00]
 [ 5.62484284e-01 -3.74228881e-05  8.26807976e-01  1.91131173e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.18327356
Centerline is valid?  [True, True]
Translation: X:281.69, Y:1.08, Z:191.16
[[ 7.78616842e-01 -3.36111079e-01 -5.29891645e-01  2.81694352e+02]
 [ 2.78150080e-01  9.41822233e-01 -1.88688670e-01  1.08329809e+00]
 [ 5.62484085e-01 -4.73227198e-04  8.26807977e-01  1.91163937e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.24327356
Centerline is valid?  [True, True]
Translation: X:281.74, Y:1.10, Z:191.20
[[ 7.77117449e-01 -3.39586297e-01 -5.29876983e-01  2.81740520e+02]
 [ 2.82326948e-01  9.40570328e-01 -1.88729838e-01  1.09792391e+00]
 [ 5.62476634e-01 -2.93330098e-03  8.26807977e-01  1.91196848e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.30327356
Centerline is valid?  [True, True]
Translation: X:281.78, Y:1.13, Z:191.23
[[ 7.79175191e-01 -3.34869718e-01 -5.29856862e-01  2.81779931e+02]
 [ 2.76582279e-01  9.42264279e-01 -1.88786312e-01  1.13155116e+00]
 [ 5.62484013e-01  5.48591722e-04  8.26807979e-01  1.91229760e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.36327356
Centerline is valid?  [True, True]
Translation: X:281.83, Y:1.15, Z:191.26
[[ 7.77570115e-01 -3.38605392e-01 -5.29840641e-01  2.81826141e+02]
 [ 2.81070330e-01  9.40926145e-01 -1.88831828e-01  1.14777792e+00]
 [ 5.62480387e-01 -2.09249781e-03  8.26807980e-01  1.91263063e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.42327356
Centerline is valid?  [True, True]
Translation: X:281.87, Y:1.17, Z:191.30
[[ 7.76610810e-01 -3.40817761e-01 -5.29829127e-01  2.81868962e+02]
 [ 2.83725970e-01  9.40122287e-01 -1.88864131e-01  1.17392138e+00]
 [ 5.62472421e-01 -3.65235677e-03  8.26807980e-01  1.91296463e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.48327356
Centerline is valid?  [True, True]
Translation: X:281.91, Y:1.20, Z:191.33
[[ 7.76132616e-01 -3.41983086e-01 -5.29778946e-01  2.81912411e+02]
 [ 2.85040770e-01  9.39696197e-01 -1.89004806e-01  1.19779986e+00]
 [ 5.62467708e-01 -4.31580364e-03  8.26807990e-01  1.91329712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.54327356
Centerline is valid?  [True, True]
Translation: X:281.95, Y:1.22, Z:191.36
[[ 7.75327341e-01 -3.43828524e-01 -5.29763589e-01  2.81954840e+02]
 [ 2.87246081e-01  9.39015762e-01 -1.89047843e-01  1.22338555e+00]
 [ 5.62456401e-01 -5.59855369e-03  8.26807990e-01  1.91362734e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.60327356
Centerline is valid?  [True, True]
Translation: X:282.00, Y:1.25, Z:191.40
[[ 7.75793138e-01 -3.42800113e-01 -5.29748139e-01  2.81996511e+02]
 [ 2.85971107e-01  9.39396120e-01 -1.89091129e-01  1.25012416e+00]
 [ 5.62463807e-01 -4.79706152e-03  8.26807991e-01  1.91395534e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.66327356
Centerline is valid?  [True, True]
Translation: X:282.04, Y:1.27, Z:191.43
[[ 7.76961651e-01 -3.40175765e-01 -5.29727328e-01  2.82040976e+02]
 [ 2.82754323e-01  9.40357640e-01 -1.89149415e-01  1.26946336e+00]
 [ 5.62477187e-01 -2.82084966e-03  8.26807993e-01  1.91428428e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.72327356
Centerline is valid?  [True, True]
Translation: X:282.08, Y:1.30, Z:191.46
[[ 7.77928624e-01 -3.37984281e-01 -5.29710942e-01  2.82083656e+02]
 [ 2.80071238e-01  9.41151020e-01 -1.89195294e-01  1.29508544e+00]
 [ 5.62483029e-01 -1.17636456e-03  8.26807994e-01  1.91461621e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.78327356
Centerline is valid?  [True, True]
Translation: X:282.13, Y:1.32, Z:191.49
[[ 7.78032226e-01 -3.37835546e-01 -5.29653660e-01  2.82127178e+02]
 [ 2.79782198e-01  9.41204760e-01 -1.89355545e-01  1.31831670e+00]
 [ 5.62483579e-01 -8.62948984e-04  8.26808006e-01  1.91494774e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.84327356
Centerline is valid?  [True, True]
Translation: X:282.17, Y:1.34, Z:191.53
[[ 7.79723298e-01 -3.34005638e-01 -5.29595895e-01  2.82169968e+02]
 [ 2.75040960e-01  9.42568714e-01 -1.89516991e-01  1.34321279e+00]
 [ 5.62480265e-01  2.11024977e-03  8.26808018e-01  1.91527842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.90327356
Centerline is valid?  [True, True]
Translation: X:282.21, Y:1.37, Z:191.56
[[ 7.80869222e-01 -3.31410052e-01 -5.29538134e-01  2.82213030e+02]
 [ 2.71794625e-01  9.43477522e-01 -1.89678271e-01  1.36565935e+00]
 [ 5.62468612e-01  4.18830561e-03  8.26808030e-01  1.91560527e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 425.96327356
Centerline is valid?  [True, True]
Translation: X:282.26, Y:1.39, Z:191.59
[[ 7.81052939e-01 -3.31009338e-01 -5.29517823e-01  2.82257852e+02]
 [ 2.71272054e-01  9.43616510e-01 -1.89734959e-01  1.38649990e+00]
 [ 5.62465803e-01  4.54965985e-03  8.26808032e-01  1.91594000e+02]
 [ 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 : 0.995548 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.992047 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.998923 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.997218 with order 1
Centerline goodness : 0.998783 with order 1
SLAMing on frame at distance 426.02327356
Centerline is valid?  [True, True]
Translation: X:282.30, Y:1.41, Z:191.63
[[ 7.80869536e-01 -3.31523460e-01 -5.29466677e-01  2.82302371e+02]
 [ 2.71796496e-01  9.43436889e-01 -1.89877594e-01  1.40792384e+00]
 [ 5.62467272e-01  4.36244103e-03  8.26808041e-01  1.91627392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 426.08327356
Centerline is valid?  [True, True]
Translation: X:282.35, Y:1.43, Z:191.66
[[ 7.80397126e-01 -3.32653134e-01 -5.29454642e-01  2.82347888e+02]
 [ 2.73138725e-01  9.43042413e-01 -1.89911147e-01  1.42795443e+00]
 [ 5.62472722e-01  3.59154761e-03  8.26808042e-01  1.91661132e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 426.14327356
Centerline is valid?  [True, True]
Translation: X:282.39, Y:1.45, Z:191.69
[[ 7.77052752e-01 -3.40462525e-01 -5.29409379e-01  2.82392176e+02]
 [ 2.82496253e-01  9.40256192e-01 -1.90037259e-01  1.44988172e+00]
 [ 5.62481012e-01 -1.88719092e-03  8.26808049e-01  1.91694497e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 426.20327356
Centerline is valid?  [True, True]
Translation: X:282.44, Y:1.47, Z:191.73
[[ 7.72665896e-01 -3.50383424e-01 -5.29357034e-01  2.82437551e+02]
 [ 2.94411629e-01  9.36564055e-01 -1.90182975e-01  1.47086231e+00]
 [ 5.62413732e-01 -8.90096771e-03  8.26808059e-01  1.91728339e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 426.26327356
Centerline is valid?  [True, True]
Translation: X:282.48, Y:1.49, Z:191.76
[[ 7.70166336e-01 -3.55861788e-01 -5.29345070e-01  2.82482273e+02]
 [ 3.01032480e-01  9.34450222e-01 -1.90216270e-01  1.49055986e+00]
 [ 5.62337320e-01 -1.28518916e-02  8.26808059e-01  1.91761495e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 426.32327356
Centerline is valid?  [True, True]
Translation: X:282.53, Y:1.51, Z:191.79
[[ 7.66515878e-01 -3.63676179e-01 -5.29332643e-01  2.82526865e+02]
 [ 3.10496667e-01  9.31341202e-01 -1.90250848e-01  1.50969762e+00]
 [ 5.62179001e-01 -1.85257251e-02  8.26808060e-01  1.91794439e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 426.38327355999996
Centerline is valid?  [True, True]
Translation: X:282.57, Y:1.53, Z:191.83
[[ 7.62727256e-01 -3.71574091e-01 -5.29320156e-01  2.82571531e+02]
 [ 3.20075836e-01  9.28085587e-01 -1.90285583e-01  1.53223221e+00]
 [ 5.61959600e-01 -2.42865905e-02  8.26808061e-01  1.91828213e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 426.44327355999997
Centerline is valid?  [True, True]
Translation: X:282.62, Y:1.56, Z:191.86
[[ 7.60613252e-01 -3.75940335e-01 -5.29279081e-01  2.82615283e+02]
 [ 3.25311591e-01  9.26239868e-01 -1.90399778e-01  1.55513147e+00]
 [ 5.61818342e-01 -2.73600254e-02  8.26808067e-01  1.91861468e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 426.50327355999997
Centerline is valid?  [True, True]
Translation: X:282.66, Y:1.58, Z:191.89
[[ 7.58571595e-01 -3.80064384e-01 -5.29263828e-01  2.82657671e+02]
 [ 3.30306141e-01  9.24461807e-01 -1.90442169e-01  1.57972052e+00]
 [ 5.61664481e-01 -3.03550728e-02  8.26808068e-01  1.91894257e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 426.56327355999997
Centerline is valid?  [True, True]
Translation: X:282.70, Y:1.61, Z:191.93
[[ 7.59180240e-01 -3.78869389e-01 -5.29247909e-01  2.82700139e+02]
 [ 3.28819239e-01  9.24982615e-01 -1.90486401e-01  1.60515798e+00]
 [ 5.61714581e-01 -2.94133830e-02  8.26808068e-01  1.91927293e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 426.62327356
Centerline is valid?  [True, True]
Translation: X:282.74, Y:1.63, Z:191.96
[[ 7.59957059e-01 -3.77385763e-01 -5.29193023e-01  2.82742405e+02]
 [ 3.26906031e-01  9.25629139e-01 -1.90638781e-01  1.63362456e+00]
 [ 5.61780843e-01 -2.81191030e-02  8.26808079e-01  1.91960880e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 426.68327356
Centerline is valid?  [True, True]
Translation: X:282.78, Y:1.66, Z:191.99
[[ 7.62299644e-01 -3.72698691e-01 -5.29145479e-01  2.82784434e+02]
 [ 3.21108327e-01  9.27629233e-01 -1.90770669e-01  1.66309637e+00]
 [ 5.61950794e-01 -2.44886061e-02  8.26808087e-01  1.91994555e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 426.74327356
Centerline is valid?  [True, True]
Translation: X:282.83, Y:1.69, Z:192.03
[[ 7.64960416e-01 -3.67226180e-01 -5.29131831e-01  2.82827355e+02]
 [ 3.14426181e-01  9.29907676e-01 -1.90808520e-01  1.68849276e+00]
 [ 5.62113635e-01 -2.04119365e-02  8.26808088e-01  1.92027877e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 426.80327356
Centerline is valid?  [True, True]
Translation: X:282.86, Y:1.73, Z:192.06
[[ 7.72277032e-01 -3.51597459e-01 -5.29119469e-01  2.82864018e+02]
 [ 2.95431268e-01  9.36108644e-01 -1.90842794e-01  1.73074070e+00]
 [ 5.62413150e-01 -8.93492913e-03  8.26808089e-01  1.92061087e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 426.86327356
Centerline is valid?  [True, True]
Translation: X:282.91, Y:1.75, Z:192.09
[[ 7.72404331e-01 -3.51337559e-01 -5.29106293e-01  2.82907996e+02]
 [ 2.95091227e-01  9.36208446e-01 -1.90879319e-01  1.75274713e+00]
 [ 5.62416854e-01 -8.69861275e-03  8.26808089e-01  1.92094307e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 426.92327356
Centerline is valid?  [True, True]
Translation: X:282.95, Y:1.78, Z:192.13
[[ 7.75427346e-01 -3.44702454e-01 -5.29048815e-01  2.82951542e+02]
 [ 2.86945199e-01  9.38704819e-01 -1.91038517e-01  1.77708151e+00]
 [ 5.62472118e-01 -3.67152701e-03  8.26808101e-01  1.92127777e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 426.98327356
Centerline is valid?  [True, True]
Translation: X:282.99, Y:1.80, Z:192.16
[[ 7.81117426e-01 -3.31618046e-01 -5.29041623e-01  2.82994190e+02]
 [ 2.71110611e-01  9.43395841e-01 -1.91058433e-01  1.80449397e+00]
 [ 5.62454091e-01  5.81027339e-03  8.26808101e-01  1.92161398e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 427.04327356
Centerline is valid?  [True, True]
Translation: X:283.04, Y:1.82, Z:192.19
[[ 7.82392061e-01 -3.28611686e-01 -5.29034047e-01  2.83038963e+02]
 [ 2.67466450e-01  9.44431235e-01 -1.91079408e-01  1.82269370e+00]
 [ 5.62427205e-01  8.00015346e-03  8.26808102e-01  1.92194251e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 427.10327356
Centerline is valid?  [True, True]
Translation: X:283.08, Y:1.84, Z:192.23
[[ 7.84005543e-01 -3.24839590e-01 -5.28974998e-01  2.83084093e+02]
 [ 2.62804446e-01  9.45706101e-01 -1.91242762e-01  1.84176124e+00]
 [ 5.62378103e-01  1.09184043e-02  8.26808114e-01  1.92227522e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 427.16327356
Centerline is valid?  [True, True]
Translation: X:283.13, Y:1.86, Z:192.26
[[ 7.85404047e-01 -3.21541002e-01 -5.28915747e-01  2.83129669e+02]
 [ 2.58716452e-01  9.46799527e-01 -1.91406516e-01  1.85893241e+00]
 [ 5.62322222e-01  1.34922466e-02  8.26808127e-01  1.92260641e+02]
 [ 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 : 0.989405 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.992661 with order 1
SLAMing on frame at distance 427.22327356
Centerline is valid?  [True, True]
Translation: X:283.18, Y:1.88, Z:192.29
[[ 7.86379202e-01 -3.19246988e-01 -5.28856418e-01  2.83175801e+02]
 [ 2.55841498e-01  9.47547327e-01 -1.91570327e-01  1.87512274e+00]
 [ 5.62274735e-01  1.53435022e-02  8.26808139e-01  1.92293889e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 427.28327356
Centerline is valid?  [True, True]
Translation: X:283.22, Y:1.89, Z:192.33
[[ 7.88087389e-01 -3.15027695e-01 -5.28843852e-01  2.83222319e+02]
 [ 2.50736065e-01  9.48904076e-01 -1.91605013e-01  1.89106129e+00]
 [ 5.62182972e-01  1.84012679e-02  8.26808140e-01  1.92327334e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 427.34327356
Centerline is valid?  [True, True]
Translation: X:283.27, Y:1.91, Z:192.36
[[ 7.89884223e-01 -3.10509465e-01 -5.28835311e-01  2.83269351e+02]
 [ 2.45282201e-01  9.50323696e-01 -1.91628583e-01  1.90598794e+00]
 [ 5.62067216e-01  2.16505049e-02  8.26808140e-01  1.92360874e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 427.40327356
Centerline is valid?  [True, True]
Translation: X:283.32, Y:1.92, Z:192.39
[[ 7.90974984e-01 -3.07736675e-01 -5.28825788e-01  2.83316307e+02]
 [ 2.41929465e-01  9.51177454e-01 -1.91654860e-01  1.92000743e+00]
 [ 5.61986396e-01  2.36556595e-02  8.26808140e-01  1.92394154e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 427.46327356
Centerline is valid?  [True, True]
Translation: X:283.37, Y:1.93, Z:192.43
[[ 7.88872033e-01 -3.13189767e-01 -5.28765625e-01  2.83366748e+02]
 [ 2.48379038e-01  9.49480206e-01 -1.91820729e-01  1.92565168e+00]
 [ 5.62128784e-01  1.99877110e-02  8.26808153e-01  1.92427710e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 427.52327356
Centerline is valid?  [True, True]
Translation: X:283.41, Y:1.94, Z:192.46
[[ 7.93479822e-01 -3.01340146e-01 -5.28756928e-01  2.83413160e+02]
 [ 2.34115419e-01  9.53092641e-01 -1.91844700e-01  1.94348190e+00]
 [ 5.61764846e-01  2.84347488e-02  8.26808153e-01  1.92461526e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 427.58327356
Centerline is valid?  [True, True]
Translation: X:283.47, Y:1.94, Z:192.50
[[ 8.01876234e-01 -2.78247615e-01 -5.28746414e-01  2.83466300e+02]
 [ 2.06412291e-01  9.59467800e-01 -1.91873673e-01  1.94303319e+00]
 [ 5.60703551e-01  4.47191793e-02  8.26808154e-01  1.92495402e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 427.64327356
Centerline is valid?  [True, True]
Translation: X:283.51, Y:1.96, Z:192.53
[[ 7.91330630e-01 -3.06973659e-01 -5.28737180e-01  2.83513961e+02]
 [ 2.40849094e-01  9.51402356e-01 -1.91899115e-01  1.95787388e+00]
 [ 5.61949773e-01  2.45097769e-02  8.26808154e-01  1.92529322e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 427.70327356
Centerline is valid?  [True, True]
Translation: X:283.56, Y:1.97, Z:192.56
[[ 7.90911099e-01 -3.08070710e-01 -5.28726840e-01  2.83563165e+02]
 [ 2.42149176e-01  9.51066545e-01 -1.91927602e-01  1.96563113e+00]
 [ 5.61981681e-01  2.37669017e-02  8.26808154e-01  1.92562585e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 427.76327356
Centerline is valid?  [True, True]
Translation: X:283.62, Y:1.96, Z:192.60
[[ 7.91890737e-01 -3.05647481e-01 -5.28666888e-01  2.83616484e+02]
 [ 2.39125939e-01  9.51797883e-01 -1.92092623e-01  1.96115762e+00]
 [ 5.61896651e-01  2.56984031e-02  8.26808167e-01  1.92595616e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 427.82327356
Centerline is valid?  [True, True]
Translation: X:283.67, Y:1.97, Z:192.63
[[ 7.91106573e-01 -3.07775049e-01 -5.28606574e-01  2.83665202e+02]
 [ 2.41572993e-01  9.51146238e-01 -1.92258482e-01  1.96836418e+00]
 [ 5.61954517e-01  2.43998765e-02  8.26808180e-01  1.92628412e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 427.88327355999996
Centerline is valid?  [True, True]
Translation: X:283.71, Y:1.98, Z:192.66
[[ 7.90395184e-01 -3.09633937e-01 -5.28585167e-01  2.83714323e+02]
 [ 2.43769011e-01  9.50573888e-01 -1.92317322e-01  1.97794533e+00]
 [ 5.62007227e-01  2.31540022e-02  8.26808182e-01  1.92662034e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 427.94327355999997
Centerline is valid?  [True, True]
Translation: X:283.76, Y:1.99, Z:192.69
[[ 7.90982390e-01 -3.08156970e-01 -5.28569902e-01  2.83759864e+02]
 [ 2.41964978e-01  9.51026215e-01 -1.92359268e-01  1.99195429e+00]
 [ 5.61960682e-01  2.42573887e-02  8.26808182e-01  1.92694399e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 428.00327355999997
Centerline is valid?  [True, True]
Translation: X:283.81, Y:2.00, Z:192.73
[[ 7.88842411e-01 -3.13629560e-01 -5.28549098e-01  2.83809467e+02]
 [ 2.48509718e-01  9.49325467e-01 -1.92416417e-01  1.99831097e+00]
 [ 5.62112596e-01  2.04366430e-02  8.26808184e-01  1.92727578e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 428.06327355999997
Centerline is valid?  [True, True]
Translation: X:283.86, Y:2.01, Z:192.76
[[ 7.87331840e-01 -3.17504726e-01 -5.28487769e-01  2.83858751e+02]
 [ 2.53061944e-01  9.48087955e-01 -1.92584741e-01  2.00762134e+00]
 [ 5.62199454e-01  1.78879563e-02  8.26808197e-01  1.92761214e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 428.12327356
Centerline is valid?  [True, True]
Translation: X:283.91, Y:2.02, Z:192.79
[[ 7.86060259e-01 -3.20653136e-01 -5.28479739e-01  2.83906132e+02]
 [ 2.56839426e-01  9.47067125e-01 -1.92606775e-01  2.01737833e+00]
 [ 5.62265754e-01  1.56660983e-02  8.26808198e-01  1.92793767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 428.18327356
Centerline is valid?  [True, True]
Translation: X:283.95, Y:2.03, Z:192.83
[[ 7.95231593e-01 -2.97217304e-01 -5.28458691e-01  2.83954380e+02]
 [ 2.28621938e-01  9.54260130e-01 -1.92664510e-01  2.02848719e+00]
 [ 5.61550286e-01  3.23956549e-02  8.26808199e-01  1.92827181e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 428.24327356
Centerline is valid?  [True, True]
Translation: X:284.00, Y:2.04, Z:192.86
[[ 7.82755022e-01 -3.28695284e-01 -5.28444876e-01  2.84001038e+02]
 [ 2.66471097e-01  9.44382836e-01 -1.92702398e-01  2.04123526e+00]
 [ 5.62394640e-01  1.00234841e-02  8.26808200e-01  1.92859964e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 428.30327356
Centerline is valid?  [True, True]
Translation: X:284.05, Y:2.05, Z:192.89
[[ 7.92014244e-01 -3.05734079e-01 -5.28431746e-01  2.84048670e+02]
 [ 2.38800075e-01  9.51749145e-01 -1.92738397e-01  2.05129879e+00]
 [ 5.61861159e-01  2.64620155e-02  8.26808200e-01  1.92892745e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 428.36327356
Centerline is valid?  [True, True]
Translation: X:284.10, Y:2.07, Z:192.93
[[ 7.79595941e-01 -3.36164559e-01 -5.28416084e-01  2.84096098e+02]
 [ 2.75435122e-01  9.41791300e-01 -1.92781328e-01  2.06666434e+00]
 [ 5.62463921e-01  4.74719261e-03  8.26808201e-01  1.92926628e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.997417 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.984618 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.997137 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.991594 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.999802 with order 1
Centerline goodness : 0.998226 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 428.42327356
Centerline is valid?  [True, True]
Translation: X:284.14, Y:2.08, Z:192.96
[[ 7.77101862e-01 -3.41913822e-01 -5.28401017e-01  2.84143085e+02]
 [ 2.82356010e-01  9.39731090e-01 -1.92822619e-01  2.08090278e+00]
 [ 5.62483582e-01  6.45613528e-04  8.26808202e-01  1.92959967e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 428.48327356
Centerline is valid?  [True, True]
Translation: X:284.19, Y:2.10, Z:192.99
[[ 7.75728658e-01 -3.45107629e-01 -5.28342477e-01  2.84188934e+02]
 [ 2.86110134e-01  9.38561979e-01 -1.92982911e-01  2.09711135e+00]
 [ 5.62482036e-01 -1.46176256e-03  8.26808214e-01  1.92993009e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 428.54327356
Centerline is valid?  [True, True]
Translation: X:284.23, Y:2.11, Z:193.03
[[ 7.74085502e-01 -3.48867230e-01 -5.28283344e-01  2.84233781e+02]
 [ 2.90550059e-01  9.37163698e-01 -1.93144675e-01  2.11346013e+00]
 [ 5.62469820e-01 -3.98226370e-03  8.26808226e-01  1.93025443e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 428.60327356
Centerline is valid?  [True, True]
Translation: X:284.28, Y:2.13, Z:193.06
[[ 7.74997509e-01 -3.46881158e-01 -5.28254034e-01  2.84278216e+02]
 [ 2.88091387e-01  9.37905925e-01 -1.93224812e-01  2.13348228e+00]
 [ 5.62478635e-01 -2.43668943e-03  8.26808229e-01  1.93058492e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 428.66327356
Centerline is valid?  [True, True]
Translation: X:284.32, Y:2.15, Z:193.09
[[ 7.74552983e-01 -3.47897946e-01 -5.28237348e-01  2.84321882e+02]
 [ 2.89290919e-01  9.37527231e-01 -1.93270419e-01  2.15307966e+00]
 [ 5.62475280e-01 -3.11608847e-03  8.26808230e-01  1.93090959e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 428.72327356
Centerline is valid?  [True, True]
Translation: X:284.37, Y:2.17, Z:193.12
[[ 7.75707752e-01 -3.45421280e-01 -5.28168177e-01  2.84365641e+02]
 [ 2.86165193e-01  9.38447112e-01 -1.93459297e-01  2.17377604e+00]
 [ 5.62482858e-01 -1.07547149e-03  8.26808247e-01  1.93123710e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 428.78327356
Centerline is valid?  [True, True]
Translation: X:284.41, Y:2.20, Z:193.16
[[ 7.75660990e-01 -3.45558682e-01 -5.28146973e-01  2.84409275e+02]
 [ 2.86292018e-01  9.38396497e-01 -1.93517169e-01  2.19757312e+00]
 [ 5.62482808e-01 -1.10054406e-03  8.26808249e-01  1.93157138e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 428.84327356
Centerline is valid?  [True, True]
Translation: X:284.45, Y:2.22, Z:193.19
[[ 7.76257408e-01 -3.44239788e-01 -5.28131995e-01  2.84454441e+02]
 [ 2.84668800e-01  9.38881760e-01 -1.93558040e-01  2.21863709e+00]
 [ 5.62483876e-01 -9.18388494e-05  8.26808249e-01  1.93190910e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 428.90327356
Centerline is valid?  [True, True]
Translation: X:284.49, Y:2.25, Z:193.22
[[ 7.77662052e-01 -3.41128168e-01 -5.28084564e-01  2.84494397e+02]
 [ 2.80818525e-01  9.40013913e-01 -1.93687375e-01  2.24957497e+00]
 [ 5.62479057e-01  2.32739339e-03  8.26808257e-01  1.93223649e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 428.96327356
Centerline is valid?  [True, True]
Translation: X:284.54, Y:2.27, Z:193.26
[[ 7.77186128e-01 -3.42236800e-01 -5.28067889e-01  2.84538375e+02]
 [ 2.82127856e-01  9.39612401e-01 -1.93732828e-01  2.27062266e+00]
 [ 5.62481640e-01  1.58380560e-03  8.26808258e-01  1.93256660e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 429.02327356
Centerline is valid?  [True, True]
Translation: X:284.58, Y:2.29, Z:193.29
[[ 7.74083678e-01 -3.49222950e-01 -5.28050935e-01  2.84583616e+02]
 [ 2.90547884e-01  9.37033412e-01 -1.93779030e-01  2.28752882e+00]
 [ 5.62473454e-01 -3.42289760e-03  8.26808259e-01  1.93289507e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 429.08327356
Centerline is valid?  [True, True]
Translation: X:284.63, Y:2.31, Z:193.32
[[ 7.72722246e-01 -3.52316198e-01 -5.27990178e-01  2.84627203e+02]
 [ 2.94180305e-01  9.35865105e-01 -1.93944460e-01  2.31048687e+00]
 [ 5.62457358e-01 -5.45911219e-03  8.26808272e-01  1.93322695e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 429.14327356
Centerline is valid?  [True, True]
Translation: X:284.67, Y:2.34, Z:193.36
[[ 7.72655052e-01 -3.52478035e-01 -5.27980497e-01  2.84668408e+02]
 [ 2.94358308e-01  9.35803671e-01 -1.93970811e-01  2.34030729e+00]
 [ 5.62456538e-01 -5.54291850e-03  8.26808272e-01  1.93355998e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 429.20327356
Centerline is valid?  [True, True]
Translation: X:284.71, Y:2.36, Z:193.39
[[ 7.84640379e-01 -3.25022733e-01 -5.27920163e-01  2.84713249e+02]
 [ 2.61077772e-01  9.45595069e-01 -1.94134906e-01  2.35955609e+00]
 [ 5.62296960e-01  1.44978666e-02  8.26808285e-01  1.93389121e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 429.26327356
Centerline is valid?  [True, True]
Translation: X:284.75, Y:2.40, Z:193.42
[[ 7.75373678e-01 -3.46569893e-01 -5.27906211e-01  2.84751614e+02]
 [ 2.87068944e-01  9.38023630e-01 -1.94172837e-01  2.39855517e+00]
 [ 5.62482960e-01 -9.88971146e-04  8.26808286e-01  1.93422769e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 429.32327356
Centerline is valid?  [True, True]
Translation: X:284.80, Y:2.42, Z:193.46
[[ 7.76523777e-01 -3.44022491e-01 -5.27881946e-01  2.84796315e+02]
 [ 2.83943051e-01  9.38960935e-01 -1.94238787e-01  2.42164813e+00]
 [ 5.62483037e-01  9.42625949e-04  8.26808288e-01  1.93456725e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 429.38327355999996
Centerline is valid?  [True, True]
Translation: X:284.84, Y:2.44, Z:193.49
[[ 7.75646842e-01 -3.46014736e-01 -5.27869093e-01  2.84841113e+02]
 [ 2.86328712e-01  9.38228967e-01 -1.94273712e-01  2.43952052e+00]
 [ 5.62483641e-01 -4.56286531e-04  8.26808288e-01  1.93489521e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 429.44327355999997
Centerline is valid?  [True, True]
Translation: X:284.88, Y:2.46, Z:193.52
[[ 7.76246244e-01 -3.44693437e-01 -5.27852444e-01  2.84883365e+02]
 [ 2.84699893e-01  9.38715144e-01 -1.94318938e-01  2.46270634e+00]
 [ 5.62483546e-01  5.59811367e-04  8.26808289e-01  1.93521939e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 429.50327355999997
Centerline is valid?  [True, True]
Translation: X:284.92, Y:2.49, Z:193.56
[[ 7.80233503e-01 -3.35602341e-01 -5.27832123e-01  2.84924810e+02]
 [ 2.73677711e-01  9.41976226e-01 -1.94374125e-01  2.49250165e+00]
 [ 5.62437722e-01  7.20131673e-03  8.26808291e-01  1.93555396e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 429.56327355999997
Centerline is valid?  [True, True]
Translation: X:284.97, Y:2.52, Z:193.59
[[ 7.81013779e-01 -3.33795186e-01 -5.27824072e-01  2.84967811e+02]
 [ 2.71481515e-01  9.42607017e-01 -1.94395985e-01  2.51685560e+00]
 [ 5.62419118e-01  8.53146467e-03  8.26808291e-01  1.93588571e+02]
 [ 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 429.62327356
Centerline is valid?  [True, True]
Translation: X:285.01, Y:2.54, Z:193.62
[[ 7.82289115e-01 -3.30890652e-01 -5.27764263e-01  2.85011749e+02]
 [ 2.67867500e-01  9.43606957e-01 -1.94558249e-01  2.54077977e+00]
 [ 5.62379536e-01  1.08299066e-02  8.26808303e-01  1.93622232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 429.68327356
Centerline is valid?  [True, True]
Translation: X:285.05, Y:2.56, Z:193.66
[[ 7.84365357e-01 -3.25952296e-01 -5.27755708e-01  2.85054399e+02]
 [ 2.61897801e-01  9.45276467e-01 -1.94581454e-01  2.56439721e+00]
 [ 5.62299323e-01  1.44048926e-02  8.26808304e-01  1.93655013e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 429.74327356
Centerline is valid?  [True, True]
Translation: X:285.10, Y:2.59, Z:193.69
[[ 7.86675485e-01 -3.20364448e-01 -5.27738857e-01  2.85098466e+02]
 [ 2.55136312e-01  9.47114426e-01 -1.94627147e-01  2.58889599e+00]
 [ 5.62180703e-01  1.84630594e-02  8.26808305e-01  1.93688903e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 429.80327356
Centerline is valid?  [True, True]
Translation: X:285.14, Y:2.61, Z:193.72
[[ 7.89057579e-01 -3.14470910e-01 -5.27727377e-01  2.85142639e+02]
 [ 2.48023688e-01  9.48995473e-01 -1.94658272e-01  2.61133523e+00]
 [ 5.62025255e-01  2.27076946e-02  8.26808305e-01  1.93722379e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 429.86327356
Centerline is valid?  [True, True]
Translation: X:285.19, Y:2.63, Z:193.76
[[ 7.91035564e-01 -3.09476365e-01 -5.27718785e-01  2.85186576e+02]
 [ 2.42003876e-01  9.50543641e-01 -1.94681563e-01  2.63364770e+00]
 [ 5.61869077e-01  2.62900484e-02  8.26808305e-01  1.93755674e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 429.92327356
Centerline is valid?  [True, True]
Translation: X:285.23, Y:2.65, Z:193.79
[[ 7.92111349e-01 -3.06732772e-01 -5.27706942e-01  2.85230928e+02]
 [ 2.38686512e-01  9.51375499e-01 -1.94713658e-01  2.65347494e+00]
 [ 5.61772516e-01  2.82783685e-02  8.26808306e-01  1.93788650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 429.98327356
Centerline is valid?  [True, True]
Translation: X:285.28, Y:2.67, Z:193.82
[[ 7.93793049e-01 -3.02372958e-01 -5.27696115e-01  2.85276357e+02]
 [ 2.33432626e-01  9.52672228e-01 -1.94742998e-01  2.67343632e+00]
 [ 5.61606450e-01  3.14041487e-02  8.26808306e-01  1.93822345e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 430.04327356
Centerline is valid?  [True, True]
Translation: X:285.32, Y:2.69, Z:193.86
[[ 7.94852366e-01 -2.99592529e-01 -5.27687439e-01  2.85321379e+02]
 [ 2.30080939e-01  9.53482444e-01 -1.94766504e-01  2.69205521e+00]
 [ 5.61491298e-01  3.33997955e-02  8.26808306e-01  1.93855464e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 430.10327356
Centerline is valid?  [True, True]
Translation: X:285.37, Y:2.71, Z:193.89
[[ 7.95359203e-01 -2.98261311e-01 -5.27677865e-01  2.85367848e+02]
 [ 2.28467094e-01  9.53865133e-01 -1.94792440e-01  2.70842385e+00]
 [ 5.61432565e-01  3.43729314e-02  8.26808307e-01  1.93888976e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 430.16327356
Centerline is valid?  [True, True]
Translation: X:285.42, Y:2.72, Z:193.92
[[ 8.00009382e-01 -2.85569914e-01 -5.27669227e-01  2.85415604e+02]
 [ 2.13247477e-01  9.57377827e-01 -1.94815837e-01  2.72219809e+00]
 [ 5.60812360e-01  4.33303657e-02  8.26808307e-01  1.93922699e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 430.22327356
Centerline is valid?  [True, True]
Translation: X:285.46, Y:2.74, Z:193.96
[[ 8.00484203e-01 -2.84246021e-01 -5.27663947e-01  2.85462964e+02]
 [ 2.11653978e-01  9.57728464e-01 -1.94830138e-01  2.73692571e+00]
 [ 5.60738473e-01  4.42762741e-02  8.26808307e-01  1.93956393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 430.28327356
Centerline is valid?  [True, True]
Translation: X:285.51, Y:2.75, Z:193.99
[[ 8.03285601e-01 -2.76243899e-01 -5.27656661e-01  2.85511471e+02]
 [ 2.02073496e-01  9.59791556e-01 -1.94849869e-01  2.74963017e+00]
 [ 5.60266495e-01  4.98946682e-02  8.26808307e-01  1.93990343e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 430.34327356
Centerline is valid?  [True, True]
Translation: X:285.56, Y:2.76, Z:194.02
[[ 8.02839039e-01 -2.77555312e-01 -5.27648108e-01  2.85557776e+02]
 [ 2.03625498e-01  9.59458785e-01 -1.94873027e-01  2.76166834e+00]
 [ 5.60344657e-01  4.90090646e-02  8.26808307e-01  1.94022730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 430.40327356
Centerline is valid?  [True, True]
Translation: X:285.60, Y:2.78, Z:194.06
[[ 7.98668162e-01 -2.89469008e-01 -5.27576402e-01  2.85604266e+02]
 [ 2.17750144e-01  9.56312575e-01 -1.95066997e-01  2.77712653e+00]
 [ 5.60993798e-01  4.09139624e-02  8.26808325e-01  1.94056031e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 430.46327356
Centerline is valid?  [True, True]
Translation: X:285.65, Y:2.78, Z:194.09
[[ 8.05623551e-01 -2.69526308e-01 -5.27566359e-01  2.85654377e+02]
 [ 1.93893298e-01  9.61427927e-01 -1.95094155e-01  2.78197278e+00]
 [ 5.59800039e-01  5.48808646e-02  8.26808325e-01  1.94089148e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 430.52327356
Centerline is valid?  [True, True]
Translation: X:285.70, Y:2.79, Z:194.12
[[ 8.07105238e-01 -2.65079897e-01 -5.27554531e-01  2.85704409e+02]
 [ 1.88568258e-01  9.62480027e-01 -1.95126137e-01  2.78844662e+00]
 [ 5.59484715e-01  5.80072883e-02  8.26808326e-01  1.94122596e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 430.58327356
Centerline is valid?  [True, True]
Translation: X:285.75, Y:2.80, Z:194.16
[[ 8.00025746e-01 -2.85747652e-01 -5.27548182e-01  2.85751627e+02]
 [ 2.13245675e-01  9.57311535e-01 -1.95143300e-01  2.80352440e+00]
 [ 5.60789700e-01  4.36222956e-02  8.26808326e-01  1.94156281e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 430.64327356
Centerline is valid?  [True, True]
Translation: X:285.81, Y:2.80, Z:194.19
[[ 7.97616981e-01 -2.92422561e-01 -5.27537863e-01  2.85805964e+02]
 [ 2.21219022e-01  9.55494820e-01 -1.95171191e-01  2.79975252e+00]
 [ 5.61132155e-01  3.89704462e-02  8.26808326e-01  1.94190058e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 430.70327356
Centerline is valid?  [True, True]
Translation: X:285.86, Y:2.81, Z:194.22
[[ 7.97092924e-01 -2.93856533e-01 -5.27533135e-01  2.85855914e+02]
 [ 2.22928625e-01  9.55094783e-01 -1.95183972e-01  2.80707999e+00]
 [ 5.61200230e-01  3.79775270e-02  8.26808327e-01  1.94223656e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 430.76327356
Centerline is valid?  [True, True]
Translation: X:285.90, Y:2.82, Z:194.26
[[ 7.96865360e-01 -2.94484285e-01 -5.27526875e-01  2.85904039e+02]
 [ 2.23669708e-01  9.54918046e-01 -1.95200890e-01  2.81702150e+00]
 [ 5.61228527e-01  3.75570458e-02  8.26808327e-01  1.94256705e+02]
 [ 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 : 0.951693 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.895872 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.990431 with order 1
Centerline goodness : 0.921551 with order 1
Centerline goodness : 0.897120 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.987996 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 430.82327356
Centerline is valid?  [True, True]
Translation: X:285.95, Y:2.82, Z:194.29
[[ 7.95390465e-01 -2.98553698e-01 -5.27465352e-01  2.85954455e+02]
 [ 2.28438252e-01  9.53754525e-01 -1.95367018e-01  2.82442362e+00]
 [ 5.61400012e-01  3.48998005e-02  8.26808340e-01  1.94290594e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 430.88327355999996
Centerline is valid?  [True, True]
Translation: X:286.01, Y:2.83, Z:194.32
[[ 7.93731772e-01 -3.02953900e-01 -5.27455030e-01  2.86005145e+02]
 [ 2.33698080e-01  9.52473646e-01 -1.95394884e-01  2.82915892e+00]
 [ 5.61582657e-01  3.18258996e-02  8.26808340e-01  1.94324045e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 430.94327355999997
Centerline is valid?  [True, True]
Translation: X:286.05, Y:2.85, Z:194.36
[[ 8.00413362e-01 -2.84863448e-01 -5.27438400e-01  2.86050866e+02]
 [ 2.11993714e-01  9.57529093e-01 -1.95439765e-01  2.84532561e+00]
 [ 5.60711258e-01  4.46189742e-02  8.26808341e-01  1.94357026e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.00327355999997
Centerline is valid?  [True, True]
Translation: X:286.11, Y:2.84, Z:194.39
[[ 7.89706425e-01 -3.13346178e-01 -5.27425762e-01  2.86105273e+02]
 [ 2.46127304e-01  9.49321504e-01 -1.95473864e-01  2.84056422e+00]
 [ 5.61947606e-01  2.45530850e-02  8.26808342e-01  1.94390600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.06327355999997
Centerline is valid?  [True, True]
Translation: X:286.15, Y:2.85, Z:194.42
[[ 7.88627684e-01 -3.16069995e-01 -5.27414575e-01  2.86153297e+02]
 [ 2.49382289e-01  9.48465415e-01 -1.95504044e-01  2.85045827e+00]
 [ 5.62027446e-01  2.26520479e-02  8.26808342e-01  1.94423568e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.12327356
Centerline is valid?  [True, False]
Translation: X:286.16, Y:2.84, Z:194.42
[[ 7.86881064e-01 -3.21984812e-01 -5.26444652e-01  2.86158072e+02]
 [ 2.55247142e-01  9.46513074e-01 -1.97387686e-01  2.83856189e+00]
 [ 5.61842583e-01  2.09471393e-02  8.26978917e-01  1.94424144e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.18327356
Centerline is valid?  [False, False]
Translation: X:286.16, Y:2.83, Z:194.43
[[ 7.86093422e-01 -3.24029435e-01 -5.26366846e-01  2.86162402e+02]
 [ 2.57429917e-01  9.45835872e-01 -1.97798739e-01  2.83339122e+00]
 [ 5.61949259e-01  1.99857144e-02  8.26930228e-01  1.94425422e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.24327356
Centerline is valid?  [False, True]
Translation: X:286.17, Y:2.83, Z:194.43
[[ 7.84772727e-01 -3.25541974e-01 -5.27403252e-01  2.86167617e+02]
 [ 2.59533452e-01  9.45356446e-01 -1.97341272e-01  2.82616305e+00]
 [ 5.62826931e-01  1.79892611e-02  8.26378988e-01  1.94426751e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.30327356
Centerline is valid?  [True, True]
Translation: X:286.21, Y:2.85, Z:194.46
[[ 7.86725330e-01 -3.33990010e-01 -5.19147310e-01  2.86213797e+02]
 [ 2.56371376e-01  9.41812779e-01 -2.17399188e-01  2.84902937e+00]
 [ 5.61548727e-01  3.79389377e-02  8.26573447e-01  1.94456317e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.36327356
Centerline is valid?  [True, False]
Translation: X:286.22, Y:2.85, Z:194.46
[[ 7.86491949e-01 -3.34555628e-01 -5.19136731e-01  2.86216767e+02]
 [ 2.56711853e-01  9.41605320e-01 -2.17895493e-01  2.84753680e+00]
 [ 5.61720072e-01  3.81044989e-02  8.26449398e-01  1.94457978e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.42327356
Centerline is valid?  [False, True]
Translation: X:286.22, Y:2.84, Z:194.46
[[ 7.86299299e-01 -3.35888060e-01 -5.18567857e-01  2.86219873e+02]
 [ 2.57913507e-01  9.41131954e-01 -2.18520633e-01  2.84220673e+00]
 [ 5.61439253e-01  3.80769659e-02  8.26641464e-01  1.94459416e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.48327356
Centerline is valid?  [True, True]
Translation: X:286.27, Y:2.86, Z:194.49
[[ 7.72719358e-01 -3.64463151e-01 -5.19683948e-01  2.86266723e+02]
 [ 2.94010895e-01  9.31112707e-01 -2.15839573e-01  2.85800429e+00]
 [ 5.62549898e-01  1.39906732e-02  8.26644950e-01  1.94493736e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.54327356
Centerline is valid?  [True, True]
Translation: X:286.31, Y:2.87, Z:194.53
[[ 7.73291221e-01 -3.63270593e-01 -5.19668321e-01  2.86312969e+02]
 [ 2.92548797e-01  9.31564404e-01 -2.15877192e-01  2.87365896e+00]
 [ 5.62526345e-01  1.49075955e-02  8.26644951e-01  1.94526886e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.60327356
Centerline is valid?  [True, True]
Translation: X:286.36, Y:2.89, Z:194.56
[[ 7.82132282e-01 -3.43839492e-01 -5.19657096e-01  2.86359004e+02]
 [ 2.69168020e-01  9.38580817e-01 -2.15904208e-01  2.89131663e+00]
 [ 5.61976575e-01  2.89905792e-02  8.26644951e-01  1.94560430e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.66327356
Centerline is valid?  [True, True]
Translation: X:286.41, Y:2.91, Z:194.59
[[ 7.80910191e-01 -3.46629877e-01 -5.19641224e-01  2.86405482e+02]
 [ 2.72492126e-01  9.37612350e-01 -2.15942405e-01  2.90765369e+00]
 [ 5.62074118e-01  2.70334829e-02  8.26644952e-01  1.94593903e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.72327356
Centerline is valid?  [True, True]
Translation: X:286.45, Y:2.92, Z:194.63
[[ 7.80360007e-01 -3.47908978e-01 -5.19612936e-01  2.86451204e+02]
 [ 2.73982892e-01  9.37162130e-01 -2.16010455e-01  2.92435303e+00]
 [ 5.62113542e-01  2.62008651e-02  8.26644954e-01  1.94626987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.78327356
Centerline is valid?  [True, True]
Translation: X:286.50, Y:2.94, Z:194.66
[[ 7.80656653e-01 -3.47343557e-01 -5.19545613e-01  2.86497544e+02]
 [ 2.73196472e-01  9.37354379e-01 -2.16172282e-01  2.94202129e+00]
 [ 5.62084404e-01  2.68183015e-02  8.26644967e-01  1.94660685e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.84327356
Centerline is valid?  [True, True]
Translation: X:286.54, Y:2.96, Z:194.69
[[ 7.78736939e-01 -3.51661123e-01 -5.19522122e-01  2.86543012e+02]
 [ 2.78345312e-01  9.35825318e-01 -2.16228725e-01  2.95973567e+00]
 [ 5.62221191e-01  2.37787489e-02  8.26644968e-01  1.94693876e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.90327356
Centerline is valid?  [True, True]
Translation: X:286.60, Y:2.96, Z:194.73
[[ 7.65627343e-01 -3.79371027e-01 -5.19511690e-01  2.86597394e+02]
 [ 3.11720761e-01  9.25237519e-01 -2.16253786e-01  2.95713701e+00]
 [ 5.62712128e-01  3.62723193e-03  8.26644969e-01  1.94727366e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 431.96327356
Centerline is valid?  [True, True]
Translation: X:286.63, Y:3.00, Z:194.76
[[ 7.75062065e-01 -3.59726572e-01 -5.19495515e-01  2.86633102e+02]
 [ 2.88002724e-01  9.32883661e-01 -2.16292637e-01  2.99796999e+00]
 [ 5.62435087e-01  1.80240945e-02  8.26644969e-01  1.94760477e+02]
 [ 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 : 0.996938 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.934964 with order 1
Centerline goodness : 0.942560 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.939227 with order 1
Centerline goodness : 0.936857 with order 1
SLAMing on frame at distance 432.02327356
Centerline is valid?  [True, True]
Translation: X:286.68, Y:3.02, Z:194.79
[[ 7.74157924e-01 -3.61686555e-01 -5.19482766e-01  2.86676513e+02]
 [ 2.90341750e-01  9.32151232e-01 -2.16323253e-01  3.01969574e+00]
 [ 5.62477712e-01  1.66408249e-02  8.26644970e-01  1.94793434e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 432.08327356
Centerline is valid?  [True, True]
Translation: X:286.72, Y:3.04, Z:194.83
[[ 7.73342052e-01 -3.63525355e-01 -5.19414465e-01  2.86719504e+02]
 [ 2.92446235e-01  9.31455052e-01 -2.16487149e-01  3.04097223e+00]
 [ 5.62509795e-01  1.55178112e-02  8.26644983e-01  1.94825971e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 432.14327356
Centerline is valid?  [True, True]
Translation: X:286.76, Y:3.06, Z:194.86
[[ 7.72235704e-01 -3.65920585e-01 -5.19378612e-01  2.86762280e+02]
 [ 2.95274084e-01  9.30542472e-01 -2.16573137e-01  3.06438016e+00]
 [ 5.62552427e-01  1.38864649e-02  8.26644986e-01  1.94858955e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 432.20327356
Centerline is valid?  [True, True]
Translation: X:286.81, Y:3.09, Z:194.89
[[ 7.71831221e-01 -3.66800028e-01 -5.19359514e-01  2.86805120e+02]
 [ 2.96303113e-01  9.30204658e-01 -2.16618927e-01  3.08896893e+00]
 [ 5.62566468e-01  1.33054103e-02  8.26644987e-01  1.94892301e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 432.26327356
Centerline is valid?  [True, True]
Translation: X:286.85, Y:3.11, Z:194.93
[[ 7.70472130e-01 -3.69666513e-01 -5.19345132e-01  2.86847559e+02]
 [ 2.99735556e-01  9.29096281e-01 -2.16653404e-01  3.11341687e+00]
 [ 5.62611139e-01  1.12592078e-02  8.26644988e-01  1.94925362e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 432.32327356
Centerline is valid?  [True, False]
Translation: X:286.85, Y:3.12, Z:194.93
[[ 7.69953938e-01 -3.71750086e-01 -5.18625884e-01  2.86845694e+02]
 [ 3.00775261e-01  9.28248647e-01 -2.18834851e-01  3.12120033e+00]
 [ 5.62765650e-01  1.25029202e-02  8.26521930e-01  1.94926407e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 432.38327355999996
Centerline is valid?  [False, True]
Translation: X:286.84, Y:3.13, Z:194.93
[[ 7.69676157e-01 -3.73329981e-01 -5.17902827e-01  2.86843742e+02]
 [ 3.01644204e-01  9.27601899e-01 -2.20375795e-01  3.13066011e+00]
 [ 5.62680537e-01  1.33956090e-02  8.26565890e-01  1.94927420e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 432.44327355999997
Centerline is valid?  [True, False]
Translation: X:286.84, Y:3.14, Z:194.93
[[ 7.69824200e-01 -3.75160535e-01 -5.16357700e-01  2.86840831e+02]
 [ 3.02619415e-01  9.26841398e-01 -2.22230764e-01  3.13899627e+00]
 [ 5.61953905e-01  1.48187548e-02  8.27035799e-01  1.94928987e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 432.50327355999997
Centerline is valid?  [False, False]
Translation: X:286.84, Y:3.15, Z:194.93
[[ 7.69867718e-01 -3.75531697e-01 -5.16022907e-01  2.86840747e+02]
 [ 3.01977863e-01  9.26662627e-01 -2.23843125e-01  3.14534447e+00]
 [ 5.62239332e-01  1.65021013e-02  8.26809902e-01  1.94930718e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 432.56327355999997
Centerline is valid?  [False, False]
Translation: X:286.84, Y:3.15, Z:194.93
[[ 7.70835290e-01 -3.72491628e-01 -5.16781329e-01  2.86840421e+02]
 [ 2.98683077e-01  9.27865638e-01 -2.23279595e-01  3.15422070e+00]
 [ 5.62673417e-01  1.77579537e-02  8.26488524e-01  1.94932388e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 432.62327356
Centerline is valid?  [False, True]
Translation: X:286.84, Y:3.16, Z:194.94
[[ 7.72468587e-01 -3.67639971e-01 -5.17815734e-01  2.86841727e+02]
 [ 2.92923204e-01  9.29738395e-01 -2.23119954e-01  3.16320555e+00]
 [ 5.63460983e-01  2.06729112e-02  8.25883982e-01  1.94935522e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 432.68327356
Centerline is valid?  [True, True]
Translation: X:286.89, Y:3.18, Z:194.97
[[ 7.74198680e-01 -3.51001520e-01 -5.26701374e-01  2.86886445e+02]
 [ 2.88309537e-01  9.36369557e-01 -2.00224036e-01  3.17872935e+00]
 [ 5.63466073e-01  3.16015500e-03  8.26133160e-01  1.94972351e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 432.74327356
Centerline is valid?  [True, True]
Translation: X:286.93, Y:3.21, Z:195.01
[[ 7.79357691e-01 -3.39406055e-01 -5.26692624e-01  2.86926073e+02]
 [ 2.74284807e-01  9.40568426e-01 -2.00247051e-01  3.21157716e+00]
 [ 5.63355513e-01  1.16002944e-02  8.26133160e-01  1.95005573e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 432.80327356
Centerline is valid?  [True, True]
Translation: X:286.97, Y:3.23, Z:195.04
[[ 7.82905787e-01 -3.31237340e-01 -5.26631136e-01  2.86970311e+02]
 [ 2.64325198e-01  9.43381451e-01 -2.00408650e-01  3.23344568e+00]
 [ 5.63196874e-01  1.76992126e-02  8.26133173e-01  1.95039049e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 432.86327356
Centerline is valid?  [True, True]
Translation: X:287.02, Y:3.25, Z:195.07
[[ 7.92787348e-01 -3.06853932e-01 -5.26620248e-01  2.87015471e+02]
 [ 2.34989445e-01  9.51107179e-01 -2.00437260e-01  3.25194640e+00]
 [ 5.62377259e-01  3.51539241e-02  8.26133173e-01  1.95072320e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 432.92327356
Centerline is valid?  [True, True]
Translation: X:287.06, Y:3.27, Z:195.11
[[ 7.82973468e-01 -3.31118123e-01 -5.26605485e-01  2.87062660e+02]
 [ 2.64136272e-01  9.43420048e-01 -2.00476039e-01  3.26650595e+00]
 [ 5.63191422e-01  1.78718101e-02  8.26133174e-01  1.95105927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 432.98327356
Centerline is valid?  [True, True]
Translation: X:287.11, Y:3.28, Z:195.14
[[ 7.82810702e-01 -3.31520396e-01 -5.26594372e-01  2.87107532e+02]
 [ 2.64601383e-01  9.43283500e-01 -2.00505228e-01  3.28241592e+00]
 [ 5.63199354e-01  1.76200388e-02  8.26133174e-01  1.95138385e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 433.04327356
Centerline is valid?  [True, True]
Translation: X:287.15, Y:3.31, Z:195.17
[[ 7.83093743e-01 -3.30886314e-01 -5.26572348e-01  2.87150130e+02]
 [ 2.63798523e-01  9.43496052e-01 -2.00563054e-01  3.30636044e+00]
 [ 5.63182501e-01  1.81506649e-02  8.26133176e-01  1.95171340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 433.10327356
Centerline is valid?  [True, True]
Translation: X:287.20, Y:3.31, Z:195.20
[[ 7.80719510e-01 -3.36483679e-01 -5.26550834e-01  2.87199034e+02]
 [ 2.70507802e-01  9.41582358e-01 -2.00619523e-01  3.31495991e+00]
 [ 5.63296170e-01  1.41914667e-02  8.26133177e-01  1.95204589e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 433.16327356
Centerline is valid?  [True, True]
Translation: X:287.24, Y:3.34, Z:195.24
[[ 7.90078286e-01 -3.13899214e-01 -5.26539253e-01  2.87241916e+02]
 [ 2.43305679e-01  9.48968893e-01 -2.00649913e-01  3.34082677e+00]
 [ 5.62653222e-01  3.04191487e-02  8.26133178e-01  1.95238197e+02]
 [ 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 : 0.996706 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.997662 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.997626 with order 1
Centerline goodness : 0.997026 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.992468 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.999208 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.999338 with order 1
SLAMing on frame at distance 433.22327356
Centerline is valid?  [True, True]
Translation: X:287.29, Y:3.34, Z:195.27
[[ 7.78192463e-01 -3.42327365e-01 -5.26524896e-01  2.87293529e+02]
 [ 2.77513315e-01  9.39526931e-01 -2.00687582e-01  3.34340526e+00]
 [ 5.63385171e-01  1.00558943e-02  8.26133178e-01  1.95271711e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 433.28327356
Centerline is valid?  [True, True]
Translation: X:287.34, Y:3.36, Z:195.31
[[ 7.77410326e-01 -3.44118386e-01 -5.26512793e-01  2.87339255e+02]
 [ 2.79654514e-01  9.38885032e-01 -2.00719329e-01  3.36174653e+00]
 [ 5.63406193e-01  8.79959967e-03  8.26133179e-01  1.95305304e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 433.34327356
Centerline is valid?  [True, True]
Translation: X:287.39, Y:3.38, Z:195.34
[[ 7.77332357e-01 -3.44308056e-01 -5.26503911e-01  2.87386915e+02]
 [ 2.79867810e-01  9.38816493e-01 -2.00742625e-01  3.37579706e+00]
 [ 5.63407859e-01  8.69224133e-03  8.26133179e-01  1.95339088e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 433.40327356
Centerline is valid?  [True, True]
Translation: X:287.43, Y:3.39, Z:195.37
[[ 7.78628259e-01 -3.41447788e-01 -5.26451748e-01  2.87434618e+02]
 [ 2.76321855e-01  9.39837071e-01 -2.00879348e-01  3.38895215e+00]
 [ 5.63368678e-01  1.09402136e-02  8.26133188e-01  1.95372659e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 433.46327356
Centerline is valid?  [True, True]
Translation: X:287.48, Y:3.41, Z:195.41
[[ 7.80397412e-01 -3.37405841e-01 -5.26438200e-01  2.87478957e+02]
 [ 2.71420949e-01  9.41256549e-01 -2.00914849e-01  3.41002554e+00]
 [ 5.63303247e-01  1.39070717e-02  8.26133189e-01  1.95406031e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 433.52327356
Centerline is valid?  [True, True]
Translation: X:287.53, Y:3.42, Z:195.44
[[ 7.92209782e-01 -3.08752030e-01 -5.26379943e-01  2.87525008e+02]
 [ 2.36849926e-01  9.50512504e-01 -2.01067381e-01  3.42460971e+00]
 [ 5.62410680e-01  3.46144958e-02  8.26133200e-01  1.95438893e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 433.58327356
Centerline is valid?  [True, True]
Translation: X:287.57, Y:3.44, Z:195.47
[[ 7.93966238e-01 -3.04232108e-01 -5.26365308e-01  2.87573476e+02]
 [ 2.31403718e-01  9.51844956e-01 -2.01105689e-01  3.43648104e+00]
 [ 5.62200971e-01  3.78682382e-02  8.26133200e-01  1.95472656e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 433.64327356
Centerline is valid?  [True, True]
Translation: X:287.62, Y:3.45, Z:195.51
[[ 7.94828039e-01 -3.01986109e-01 -5.26358032e-01  2.87621676e+02]
 [ 2.28699101e-01  9.52494391e-01 -2.01124731e-01  3.44584089e+00]
 [ 5.62089948e-01  3.94819667e-02  8.26133200e-01  1.95505641e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 433.70327356
Centerline is valid?  [True, True]
Translation: X:287.67, Y:3.46, Z:195.54
[[ 7.96413668e-01 -2.97894853e-01 -5.26292623e-01  2.87670333e+02]
 [ 2.23685743e-01  9.53648102e-01 -2.01295769e-01  3.45761739e+00]
 [ 5.61862935e-01  4.25905457e-02  8.26133214e-01  1.95539471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 433.76327356
Centerline is valid?  [True, True]
Translation: X:287.72, Y:3.46, Z:195.57
[[ 7.97324067e-01 -2.95464158e-01 -5.26284395e-01  2.87722022e+02]
 [ 2.20761680e-01  9.54324700e-01 -2.01317281e-01  3.46108416e+00]
 [ 5.61728238e-01  4.43316860e-02  8.26133215e-01  1.95573239e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 433.82327356
Centerline is valid?  [True, True]
Translation: X:287.77, Y:3.47, Z:195.61
[[ 7.98223848e-01 -2.93040965e-01 -5.26275291e-01  2.87771135e+02]
 [ 2.17846381e-01  9.54989384e-01 -2.01341078e-01  3.47047795e+00]
 [ 5.61588500e-01  4.60680824e-02  8.26133215e-01  1.95606809e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 433.88327355999996
Centerline is valid?  [True, True]
Translation: X:287.82, Y:3.48, Z:195.64
[[ 7.97893590e-01 -2.93961695e-01 -5.26262616e-01  2.87821159e+02]
 [ 2.18926338e-01  9.54735402e-01 -2.01374203e-01  3.47585774e+00]
 [ 5.61637852e-01  4.54624385e-02  8.26133215e-01  1.95639978e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 433.94327355999997
Centerline is valid?  [True, True]
Translation: X:287.87, Y:3.48, Z:195.67
[[ 7.97243775e-01 -2.95833700e-01 -5.26198428e-01  2.87871623e+02]
 [ 2.21056836e-01  9.54208977e-01 -2.01541814e-01  3.48089833e+00]
 [ 5.61726125e-01  4.43581968e-02  8.26133229e-01  1.95673304e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 434.00327355999997
Centerline is valid?  [True, True]
Translation: X:287.92, Y:3.49, Z:195.71
[[ 7.95376269e-01 -3.00834306e-01 -5.26189425e-01  2.87922738e+02]
 [ 2.27029152e-01  9.52800707e-01 -2.01565318e-01  3.48652002e+00]
 [ 5.61991418e-01  4.08599316e-02  8.26133229e-01  1.95707226e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 434.06327355999997
Centerline is valid?  [True, True]
Translation: X:287.97, Y:3.49, Z:195.74
[[ 7.95181705e-01 -3.01401793e-01 -5.26158735e-01  2.87971810e+02]
 [ 2.27656315e-01  9.52634103e-01 -2.01645402e-01  3.49179472e+00]
 [ 5.62013041e-01  4.05613757e-02  8.26133232e-01  1.95739743e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 434.12327356
Centerline is valid?  [True, True]
Translation: X:288.02, Y:3.50, Z:195.77
[[ 7.95236372e-01 -3.01295148e-01 -5.26137193e-01  2.88022066e+02]
 [ 2.27491596e-01  9.52661555e-01 -2.01701599e-01  3.49851476e+00]
 [ 5.62002390e-01  4.07086576e-02  8.26133233e-01  1.95773371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 434.18327356
Centerline is valid?  [True, True]
Translation: X:288.07, Y:3.51, Z:195.81
[[ 7.87943795e-01 -3.19955679e-01 -5.26092140e-01  2.88071271e+02]
 [ 2.49805034e-01  9.47030367e-01 -2.01819052e-01  3.50880808e+00]
 [ 5.62798384e-01  2.76016043e-02  8.26133240e-01  1.95807181e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 434.24327356
Centerline is valid?  [True, True]
Translation: X:288.12, Y:3.52, Z:195.84
[[ 7.87674589e-01 -3.20645331e-01 -5.26075387e-01  2.88118493e+02]
 [ 2.50604895e-01  9.46809712e-01 -2.01862715e-01  3.51809564e+00]
 [ 5.62819623e-01  2.71650640e-02  8.26133241e-01  1.95839505e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 434.30327356
Centerline is valid?  [True, True]
Translation: X:288.17, Y:3.53, Z:195.87
[[ 7.86606624e-01 -3.23291839e-01 -5.26053616e-01  2.88167477e+02]
 [ 2.53748995e-01  9.45959824e-01 -2.01919438e-01  3.52601711e+00]
 [ 5.62904492e-01  2.53455907e-02  8.26133242e-01  1.95872612e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 434.36327356
Centerline is valid?  [True, True]
Translation: X:288.22, Y:3.53, Z:195.91
[[ 7.86634696e-01 -3.23322652e-01 -5.25992697e-01  2.88215673e+02]
 [ 2.53680249e-01  9.45944397e-01 -2.02078026e-01  3.53436548e+00]
 [ 5.62896248e-01  2.55276280e-02  8.26133254e-01  1.95905281e+02]
 [ 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 434.42327356
Centerline is valid?  [True, True]
Translation: X:288.26, Y:3.55, Z:195.94
[[ 7.87753972e-01 -3.20703693e-01 -5.25920926e-01  2.88263450e+02]
 [ 2.50407364e-01  9.46776190e-01 -2.02264673e-01  3.54608917e+00]
 [ 5.62796438e-01  2.76403271e-02  8.26133271e-01  1.95938494e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 434.48327356
Centerline is valid?  [True, True]
Translation: X:288.31, Y:3.56, Z:195.97
[[ 7.89637587e-01 -3.16059265e-01 -5.25907808e-01  2.88311432e+02]
 [ 2.44805081e-01  9.48232923e-01 -2.02298779e-01  3.55834451e+00]
 [ 5.62621501e-01  3.09978158e-02  8.26133271e-01  1.95972027e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 434.54327356
Centerline is valid?  [True, True]
Translation: X:288.36, Y:3.57, Z:196.01
[[ 7.95704729e-01 -3.00479281e-01 -5.25895603e-01  2.88361088e+02]
 [ 2.26101115e-01  9.52859200e-01 -2.02330501e-01  3.56647832e+00]
 [ 5.61900587e-01  4.20897546e-02  8.26133272e-01  1.96005616e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 434.60327356
Centerline is valid?  [True, True]
Translation: X:288.41, Y:3.58, Z:196.04
[[ 7.96385381e-01 -2.98699857e-01 -5.25878998e-01  2.88408431e+02]
 [ 2.23942281e-01  9.53359722e-01 -2.02373653e-01  3.57707448e+00]
 [ 5.61800836e-01  4.34008765e-02  8.26133273e-01  1.96038330e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 434.66327356
Centerline is valid?  [True, True]
Translation: X:288.46, Y:3.59, Z:196.07
[[ 7.91098577e-01 -3.12463818e-01 -5.25860633e-01  2.88456760e+02]
 [ 2.40407740e-01  9.49331191e-01 -2.02421365e-01  3.58840697e+00]
 [ 5.62465253e-01  3.37142873e-02  8.26133274e-01  1.96071850e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 434.72327356
Centerline is valid?  [True, True]
Translation: X:288.50, Y:3.60, Z:196.10
[[ 7.90795520e-01 -3.13256348e-01 -5.25844945e-01  2.88503736e+02]
 [ 2.41331870e-01  9.49087995e-01 -2.02462112e-01  3.60131620e+00]
 [ 5.62495666e-01  3.32029877e-02  8.26133275e-01  1.96104897e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 434.78327356
Centerline is valid?  [True, True]
Translation: X:288.55, Y:3.61, Z:196.14
[[ 7.90066437e-01 -3.15193173e-01 -5.25783501e-01  2.88552546e+02]
 [ 2.43551051e-01  9.48486891e-01 -2.02621576e-01  3.60862240e+00]
 [ 5.62563695e-01  3.20293822e-02  8.26133287e-01  1.96137683e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 434.84327356
Centerline is valid?  [True, True]
Translation: X:288.60, Y:3.62, Z:196.17
[[ 7.88898440e-01 -3.18133794e-01 -5.25766241e-01  2.88602330e+02]
 [ 2.47052501e-01  9.47571322e-01 -2.02666354e-01  3.61576907e+00]
 [ 5.62676028e-01  2.99913058e-02  8.26133288e-01  1.96171099e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 434.90327356
Centerline is valid?  [True, True]
Translation: X:288.65, Y:3.62, Z:196.20
[[ 7.87676816e-01 -3.21222863e-01 -5.25719608e-01  2.88651499e+02]
 [ 2.50683443e-01  9.46591326e-01 -2.02787262e-01  3.62470553e+00]
 [ 5.62781525e-01  2.79416233e-02  8.26133295e-01  1.96204526e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 434.96327356
Centerline is valid?  [True, True]
Translation: X:288.70, Y:3.63, Z:196.24
[[ 7.87093600e-01 -3.22738894e-01 -5.25664600e-01  2.88700175e+02]
 [ 2.52410653e-01  9.46101670e-01 -2.02929771e-01  3.63303681e+00]
 [ 5.62825486e-01  2.70413792e-02  8.26133304e-01  1.96237476e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 435.02327356
Centerline is valid?  [True, True]
Translation: X:288.75, Y:3.64, Z:196.27
[[ 7.86066049e-01 -3.25262933e-01 -5.25646451e-01  2.88747841e+02]
 [ 2.55413936e-01  9.45285222e-01 -2.02976774e-01  3.64139689e+00]
 [ 5.62906643e-01  2.52957218e-02  8.26133305e-01  1.96269835e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 435.08327356
Centerline is valid?  [True, True]
Translation: X:288.80, Y:3.65, Z:196.30
[[ 7.84721569e-01 -3.28528973e-01 -5.25624175e-01  2.88797137e+02]
 [ 2.59304134e-01  9.44213101e-01 -2.03034447e-01  3.65092309e+00]
 [ 5.63003930e-01  2.30289880e-02  8.26133307e-01  1.96303512e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 435.14327356
Centerline is valid?  [True, True]
Translation: X:288.85, Y:3.66, Z:196.34
[[ 7.83195455e-01 -3.32177457e-01 -5.25607283e-01  2.88845297e+02]
 [ 2.63666333e-01  9.42994869e-01 -2.03078168e-01  3.66074787e+00]
 [ 5.63102960e-01  2.04649535e-02  8.26133308e-01  1.96336545e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 435.20327356
Centerline is valid?  [True, True]
Translation: X:288.89, Y:3.68, Z:196.37
[[ 7.82559075e-01 -3.33697606e-01 -5.25592240e-01  2.88890937e+02]
 [ 2.65470793e-01  9.42480082e-01 -2.03117094e-01  3.67600313e+00]
 [ 5.63139905e-01  1.94217367e-02  8.26133308e-01  1.96369311e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 435.26327356
Centerline is valid?  [True, True]
Translation: X:288.94, Y:3.69, Z:196.40
[[ 7.82336024e-01 -3.34329716e-01 -5.25522584e-01  2.88938242e+02]
 [ 2.66111299e-01  9.42260596e-01 -2.03297184e-01  3.68755878e+00]
 [ 5.63147513e-01  1.91992132e-02  8.26133324e-01  1.96402152e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 435.32327356
Centerline is valid?  [True, True]
Translation: X:288.99, Y:3.70, Z:196.44
[[ 7.83160683e-01 -3.32428090e-01 -5.25500628e-01  2.88985436e+02]
 [ 2.63783332e-01  9.42902718e-01 -2.03353924e-01  3.70246961e+00]
 [ 5.63096527e-01  2.06404919e-02  8.26133325e-01  1.96435811e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 435.38327355999996
Centerline is valid?  [True, True]
Translation: X:289.03, Y:3.72, Z:196.47
[[ 7.85677593e-01 -3.26515577e-01 -5.25450566e-01  2.89032757e+02]
 [ 2.56582437e-01  9.44859796e-01 -2.03483214e-01  3.71733237e+00]
 [ 5.62917554e-01  2.50508149e-02  8.26133333e-01  1.96469499e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 435.44327355999997
Centerline is valid?  [True, True]
Translation: X:289.08, Y:3.73, Z:196.50
[[ 7.88345402e-01 -3.20107233e-01 -5.25397836e-01  2.89081086e+02]
 [ 2.48789839e-01  9.46912246e-01 -2.03619289e-01  3.72875585e+00]
 [ 5.62685652e-01  2.98086877e-02  8.26133342e-01  1.96502976e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 435.50327355999997
Centerline is valid?  [True, True]
Translation: X:289.13, Y:3.75, Z:196.54
[[ 7.89860500e-01 -3.16425269e-01 -5.25352682e-01  2.89127357e+02]
 [ 2.44291607e-01  9.48057678e-01 -2.03735735e-01  3.74657643e+00]
 [ 5.62531779e-01  3.25835590e-02  8.26133349e-01  1.96536731e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 435.56327355999997
Centerline is valid?  [True, True]
Translation: X:289.17, Y:3.76, Z:196.57
[[ 7.90822678e-01 -3.14041447e-01 -5.25335570e-01  2.89174451e+02]
 [ 2.41401776e-01  9.48788151e-01 -2.03779851e-01  3.75899593e+00]
 [ 5.62427483e-01  3.43367881e-02  8.26133349e-01  1.96569717e+02]
 [ 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 435.62327356
Centerline is valid?  [True, True]
Translation: X:289.22, Y:3.77, Z:196.60
[[ 7.91647563e-01 -3.11978601e-01 -5.25322271e-01  2.89222563e+02]
 [ 2.38904699e-01  9.49412631e-01 -2.03814131e-01  3.76993911e+00]
 [ 5.62333247e-01  3.58470006e-02  8.26133350e-01  1.96602991e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 435.68327356
Centerline is valid?  [True, True]
Translation: X:289.27, Y:3.78, Z:196.64
[[ 7.92768905e-01 -3.09140338e-01 -5.25309160e-01  2.89271295e+02]
 [ 2.35479404e-01  9.50260742e-01 -2.03847917e-01  3.77708669e+00]
 [ 5.62198286e-01  3.79048017e-02  8.26133351e-01  1.96635722e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 435.74327356
Centerline is valid?  [True, True]
Translation: X:289.32, Y:3.78, Z:196.67
[[ 7.91465542e-01 -3.12497833e-01 -5.25287921e-01  2.89322773e+02]
 [ 2.39468963e-01  9.49251458e-01 -2.03902634e-01  3.78120423e+00]
 [ 5.62349457e-01  3.55917550e-02  8.26133352e-01  1.96669438e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 435.80327356
Centerline is valid?  [True, True]
Translation: X:289.37, Y:3.79, Z:196.70
[[ 7.92194771e-01 -3.10682294e-01 -5.25265606e-01  2.89371572e+02]
 [ 2.37253915e-01  9.49795164e-01 -2.03960108e-01  3.79042883e+00]
 [ 5.62261526e-01  3.69548097e-02  8.26133354e-01  1.96702707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 435.86327356
Centerline is valid?  [True, True]
Translation: X:289.42, Y:3.79, Z:196.74
[[ 7.94291662e-01 -3.05376850e-01 -5.25210182e-01  2.89422939e+02]
 [ 2.30802269e-01  9.51352921e-01 -2.04102747e-01  3.79468450e+00]
 [ 5.61988495e-01  4.08974085e-02  8.26133363e-01  1.96736327e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 435.92327356
Centerline is valid?  [True, True]
Translation: X:289.47, Y:3.80, Z:196.77
[[ 7.94187407e-01 -3.05738790e-01 -5.25157267e-01  2.89471804e+02]
 [ 2.31146347e-01  9.51240175e-01 -2.04238823e-01  3.80264845e+00]
 [ 5.61994421e-01  4.08157170e-02  8.26133372e-01  1.96769271e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 435.98327356
Centerline is valid?  [True, True]
Translation: X:289.52, Y:3.81, Z:196.80
[[ 7.92288241e-01 -3.10733530e-01 -5.25094293e-01  2.89521971e+02]
 [ 2.37024789e-01  9.49757672e-01 -2.04400622e-01  3.80639829e+00]
 [ 5.62226460e-01  3.74838450e-02  8.26133384e-01  1.96801980e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 436.04327356
Centerline is valid?  [True, True]
Translation: X:289.57, Y:3.82, Z:196.84
[[ 7.91903892e-01 -3.11739925e-01 -5.25077561e-01  2.89570401e+02]
 [ 2.38202963e-01  9.49453614e-01 -2.04443596e-01  3.81676955e+00]
 [ 5.62270019e-01  3.68246488e-02  8.26133385e-01  1.96835299e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 436.10327356
Centerline is valid?  [True, True]
Translation: X:289.62, Y:3.83, Z:196.87
[[ 7.90572976e-01 -3.15136104e-01 -5.25055812e-01  2.89618985e+02]
 [ 2.42239133e-01  9.48419834e-01 -2.04499440e-01  3.82714103e+00]
 [ 5.62418503e-01  3.44826662e-02  8.26133387e-01  1.96868707e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 436.16327356
Centerline is valid?  [True, True]
Translation: X:289.67, Y:3.83, Z:196.90
[[ 7.87167520e-01 -3.23638990e-01 -5.25000095e-01  2.89668647e+02]
 [ 2.52352534e-01  9.45748215e-01 -2.04642399e-01  3.83379314e+00]
 [ 5.62748162e-01  2.86027458e-02  8.26133397e-01  1.96901815e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 436.22327356
Centerline is valid?  [True, True]
Translation: X:289.72, Y:3.84, Z:196.93
[[ 7.82660392e-01 -3.34417138e-01 -5.24983704e-01  2.89716488e+02]
 [ 2.65286730e-01  9.42192778e-01 -2.04684441e-01  3.84283513e+00]
 [ 5.63085839e-01  2.09271944e-02  8.26133397e-01  1.96934427e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 436.28327356
Centerline is valid?  [True, True]
Translation: X:289.77, Y:3.85, Z:196.97
[[ 7.79059862e-01 -3.42750858e-01 -5.24964361e-01  2.89765736e+02]
 [ 2.75293565e-01  9.39306886e-01 -2.04734040e-01  3.85037685e+00]
 [ 5.63275407e-01  1.49807623e-02  8.26133399e-01  1.96967555e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 436.34327356
Centerline is valid?  [True, True]
Translation: X:289.81, Y:3.86, Z:197.00
[[ 7.76371940e-01 -3.48821739e-01 -5.24947620e-01  2.89813890e+02]
 [ 2.82588379e-01  9.37128703e-01 -2.04776957e-01  3.85830520e+00]
 [ 5.63374137e-01  1.06389864e-02  8.26133399e-01  1.97000087e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 436.40327356
Centerline is valid?  [True, True]
Translation: X:289.86, Y:3.87, Z:197.03
[[ 7.75204797e-01 -3.51514414e-01 -5.24876309e-01  2.89859097e+02]
 [ 2.85715790e-01  9.36139972e-01 -2.04959607e-01  3.87444874e+00]
 [ 5.63403949e-01  8.92022133e-03  8.26133415e-01  1.97032678e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 436.46327356
Centerline is valid?  [True, True]
Translation: X:289.91, Y:3.89, Z:197.07
[[ 7.76197389e-01 -3.49349903e-01 -5.24854512e-01  2.89906255e+02]
 [ 2.83064740e-01  9.36932780e-01 -2.05015412e-01  3.88886653e+00]
 [ 5.63375511e-01  1.05646218e-02  8.26133417e-01  1.97066174e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 436.52327356
Centerline is valid?  [True, True]
Translation: X:289.95, Y:3.92, Z:197.10
[[ 7.77415315e-01 -3.46717442e-01 -5.24797527e-01  2.89946589e+02]
 [ 2.79789579e-01  9.37884148e-01 -2.05161197e-01  3.91888163e+00]
 [ 5.63332247e-01  1.26625774e-02  8.26133427e-01  1.97099140e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 436.58327356
Centerline is valid?  [True, True]
Translation: X:289.99, Y:3.94, Z:197.13
[[ 7.78328821e-01 -3.44681666e-01 -5.24784523e-01  2.89991383e+02]
 [ 2.77311659e-01  9.38612529e-01 -2.05194454e-01  3.93974572e+00]
 [ 5.63296095e-01  1.41798911e-02  8.26133427e-01  1.97132752e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 436.64327356
Centerline is valid?  [True, True]
Translation: X:290.03, Y:3.96, Z:197.17
[[ 7.79931359e-01 -3.41120794e-01 -5.24732007e-01  2.90034733e+02]
 [ 2.72928712e-01  9.39867040e-01 -2.05328679e-01  3.96227018e+00]
 [ 5.63220200e-01  1.69278446e-02  8.26133436e-01  1.97165787e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 436.70327356
Centerline is valid?  [True, True]
Translation: X:290.08, Y:3.98, Z:197.20
[[ 7.81469245e-01 -3.37609179e-01 -5.24715028e-01  2.90078808e+02]
 [ 2.68669301e-01  9.41084015e-01 -2.05372060e-01  3.98398141e+00]
 [ 5.63136419e-01  1.95171293e-02  8.26133437e-01  1.97199147e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 436.76327356
Centerline is valid?  [True, True]
Translation: X:290.12, Y:4.01, Z:197.23
[[ 7.83568471e-01 -3.32783623e-01 -5.24667048e-01  2.90119705e+02]
 [ 2.62778868e-01  9.42719071e-01 -2.05494576e-01  4.01220906e+00]
 [ 5.62998862e-01  2.31476576e-02  8.26133444e-01  1.97232053e+02]
 [ 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 436.82327356
Centerline is valid?  [True, True]
Translation: X:290.17, Y:4.03, Z:197.27
[[ 7.83893853e-01 -3.32044363e-01 -5.24649376e-01  2.90167047e+02]
 [ 2.61859386e-01  9.42965057e-01 -2.05539687e-01  4.02614857e+00]
 [ 5.62974323e-01  2.37369335e-02  8.26133445e-01  1.97265555e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 436.88327355999996
Centerline is valid?  [True, True]
Translation: X:290.21, Y:4.05, Z:197.30
[[ 7.85012484e-01 -3.29480969e-01 -5.24592881e-01  2.90212296e+02]
 [ 2.58680473e-01  9.43810675e-01 -2.05683795e-01  4.04661803e+00]
 [ 5.62885257e-01  2.57624121e-02  8.26133455e-01  1.97299282e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 436.94327355999997
Centerline is valid?  [True, True]
Translation: X:290.26, Y:4.07, Z:197.33
[[ 7.86285289e-01 -3.26517715e-01 -5.24539442e-01  2.90256218e+02]
 [ 2.55028155e-01  9.44774453e-01 -2.05820003e-01  4.06596111e+00]
 [ 5.62775342e-01  2.80609143e-02  8.26133464e-01  1.97331892e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.00327355999997
Centerline is valid?  [True, True]
Translation: X:290.30, Y:4.08, Z:197.36
[[ 7.87070309e-01 -3.24664552e-01 -5.24512399e-01  2.90300814e+02]
 [ 2.52756064e-01  9.45369839e-01 -2.05888901e-01  4.08372094e+00]
 [ 5.62703030e-01  2.94753512e-02  8.26133466e-01  1.97364583e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.06327355999997
Centerline is valid?  [True, True]
Translation: X:290.35, Y:4.10, Z:197.40
[[ 7.87309508e-01 -3.24111868e-01 -5.24495220e-01  2.90346000e+02]
 [ 2.52063201e-01  9.45545284e-01 -2.05932656e-01  4.10113188e+00]
 [ 5.62679200e-01  2.99267937e-02  8.26133467e-01  1.97397580e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.12327356
Centerline is valid?  [True, True]
Translation: X:290.39, Y:4.12, Z:197.43
[[ 7.86802381e-01 -3.25365701e-01 -5.24479907e-01  2.90391904e+02]
 [ 2.53543293e-01  9.45140983e-01 -2.05971650e-01  4.11672716e+00]
 [ 5.62723565e-01  2.90806218e-02  8.26133468e-01  1.97430584e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.18327356
Centerline is valid?  [True, True]
Translation: X:290.44, Y:4.13, Z:197.46
[[ 7.86012414e-01 -3.27368550e-01 -5.24418076e-01  2.90438503e+02]
 [ 2.55844965e-01  9.44486209e-01 -2.06128979e-01  4.13280559e+00]
 [ 5.62785785e-01  2.78502119e-02  8.26133480e-01  1.97464064e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.24327356
Centerline is valid?  [True, True]
Translation: X:290.48, Y:4.15, Z:197.50
[[ 7.85396222e-01 -3.28936893e-01 -5.24359890e-01  2.90484263e+02]
 [ 2.57631275e-01  9.43968200e-01 -2.06276907e-01  4.14702217e+00]
 [ 5.62831147e-01  2.69175967e-02  8.26133490e-01  1.97496553e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.30327356
Centerline is valid?  [True, True]
Translation: X:290.53, Y:4.17, Z:197.53
[[ 7.84430673e-01 -3.31267737e-01 -5.24337873e-01  2.90529970e+02]
 [ 2.60396012e-01  9.43197046e-01 -2.06332859e-01  4.16526545e+00]
 [ 5.62905353e-01  2.53183325e-02  8.26133491e-01  1.97530080e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.36327356
Centerline is valid?  [True, True]
Translation: X:290.58, Y:4.18, Z:197.56
[[ 7.84363661e-01 -3.31516563e-01 -5.24280856e-01  2.90575741e+02]
 [ 2.60598640e-01  9.43109393e-01 -2.06477654e-01  4.18279313e+00]
 [ 5.62904962e-01  2.53266906e-02  8.26133501e-01  1.97563404e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.42327356
Centerline is valid?  [True, True]
Translation: X:290.62, Y:4.20, Z:197.60
[[ 7.84934077e-01 -3.30259612e-01 -5.24220453e-01  2.90620960e+02]
 [ 2.58985368e-01  9.43520134e-01 -2.06630916e-01  4.20195376e+00]
 [ 5.62854399e-01  2.64262205e-02  8.26133513e-01  1.97596780e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.48327356
Centerline is valid?  [True, True]
Translation: X:290.67, Y:4.22, Z:197.63
[[ 7.84595661e-01 -3.31083279e-01 -5.24207507e-01  2.90666022e+02]
 [ 2.59953635e-01  9.43246627e-01 -2.06663756e-01  4.22081599e+00]
 [ 5.62879877e-01  2.58778397e-02  8.26133513e-01  1.97630068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.54327356
Centerline is valid?  [True, True]
Translation: X:290.71, Y:4.24, Z:197.66
[[ 7.84421299e-01 -3.31595334e-01 -5.24144789e-01  2.90710857e+02]
 [ 2.60463285e-01  9.43071174e-01 -2.06822723e-01  4.24023941e+00]
 [ 5.62887291e-01  2.57156754e-02  8.26133525e-01  1.97663263e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.60327356
Centerline is valid?  [True, True]
Translation: X:290.76, Y:4.26, Z:197.70
[[ 7.85409807e-01 -3.29339860e-01 -5.24086530e-01  2.90755477e+02]
 [ 2.57654021e-01  9.43810211e-01 -2.06970264e-01  4.25909145e+00]
 [ 5.62801777e-01  2.75234735e-02  8.26133536e-01  1.97696187e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.66327356
Centerline is valid?  [True, True]
Translation: X:290.80, Y:4.28, Z:197.73
[[ 7.84942409e-01 -3.30480139e-01 -5.24068977e-01  2.90800175e+02]
 [ 2.58994822e-01  9.43433407e-01 -2.07014704e-01  4.27996022e+00]
 [ 5.62838428e-01  2.67634688e-02  8.26133537e-01  1.97729740e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.72327356
Centerline is valid?  [True, True]
Translation: X:290.84, Y:4.30, Z:197.76
[[ 7.86074179e-01 -3.27872094e-01 -5.24010759e-01  2.90844185e+02]
 [ 2.55763048e-01  9.44282361e-01 -2.07161983e-01  4.29975787e+00]
 [ 5.62736750e-01  2.88220967e-02  8.26133547e-01  1.97762515e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.78327356
Centerline is valid?  [True, True]
Translation: X:290.89, Y:4.32, Z:197.80
[[ 7.86372517e-01 -3.27197875e-01 -5.23984557e-01  2.90888591e+02]
 [ 2.54909171e-01  9.44498688e-01 -2.07228240e-01  4.32098510e+00]
 [ 5.62707366e-01  2.93901241e-02  8.26133549e-01  1.97795958e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.84327356
Centerline is valid?  [True, True]
Translation: X:290.93, Y:4.34, Z:197.83
[[ 7.87445854e-01 -3.24698994e-01 -5.23927085e-01  2.90934086e+02]
 [ 2.51812217e-01  9.45297231e-01 -2.07373461e-01  4.33863672e+00]
 [ 5.62600777e-01  3.13641317e-02  8.26133559e-01  1.97829139e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.90327356
Centerline is valid?  [True, True]
Translation: X:290.98, Y:4.36, Z:197.86
[[ 7.87306944e-01 -3.25138164e-01 -5.23863484e-01  2.90976289e+02]
 [ 2.52232976e-01  9.45149805e-01 -2.07534026e-01  4.36102961e+00]
 [ 5.62606702e-01  3.12573344e-02  8.26133571e-01  1.97861414e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 437.96327356
Centerline is valid?  [True, True]
Translation: X:291.02, Y:4.38, Z:197.89
[[ 7.87299157e-01 -3.25192994e-01 -5.23841153e-01  2.91020412e+02]
 [ 2.52261436e-01  9.45129833e-01 -2.07590381e-01  4.38174728e+00]
 [ 5.62604839e-01  3.12908103e-02  8.26133573e-01  1.97894559e+02]
 [ 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 438.02327356
Centerline is valid?  [True, True]
Translation: X:291.06, Y:4.40, Z:197.93
[[ 7.87858966e-01 -3.23934538e-01 -5.23779213e-01  2.91063350e+02]
 [ 2.50647424e-01  9.45524845e-01 -2.07746568e-01  4.40432843e+00]
 [ 5.62542548e-01  3.23910857e-02  8.26133585e-01  1.97927353e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 438.08327356
Centerline is valid?  [True, True]
Translation: X:291.11, Y:4.43, Z:197.96
[[ 7.88107745e-01 -3.23382863e-01 -5.23745841e-01  2.91107555e+02]
 [ 2.49929705e-01  9.45696333e-01 -2.07830673e-01  4.42676794e+00]
 [ 5.62513399e-01  3.28933196e-02  8.26133588e-01  1.97960965e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 438.14327356
Centerline is valid?  [True, True]
Translation: X:291.15, Y:4.45, Z:197.99
[[ 7.86142737e-01 -3.28163426e-01 -5.23725465e-01  2.91150502e+02]
 [ 2.55634636e-01  9.44158886e-01 -2.07882010e-01  4.45212355e+00]
 [ 5.62699324e-01  2.95425642e-02  8.26133589e-01  1.97994536e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 438.20327356
Centerline is valid?  [True, True]
Translation: X:291.19, Y:4.48, Z:198.03
[[ 7.84654668e-01 -3.31791439e-01 -5.23671169e-01  2.91193932e+02]
 [ 2.59902366e-01  9.42962870e-01 -2.08018714e-01  4.47554141e+00]
 [ 5.62821297e-01  2.71194790e-02  8.26133598e-01  1.98027871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 438.26327356
Centerline is valid?  [True, True]
Translation: X:291.24, Y:4.50, Z:198.06
[[ 7.85601179e-01 -3.29608912e-01 -5.23630358e-01  2.91235055e+02]
 [ 2.57211797e-01  9.43677685e-01 -2.08121402e-01  4.50142873e+00]
 [ 5.62736953e-01  2.88165131e-02  8.26133603e-01  1.98060390e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 438.32327356
Centerline is valid?  [True, True]
Translation: X:291.28, Y:4.52, Z:198.09
[[ 7.86214781e-01 -3.28177704e-01 -5.23608358e-01  2.91279613e+02]
 [ 2.55456101e-01  9.44142270e-01 -2.08176738e-01  4.52329597e+00]
 [ 5.62679748e-01  2.99126787e-02  8.26133605e-01  1.98094105e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 438.38327355999996
Centerline is valid?  [True, True]
Translation: X:291.32, Y:4.55, Z:198.13
[[ 7.86982124e-01 -3.26409308e-01 -5.23560981e-01  2.91320357e+02]
 [ 2.53253881e-01  9.44709118e-01 -2.08295836e-01  4.55094752e+00]
 [ 5.62602532e-01  3.13312488e-02  8.26133611e-01  1.98126822e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 438.44327355999997
Centerline is valid?  [True, True]
Translation: X:291.36, Y:4.58, Z:198.16
[[ 7.88966817e-01 -3.21618368e-01 -5.23538907e-01  2.91361963e+02]
 [ 2.47468656e-01  9.46228830e-01 -2.08351306e-01  4.57840656e+00]
 [ 5.62397214e-01  3.48227968e-02  8.26133613e-01  1.98160079e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 438.50327355999997
Centerline is valid?  [True, True]
Translation: X:291.41, Y:4.60, Z:198.19
[[ 7.89635900e-01 -3.19995251e-01 -5.23524770e-01  2.91408422e+02]
 [ 2.45498863e-01  9.46733986e-01 -2.08386823e-01  4.59534596e+00]
 [ 5.62321486e-01  3.60249810e-02  8.26133614e-01  1.98193771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 438.56327355999997
Centerline is valid?  [True, True]
Translation: X:291.45, Y:4.62, Z:198.23
[[ 7.89216918e-01 -3.21058448e-01 -5.23505616e-01  2.91451814e+02]
 [ 2.46741941e-01  9.46400176e-01 -2.08434933e-01  4.61715771e+00]
 [ 5.62365603e-01  3.53295836e-02  8.26133615e-01  1.98226741e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 438.62327356
Centerline is valid?  [True, True]
Translation: X:291.49, Y:4.65, Z:198.26
[[ 7.88482858e-01 -3.22959093e-01 -5.23442649e-01  2.91493952e+02]
 [ 2.48917053e-01  9.45795579e-01 -2.08592963e-01  4.64510604e+00]
 [ 5.62436737e-01  3.41781747e-02  8.26133627e-01  1.98260400e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 438.68327356
Centerline is valid?  [True, True]
Translation: X:291.54, Y:4.67, Z:198.29
[[ 7.88417411e-01 -3.23209916e-01 -5.23386412e-01  2.91537857e+02]
 [ 2.49124695e-01  9.45709790e-01 -2.08733991e-01  4.66624525e+00]
 [ 5.62436550e-01  3.41810321e-02  8.26133636e-01  1.98293471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 438.74327356
Centerline is valid?  [True, True]
Translation: X:291.58, Y:4.69, Z:198.33
[[ 7.89362781e-01 -3.20996064e-01 -5.23323921e-01  2.91581692e+02]
 [ 2.46366391e-01  9.46397555e-01 -2.08890568e-01  4.68792336e+00]
 [ 5.62325530e-01  3.59610138e-02  8.26133648e-01  1.98326627e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 438.80327356
Centerline is valid?  [True, True]
Translation: X:291.63, Y:4.71, Z:198.36
[[ 7.90754047e-01 -3.17657839e-01 -5.23260484e-01  2.91625386e+02]
 [ 2.42260772e-01  9.47421805e-01 -2.09049375e-01  4.70947545e+00]
 [ 5.62154566e-01  3.85411508e-02  8.26133660e-01  1.98359662e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 438.86327356
Centerline is valid?  [True, True]
Translation: X:291.67, Y:4.73, Z:198.39
[[ 7.99550295e-01 -2.94853586e-01 -5.23240564e-01  2.91669963e+02]
 [ 2.14963048e-01  9.53975053e-01 -2.09099226e-01  4.73119497e+00]
 [ 5.60812101e-01  5.47079611e-02  8.26133661e-01  1.98393363e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 438.92327356
Centerline is valid?  [True, True]
Translation: X:291.71, Y:4.75, Z:198.43
[[ 8.00590121e-01 -2.92052622e-01 -5.23221486e-01  2.91714241e+02]
 [ 2.11591119e-01  9.54718152e-01 -2.09146954e-01  4.75022246e+00]
 [ 5.60610967e-01  5.67319660e-02  8.26133662e-01  1.98426196e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 438.98327356
Centerline is valid?  [True, True]
Translation: X:291.76, Y:4.76, Z:198.46
[[ 7.90625213e-01 -3.18078598e-01 -5.23199558e-01  2.91763577e+02]
 [ 2.42664581e-01  9.47284809e-01 -2.09201798e-01  4.76014102e+00]
 [ 5.62161608e-01  3.84382147e-02  8.26133664e-01  1.98459920e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 439.04327356
Centerline is valid?  [True, True]
Translation: X:291.81, Y:4.78, Z:198.49
[[ 7.89690800e-01 -3.20422674e-01 -5.23180419e-01  2.91808804e+02]
 [ 2.45442187e-01  9.46558353e-01 -2.09249652e-01  4.77951795e+00]
 [ 5.62269129e-01  3.68319788e-02  8.26133665e-01  1.98493442e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 439.10327356
Centerline is valid?  [True, True]
Translation: X:291.85, Y:4.80, Z:198.53
[[ 7.87558725e-01 -3.25648126e-01 -5.23167806e-01  2.91854662e+02]
 [ 2.51687827e-01  9.44909850e-01 -2.09281183e-01  4.79779474e+00]
 [ 5.62498438e-01  3.31462537e-02  8.26133665e-01  1.98527094e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 439.16327356
Centerline is valid?  [True, True]
Translation: X:291.90, Y:4.81, Z:198.56
[[ 7.86362900e-01 -3.28561500e-01 -5.23145037e-01  2.91900484e+02]
 [ 2.55146511e-01  9.43969186e-01 -2.09338087e-01  4.81374240e+00]
 [ 5.62613231e-01  3.11370737e-02  8.26133667e-01  1.98560118e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.967531 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.966830 with order 1
Centerline goodness : 0.965900 with order 1
Centerline goodness : 0.970223 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.980316 with order 1
Centerline goodness : 0.980732 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.981156 with order 1
Centerline goodness : 0.991509 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.966698 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.969096 with order 1
Centerline goodness : 0.966110 with order 1
Centerline goodness : 0.965637 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.972373 with order 1
SLAMing on frame at distance 439.22327356
Centerline is valid?  [True, True]
Translation: X:291.94, Y:4.83, Z:198.59
[[ 7.84684577e-01 -3.32575267e-01 -5.23128862e-01  2.91944206e+02]
 [ 2.59939687e-01  9.42651581e-01 -2.09378501e-01  4.83298333e+00]
 [ 5.62762360e-01  2.83141275e-02  8.26133668e-01  1.98592656e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 439.28327356
Centerline is valid?  [True, True]
Translation: X:291.99, Y:4.85, Z:198.63
[[ 7.82501696e-01 -3.37712615e-01 -5.23107336e-01  2.91989955e+02]
 [ 2.66078383e-01  9.40925299e-01 -2.09432271e-01  4.85126842e+00]
 [ 5.62932846e-01  2.46935532e-02  8.26133669e-01  1.98626228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 439.34327356
Centerline is valid?  [True, True]
Translation: X:292.04, Y:4.87, Z:198.66
[[ 7.79476163e-01 -3.44725946e-01 -5.23049648e-01  2.92035725e+02]
 [ 2.74420769e-01  9.38494023e-01 -2.09576264e-01  4.86911023e+00]
 [ 5.63125344e-01  1.98240156e-02  8.26133679e-01  1.98659647e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 439.40327356
Centerline is valid?  [True, True]
Translation: X:292.08, Y:4.89, Z:198.69
[[ 7.79270879e-01 -3.45275286e-01 -5.22993187e-01  2.92077736e+02]
 [ 2.74987830e-01  9.38296562e-01 -2.09717084e-01  4.89296680e+00]
 [ 5.63132835e-01  1.96096543e-02  8.26133688e-01  1.98692215e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 439.46327356
Centerline is valid?  [True, True]
Translation: X:292.13, Y:4.90, Z:198.73
[[ 7.81790738e-01 -3.39643440e-01 -5.22920238e-01  2.92125751e+02]
 [ 2.68089019e-01  9.40250366e-01 -2.09898849e-01  4.90468583e+00]
 [ 5.62966713e-01  2.39078028e-02  8.26133704e-01  1.98725479e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 439.52327356
Centerline is valid?  [True, True]
Translation: X:292.17, Y:4.94, Z:198.76
[[ 7.83612587e-01 -3.35507449e-01 -5.22863333e-01  2.92166360e+02]
 [ 2.63022386e-01  9.41648662e-01 -2.10040523e-01  4.93598676e+00]
 [ 5.62823718e-01  2.70656365e-02  8.26133714e-01  1.98759054e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 439.58327356
Centerline is valid?  [True, True]
Translation: X:292.21, Y:4.96, Z:198.79
[[ 7.96146261e-01 -3.04671904e-01 -5.22806046e-01  2.92208030e+02]
 [ 2.25982035e-01  9.51186212e-01 -2.10183038e-01  4.96441554e+00]
 [ 5.61322769e-01  4.91916658e-02  8.26133724e-01  1.98792575e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 439.64327356
Centerline is valid?  [True, True]
Translation: X:292.26, Y:4.97, Z:198.83
[[ 7.89479359e-01 -3.21585096e-01 -5.22786158e-01  2.92260014e+02]
 [ 2.46187688e-01  9.46146881e-01 -2.10232494e-01  4.96702766e+00]
 [ 5.62240130e-01  3.72706994e-02  8.26133725e-01  1.98826108e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 439.70327356
Centerline is valid?  [True, True]
Translation: X:292.31, Y:4.99, Z:198.86
[[ 7.91000367e-01 -3.17855758e-01 -5.22767765e-01  2.92305860e+02]
 [ 2.41689789e-01  9.47295685e-01 -2.10278223e-01  4.98607951e+00]
 [ 5.62053792e-01  3.99825213e-02  8.26133726e-01  1.98859942e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 439.76327356
Centerline is valid?  [True, True]
Translation: X:292.35, Y:5.01, Z:198.89
[[ 7.93097286e-01 -3.12680363e-01 -5.22711857e-01  2.92349680e+02]
 [ 2.35403833e-01  9.48846494e-01 -2.10417124e-01  5.00662305e+00]
 [ 5.61766616e-01  4.38328756e-02  8.26133735e-01  1.98892819e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 439.82327356
Centerline is valid?  [True, True]
Translation: X:292.39, Y:5.03, Z:198.93
[[ 7.93953975e-01 -3.10533388e-01 -5.22691210e-01  2.92393434e+02]
 [ 2.32802234e-01  9.49476788e-01 -2.10468403e-01  5.02708110e+00]
 [ 5.61640637e-01  4.54185437e-02  8.26133736e-01  1.98925684e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 439.88327355999996
Centerline is valid?  [True, True]
Translation: X:292.44, Y:5.05, Z:198.96
[[ 7.94007302e-01 -3.10454089e-01 -5.22657309e-01  2.92438263e+02]
 [ 2.32652423e-01  9.49494849e-01 -2.10552563e-01  5.04849699e+00]
 [ 5.61627327e-01  4.55827828e-02  8.26133740e-01  1.98959455e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 439.94327355999997
Centerline is valid?  [True, True]
Translation: X:292.48, Y:5.07, Z:198.99
[[ 7.92663860e-01 -3.13948211e-01 -5.22609343e-01  2.92483736e+02]
 [ 2.36754203e-01  9.48453974e-01 -2.10671563e-01  5.06789471e+00]
 [ 5.61810868e-01  4.32617754e-02  8.26133747e-01  1.98993099e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 440.00327355999997
Centerline is valid?  [True, True]
Translation: X:292.53, Y:5.09, Z:199.03
[[ 7.91701893e-01 -3.16461430e-01 -5.22551697e-01  2.92529067e+02]
 [ 2.39668336e-01  9.47690006e-01 -2.10814471e-01  5.08819623e+00]
 [ 5.61931669e-01  4.16631197e-02  8.26133756e-01  1.99026871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 440.06327355999997
Centerline is valid?  [True, True]
Translation: X:292.57, Y:5.11, Z:199.06
[[ 7.91456150e-01 -3.17159628e-01 -5.22500653e-01  2.92573255e+02]
 [ 2.40421189e-01  9.47471150e-01 -2.10940920e-01  5.10795323e+00]
 [ 5.61956238e-01  4.13302602e-02  8.26133764e-01  1.99059791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 440.12327356
Centerline is valid?  [True, True]
Translation: X:292.62, Y:5.13, Z:199.09
[[ 7.93068096e-01 -3.13213816e-01 -5.22436696e-01  2.92618985e+02]
 [ 2.35595745e-01  9.48647333e-01 -2.11099225e-01  5.12510431e+00]
 [ 5.61727372e-01  4.43321980e-02  8.26133776e-01  1.99093003e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 440.18327356
Centerline is valid?  [True, True]
Translation: X:292.66, Y:5.15, Z:199.13
[[ 7.93736952e-01 -3.11546133e-01 -5.22418087e-01  2.92663107e+02]
 [ 2.33571140e-01  9.49137608e-01 -2.11145268e-01  5.14695105e+00]
 [ 5.61628146e-01  4.55720136e-02  8.26133777e-01  1.99126463e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 440.24327356
Centerline is valid?  [True, True]
Translation: X:292.71, Y:5.17, Z:199.16
[[ 7.94351023e-01 -3.10000450e-01 -5.22404224e-01  2.92707234e+02]
 [ 2.31700726e-01  9.49588314e-01 -2.11179564e-01  5.16667971e+00]
 [ 5.61534706e-01  4.67092643e-02  8.26133778e-01  1.99159389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 440.30327356
Centerline is valid?  [True, True]
Translation: X:292.75, Y:5.20, Z:199.19
[[ 7.94872963e-01 -3.08682784e-01 -5.22390573e-01  2.92747396e+02]
 [ 2.30103739e-01  9.49969052e-01 -2.11213327e-01  5.19928381e+00]
 [ 5.61452795e-01  4.76837394e-02  8.26133778e-01  1.99193102e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 440.36327356
Centerline is valid?  [True, True]
Translation: X:292.79, Y:5.22, Z:199.23
[[ 7.94213014e-01 -3.10452205e-01 -5.22345783e-01  2.92792625e+02]
 [ 2.32146508e-01  9.49447284e-01 -2.11324049e-01  5.21944360e+00]
 [ 5.61545802e-01  4.65755606e-02  8.26133784e-01  1.99226796e+02]
 [ 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 : 0.975885 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.975113 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 440.42327356
Centerline is valid?  [True, True]
Translation: X:292.84, Y:5.24, Z:199.26
[[ 7.94045850e-01 -3.10914702e-01 -5.22324838e-01  2.92836911e+02]
 [ 2.32665645e-01  9.49308677e-01 -2.11375808e-01  5.23923456e+00]
 [ 5.61567348e-01  4.63150376e-02  8.26133785e-01  1.99259832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 440.48327356
Centerline is valid?  [True, True]
Translation: X:292.88, Y:5.26, Z:199.29
[[ 7.95020905e-01 -3.08444348e-01 -5.22306274e-01  2.92880731e+02]
 [ 2.29683050e-01  9.50024512e-01 -2.11421671e-01  5.26203013e+00]
 [ 5.61415583e-01  4.81197501e-02  8.26133786e-01  1.99293345e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 440.54327356
Centerline is valid?  [True, True]
Translation: X:292.93, Y:5.28, Z:199.33
[[ 7.95880577e-01 -3.06252071e-01 -5.22287063e-01  2.92925241e+02]
 [ 2.27033019e-01  9.50650735e-01 -2.11469120e-01  5.28230586e+00]
 [ 5.61275436e-01  4.97277563e-02  8.26133787e-01  1.99326650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 440.60327356
Centerline is valid?  [True, True]
Translation: X:292.97, Y:5.30, Z:199.36
[[ 7.96714817e-01 -3.04099089e-01 -5.22273151e-01  2.92969690e+02]
 [ 2.24439563e-01  9.51258725e-01 -2.11503475e-01  5.30385633e+00]
 [ 5.61134906e-01  5.12891946e-02  8.26133788e-01  1.99360249e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 440.66327356
Centerline is valid?  [True, True]
Translation: X:293.02, Y:5.32, Z:199.39
[[ 7.95522576e-01 -3.07226117e-01 -5.22260418e-01  2.93016432e+02]
 [ 2.28153773e-01  9.50367737e-01 -2.11534913e-01  5.31819570e+00]
 [ 5.61328502e-01  4.91251138e-02  8.26133789e-01  1.99393453e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 440.72327356
Centerline is valid?  [True, True]
Translation: X:293.06, Y:5.35, Z:199.43
[[ 7.96630918e-01 -3.04366458e-01 -5.22245383e-01  2.93058249e+02]
 [ 2.24714292e-01  9.51178618e-01 -2.11572027e-01  5.34623321e+00]
 [ 5.61144070e-01  5.11888163e-02  8.26133789e-01  1.99427049e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 440.78327356
Centerline is valid?  [True, True]
Translation: X:293.10, Y:5.37, Z:199.46
[[ 7.95670184e-01 -3.06889715e-01 -5.22233339e-01  2.93102212e+02]
 [ 2.27708427e-01  9.50459663e-01 -2.11601751e-01  5.36678048e+00]
 [ 5.61300125e-01  4.94482718e-02  8.26133790e-01  1.99460087e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 440.84327356
Centerline is valid?  [True, True]
Translation: X:293.15, Y:5.38, Z:199.49
[[ 7.92506372e-01 -3.15000092e-01 -5.22215083e-01  2.93147893e+02]
 [ 2.37374362e-01  9.48081771e-01 -2.11646799e-01  5.38410113e+00]
 [ 5.61771362e-01  4.37709642e-02  8.26133791e-01  1.99493377e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 440.90327356
Centerline is valid?  [True, True]
Translation: X:293.19, Y:5.41, Z:199.53
[[ 7.94486745e-01 -3.09992901e-01 -5.22202273e-01  2.93190807e+02]
 [ 2.31366395e-01  9.49558764e-01 -2.11678401e-01  5.40861194e+00]
 [ 5.61480546e-01  4.73556265e-02  8.26133791e-01  1.99526767e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 440.96327356
Centerline is valid?  [True, True]
Translation: X:293.23, Y:5.43, Z:199.56
[[ 7.94139138e-01 -3.10911777e-01 -5.22184734e-01  2.93234491e+02]
 [ 2.32436498e-01  9.49287740e-01 -2.11721659e-01  5.43116019e+00]
 [ 5.61530324e-01  4.67616647e-02  8.26133792e-01  1.99560136e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 441.02327356
Centerline is valid?  [True, True]
Translation: X:293.28, Y:5.45, Z:199.59
[[ 7.93869926e-01 -3.11623940e-01 -5.22169571e-01  2.93277807e+02]
 [ 2.33263448e-01  9.49076534e-01 -2.11759052e-01  5.45426044e+00]
 [ 5.61568077e-01  4.63060683e-02  8.26133793e-01  1.99593417e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 441.08327356
Centerline is valid?  [True, True]
Translation: X:293.32, Y:5.48, Z:199.63
[[ 7.93545749e-01 -3.12557821e-01 -5.22104159e-01  2.93321103e+02]
 [ 2.34274767e-01  9.48791416e-01 -2.11920228e-01  5.47573948e+00]
 [ 5.61605269e-01  4.58525658e-02  8.26133805e-01  1.99626209e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 441.14327356
Centerline is valid?  [True, True]
Translation: X:293.36, Y:5.50, Z:199.66
[[ 7.93261946e-01 -3.13307970e-01 -5.22085817e-01  2.93364457e+02]
 [ 2.35142223e-01  9.48566709e-01 -2.11965407e-01  5.49628541e+00]
 [ 5.61643677e-01  4.53796715e-02  8.26133806e-01  1.99658857e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 441.20327356
Centerline is valid?  [True, True]
Translation: X:293.41, Y:5.52, Z:199.69
[[ 7.93035020e-01 -3.14008075e-01 -5.22009948e-01  2.93408942e+02]
 [ 2.35857450e-01  9.48347374e-01 -2.12152117e-01  5.51503314e+00]
 [ 5.61664241e-01  4.51241232e-02  8.26133823e-01  1.99691690e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 441.26327356
Centerline is valid?  [True, True]
Translation: X:293.45, Y:5.54, Z:199.73
[[ 7.95257715e-01 -3.08367483e-01 -5.21991055e-01  2.93452658e+02]
 [ 2.29085459e-01  9.49995584e-01 -2.12198593e-01  5.53753746e+00]
 [ 5.61324343e-01  4.91720078e-02  8.26133824e-01  1.99725069e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 441.32327356
Centerline is valid?  [True, True]
Translation: X:293.50, Y:5.56, Z:199.76
[[ 7.96685313e-01 -3.04692959e-01 -5.21971946e-01  2.93496983e+02]
 [ 2.24666958e-01  9.51039730e-01 -2.12245591e-01  5.55920601e+00]
 [ 5.61085796e-01  5.18230958e-02  8.26133825e-01  1.99758620e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 441.38327355999996
Centerline is valid?  [True, True]
Translation: X:293.54, Y:5.58, Z:199.79
[[ 7.97555281e-01 -3.02435286e-01 -5.21956388e-01  2.93541594e+02]
 [ 2.21947654e-01  9.51669485e-01 -2.12283844e-01  5.58039364e+00]
 [ 5.60932092e-01  5.34611053e-02  8.26133826e-01  1.99792231e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 441.44327355999997
Centerline is valid?  [True, True]
Translation: X:293.59, Y:5.60, Z:199.83
[[ 7.96989338e-01 -3.03944473e-01 -5.21944204e-01  2.93586654e+02]
 [ 2.23729296e-01  9.51245527e-01 -2.12313800e-01  5.59909059e+00]
 [ 5.61028695e-01  5.24376260e-02  8.26133826e-01  1.99825491e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 441.50327355999997
Centerline is valid?  [True, True]
Translation: X:293.63, Y:5.62, Z:199.86
[[ 7.96783710e-01 -3.04507764e-01 -5.21929824e-01  2.93629739e+02]
 [ 2.24378723e-01  9.51084660e-01 -2.12349143e-01  5.62067600e+00]
 [ 5.61061412e-01  5.20863904e-02  8.26133827e-01  1.99858242e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 441.56327355999997
Centerline is valid?  [True, True]
Translation: X:293.67, Y:5.64, Z:199.89
[[ 7.96259963e-01 -3.05905398e-01 -5.21911830e-01  2.93674043e+02]
 [ 2.26018524e-01  9.50686429e-01 -2.12393363e-01  5.64020154e+00]
 [ 5.61146770e-01  5.11585897e-02  8.26133828e-01  1.99891230e+02]
 [ 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 : 0.987569 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 441.62327356
Centerline is valid?  [True, True]
Translation: X:293.72, Y:5.66, Z:199.92
[[ 7.94724648e-01 -3.09996082e-01 -5.21838254e-01  2.93719423e+02]
 [ 2.30786787e-01  9.49499736e-01 -2.12574009e-01  5.65940914e+00]
 [ 5.61382395e-01  4.85044306e-02  8.26133843e-01  1.99924754e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 441.68327356
Centerline is valid?  [True, True]
Translation: X:293.77, Y:5.68, Z:199.96
[[ 7.91898507e-01 -3.17172455e-01 -5.21822182e-01  2.93766025e+02]
 [ 2.39340677e-01  9.47370866e-01 -2.12613458e-01  5.67653208e+00]
 [ 5.61794264e-01  4.34750052e-02  8.26133844e-01  1.99958578e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 441.74327356
Centerline is valid?  [True, True]
Translation: X:293.81, Y:5.70, Z:199.99
[[ 7.92568958e-01 -3.15584794e-01 -5.21766887e-01  2.93808658e+02]
 [ 2.37352958e-01  9.47840388e-01 -2.12749084e-01  5.70096743e+00]
 [ 5.61692104e-01  4.47754064e-02  8.26133853e-01  1.99991733e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 441.80327356
Centerline is valid?  [True, True]
Translation: X:293.85, Y:5.72, Z:200.03
[[ 7.89265081e-01 -3.23778997e-01 -5.21754532e-01  2.93854073e+02]
 [ 2.47140081e-01  9.45328893e-01 -2.12779379e-01  5.72040022e+00]
 [ 5.62123129e-01  3.89928767e-02  8.26133853e-01  2.00025407e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 441.86327356
Centerline is valid?  [True, True]
Translation: X:293.90, Y:5.74, Z:200.06
[[ 7.87059977e-01 -3.29131553e-01 -5.21736536e-01  2.93900022e+02]
 [ 2.53525144e-01  9.43626600e-01 -2.12823498e-01  5.73902048e+00]
 [ 5.62371402e-01  3.52315267e-02  8.26133854e-01  2.00059202e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 441.92327356
Centerline is valid?  [True, True]
Translation: X:293.94, Y:5.76, Z:200.09
[[ 7.84254320e-01 -3.35835291e-01 -5.21689390e-01  2.93944420e+02]
 [ 2.61490980e-01  9.41424157e-01 -2.12939016e-01  5.75903078e+00]
 [ 5.62643430e-01  3.05812740e-02  8.26133861e-01  2.00092344e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 441.98327356
Centerline is valid?  [True, True]
Translation: X:293.99, Y:5.78, Z:200.13
[[ 7.82055891e-01 -3.40948954e-01 -5.21672688e-01  2.93989622e+02]
 [ 2.67605257e-01  9.39695151e-01 -2.12979927e-01  5.77837748e+00]
 [ 5.62828579e-01  2.69598525e-02  8.26133862e-01  2.00125856e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 442.04327356
Centerline is valid?  [True, True]
Translation: X:294.03, Y:5.80, Z:200.16
[[ 7.80875962e-01 -3.43661862e-01 -5.21660097e-01  2.94033108e+02]
 [ 2.70845310e-01  9.38759411e-01 -2.13010763e-01  5.79798340e+00]
 [ 5.62917001e-01  2.50457938e-02  8.26133862e-01  2.00158357e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 442.10327356
Centerline is valid?  [True, True]
Translation: X:294.08, Y:5.82, Z:200.19
[[ 7.80775948e-01 -3.43923313e-01 -5.21637493e-01  2.94077681e+02]
 [ 2.71122740e-01  9.38666764e-01 -2.13066106e-01  5.81881808e+00]
 [ 5.62922179e-01  2.49291045e-02  8.26133864e-01  2.00191850e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 442.16327356
Centerline is valid?  [True, True]
Translation: X:294.12, Y:5.84, Z:200.22
[[ 7.80763923e-01 -3.43985079e-01 -5.21614764e-01  2.94121807e+02]
 [ 2.71159914e-01  9.38643397e-01 -2.13121737e-01  5.83622979e+00]
 [ 5.62920952e-01  2.49567492e-02  8.26133865e-01  2.00224177e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 442.22327356
Centerline is valid?  [True, True]
Translation: X:294.16, Y:5.86, Z:200.26
[[ 7.88398435e-01 -3.26169493e-01 -5.21575851e-01  2.94163106e+02]
 [ 2.49715864e-01  9.44553083e-01 -2.13216935e-01  5.86438387e+00]
 [ 5.62200938e-01  3.78541335e-02  8.26133869e-01  2.00257474e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 442.28327356
Centerline is valid?  [True, True]
Translation: X:294.21, Y:5.88, Z:200.29
[[ 7.86199607e-01 -3.31465649e-01 -5.21556038e-01  2.94209470e+02]
 [ 2.56032189e-01  9.42849612e-01 -2.13265390e-01  5.88006895e+00]
 [ 5.62439060e-01  3.41340319e-02  8.26133871e-01  2.00290773e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 442.34327356
Centerline is valid?  [True, True]
Translation: X:294.25, Y:5.90, Z:200.32
[[ 7.88186746e-01 -3.26739147e-01 -5.21539244e-01  2.94253516e+02]
 [ 2.50339451e-01  9.44367786e-01 -2.13306455e-01  5.90352933e+00]
 [ 5.62220430e-01  3.75634727e-02  8.26133871e-01  2.00324619e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 442.40327356
Centerline is valid?  [True, True]
Translation: X:294.30, Y:5.93, Z:200.36
[[ 7.91727700e-01 -3.18143182e-01 -5.21490330e-01  2.94297289e+02]
 [ 2.39970351e-01  9.47028817e-01 -2.13425985e-01  5.92645690e+00]
 [ 5.61766392e-01  4.38330474e-02  8.26133878e-01  2.00358122e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 442.46327356
Centerline is valid?  [True, True]
Translation: X:294.34, Y:5.95, Z:200.39
[[ 7.90978672e-01 -3.20091498e-01 -5.21434726e-01  2.94340188e+02]
 [ 2.42212344e-01  9.46427257e-01 -2.13561763e-01  5.95157563e+00]
 [ 5.61859342e-01  4.26248725e-02  8.26133887e-01  2.00391634e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 442.52327356
Centerline is valid?  [True, True]
Translation: X:294.38, Y:5.97, Z:200.42
[[ 7.92083863e-01 -3.17439444e-01 -5.21378320e-01  2.94383542e+02]
 [ 2.38949942e-01  9.47225154e-01 -2.13699398e-01  5.97485584e+00]
 [ 5.61699278e-01  4.46845251e-02  8.26133896e-01  2.00424959e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 442.58327356
Centerline is valid?  [True, True]
Translation: X:294.43, Y:6.00, Z:200.46
[[ 7.89474017e-01 -3.23897071e-01 -5.21365000e-01  2.94427065e+02]
 [ 2.46655749e-01  9.45240509e-01 -2.13731891e-01  5.99959966e+00]
 [ 5.62042452e-01  4.01381001e-02  8.26133897e-01  2.00458814e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 442.64327356
Centerline is valid?  [True, True]
Translation: X:294.47, Y:6.02, Z:200.49
[[ 7.90530909e-01 -3.21341575e-01 -5.21344871e-01  2.94472057e+02]
 [ 2.43564615e-01  9.46030639e-01 -2.13780982e-01  6.01930358e+00]
 [ 5.61904939e-01  4.20193113e-02  8.26133898e-01  2.00492286e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 442.70327356
Centerline is valid?  [True, True]
Translation: X:294.52, Y:6.04, Z:200.53
[[ 7.89618160e-01 -3.23640193e-01 -5.21306232e-01  2.94516153e+02]
 [ 2.46254164e-01  9.45312805e-01 -2.13875170e-01  6.04047047e+00]
 [ 5.62016057e-01  4.05058879e-02  8.26133902e-01  2.00525554e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 442.76327356
Centerline is valid?  [True, True]
Translation: X:294.56, Y:6.06, Z:200.56
[[ 7.88701249e-01 -3.25892755e-01 -5.21290948e-01  2.94560094e+02]
 [ 2.48926973e-01  9.44604065e-01 -2.13912417e-01  6.06174538e+00]
 [ 5.62126055e-01  3.89496130e-02  8.26133903e-01  2.00558774e+02]
 [ 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 : 0.991194 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 442.82327356
Centerline is valid?  [True, True]
Translation: X:294.61, Y:6.08, Z:200.59
[[ 7.88771867e-01 -3.25745033e-01 -5.21276429e-01  2.94605723e+02]
 [ 2.48726805e-01  9.44648780e-01 -2.13947794e-01  6.07996331e+00]
 [ 5.62115574e-01  3.91005803e-02  8.26133904e-01  2.00592269e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 442.88327355999996
Centerline is valid?  [True, True]
Translation: X:294.65, Y:6.10, Z:200.63
[[ 7.87099111e-01 -3.29788856e-01 -5.21262218e-01  2.94649437e+02]
 [ 2.53548813e-01  9.43358112e-01 -2.13982411e-01  6.10137182e+00]
 [ 5.62305956e-01  3.62599489e-02  8.26133904e-01  2.00625383e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 442.94327355999997
Centerline is valid?  [True, True]
Translation: X:294.69, Y:6.12, Z:200.66
[[ 7.88679704e-01 -3.26011433e-01 -5.21249335e-01  2.94693894e+02]
 [ 2.49002483e-01  9.44561200e-01 -2.14013790e-01  6.12171457e+00]
 [ 5.62122840e-01  3.89959536e-02  8.26133905e-01  2.00658690e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.00327355999997
Centerline is valid?  [True, True]
Translation: X:294.74, Y:6.14, Z:200.69
[[ 7.88190857e-01 -3.27220312e-01 -5.21231273e-01  2.94738093e+02]
 [ 2.50421531e-01  9.44176004e-01 -2.14057773e-01  6.14226541e+00]
 [ 5.62178112e-01  3.81908467e-02  8.26133906e-01  2.00691885e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.06327355999997
Centerline is valid?  [True, True]
Translation: X:294.78, Y:6.16, Z:200.72
[[ 7.89795730e-01 -3.23357893e-01 -5.21212411e-01  2.94781664e+02]
 [ 2.45766308e-01  9.45388032e-01 -2.14103692e-01  6.16258921e+00]
 [ 5.61980094e-01  4.10017315e-02  8.26133907e-01  2.00724624e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.12327356
Centerline is valid?  [True, True]
Translation: X:294.83, Y:6.18, Z:200.76
[[ 7.88297967e-01 -3.27022743e-01 -5.21193285e-01  2.94825885e+02]
 [ 2.50124058e-01  9.44233885e-01 -2.14150242e-01  6.18423247e+00]
 [ 5.62160360e-01  3.84512214e-02  8.26133908e-01  2.00758114e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.18327356
Centerline is valid?  [True, True]
Translation: X:294.87, Y:6.20, Z:200.79
[[ 7.88400092e-01 -3.26871440e-01 -5.21133722e-01  2.94870645e+02]
 [ 2.49847590e-01  9.44274212e-01 -2.14295109e-01  6.20328492e+00]
 [ 5.62140086e-01  3.87462791e-02  8.26133918e-01  2.00791236e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.24327356
Centerline is valid?  [True, True]
Translation: X:294.92, Y:6.22, Z:200.82
[[ 7.89795306e-01 -3.23591171e-01 -5.21068257e-01  2.94915426e+02]
 [ 2.45815696e-01  9.45295743e-01 -2.14454194e-01  6.22361726e+00]
 [ 5.61959089e-01  4.12881599e-02  8.26133930e-01  2.00824699e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.30327356
Centerline is valid?  [True, True]
Translation: X:294.96, Y:6.24, Z:200.86
[[ 7.90691851e-01 -3.21416015e-01 -5.21054835e-01  2.94959674e+02]
 [ 2.43191475e-01  9.45966870e-01 -2.14486800e-01  6.24474470e+00]
 [ 5.61840104e-01  4.28768710e-02  8.26133930e-01  2.00858080e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.36327356
Centerline is valid?  [True, True]
Translation: X:295.01, Y:6.26, Z:200.89
[[ 7.89759154e-01 -3.23765127e-01 -5.21014992e-01  2.95005114e+02]
 [ 2.45939097e-01  9.45234289e-01 -2.14583550e-01  6.26243347e+00]
 [ 5.61955905e-01  4.13313659e-02  8.26133935e-01  2.00891296e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.42327356
Centerline is valid?  [True, True]
Translation: X:295.05, Y:6.28, Z:200.92
[[ 7.89386403e-01 -3.24690662e-01 -5.21003916e-01  2.95049794e+02]
 [ 2.47029295e-01  9.44943854e-01 -2.14610439e-01  6.28120392e+00]
 [ 5.62001454e-01  4.07073328e-02  8.26133935e-01  2.00924340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.48327356
Centerline is valid?  [True, True]
Translation: X:295.09, Y:6.30, Z:200.96
[[ 7.89237852e-01 -3.25155808e-01 -5.20938877e-01  2.95094234e+02]
 [ 2.47482606e-01  9.44789380e-01 -2.14768218e-01  6.30092041e+00]
 [ 5.62010652e-01  4.05798959e-02  8.26133947e-01  2.00957429e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.54327356
Centerline is valid?  [True, True]
Translation: X:295.14, Y:6.32, Z:200.99
[[ 7.89604171e-01 -3.24370056e-01 -5.20873612e-01  2.95137932e+02]
 [ 2.46438353e-01  9.45026337e-01 -2.14926409e-01  6.32026412e+00]
 [ 5.61954973e-01  4.13435538e-02  8.26133959e-01  2.00989954e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.60327356
Centerline is valid?  [True, True]
Translation: X:295.18, Y:6.34, Z:201.02
[[ 7.91351022e-01 -3.20122034e-01 -5.20850692e-01  2.95182654e+02]
 [ 2.41319929e-01  9.46333692e-01 -2.14981942e-01  6.34065600e+00]
 [ 5.61719015e-01  4.44345276e-02  8.26133961e-01  2.01023436e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.66327356
Centerline is valid?  [True, True]
Translation: X:295.23, Y:6.36, Z:201.06
[[ 7.92153316e-01 -3.18157433e-01 -5.20834880e-01  2.95226963e+02]
 [ 2.38946017e-01  9.46927186e-01 -2.15020244e-01  6.36076151e+00]
 [ 5.61602996e-01  4.58775793e-02  8.26133962e-01  2.01056589e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.72327356
Centerline is valid?  [True, True]
Translation: X:295.27, Y:6.39, Z:201.09
[[ 7.95105724e-01 -3.10815775e-01 -5.20769088e-01  2.95269131e+02]
 [ 2.30072663e-01  9.49086063e-01 -2.15179494e-01  6.38669015e+00]
 [ 5.61135864e-01  5.12757163e-02  8.26133974e-01  2.01089866e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.78327356
Centerline is valid?  [True, True]
Translation: X:295.31, Y:6.41, Z:201.12
[[ 7.96009318e-01 -3.08515719e-01 -5.20756388e-01  2.95314086e+02]
 [ 2.27307871e-01  9.49745066e-01 -2.15210224e-01  6.40698439e+00]
 [ 5.60981548e-01  5.29373174e-02  8.26133974e-01  2.01123479e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.84327356
Centerline is valid?  [True, True]
Translation: X:295.36, Y:6.43, Z:201.16
[[ 7.96324334e-01 -3.07767089e-01 -5.20717749e-01  2.95358670e+02]
 [ 2.26354249e-01  9.49951619e-01 -2.15303682e-01  6.42634831e+00]
 [ 5.60920056e-01  5.35848861e-02  8.26133979e-01  2.01156594e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.90327356
Centerline is valid?  [True, True]
Translation: X:295.40, Y:6.45, Z:201.19
[[ 7.95981074e-01 -3.08677737e-01 -5.20703548e-01  2.95402432e+02]
 [ 2.27418439e-01  9.49689628e-01 -2.15338022e-01  6.44613045e+00]
 [ 5.60976812e-01  5.29874024e-02  8.26133979e-01  2.01189321e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 443.96327356
Centerline is valid?  [True, True]
Translation: X:295.45, Y:6.46, Z:201.22
[[ 7.95600622e-01 -3.09688990e-01 -5.20684530e-01  2.95446663e+02]
 [ 2.28595298e-01  9.49396610e-01 -2.15383998e-01  6.46490057e+00]
 [ 5.61038181e-01  5.23336075e-02  8.26133980e-01  2.01222076e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.982912 with order 1
Centerline goodness : 0.982996 with order 1
Centerline goodness : 0.977841 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.982479 with order 1
Centerline goodness : 0.972933 with order 1
Centerline goodness : 0.979830 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.965479 with order 1
Centerline goodness : 0.979948 with order 1
Centerline goodness : 0.978562 with order 1
Centerline goodness : 0.981317 with order 1
Centerline goodness : 0.965041 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.994890 with order 1
Centerline goodness : 0.982431 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.982347 with order 1
Centerline goodness : 0.980583 with order 1
SLAMing on frame at distance 444.02327356
Centerline is valid?  [True, True]
Translation: X:295.49, Y:6.49, Z:201.26
[[ 7.95583240e-01 -3.09771367e-01 -5.20662086e-01  2.95491478e+02]
 [ 2.28658458e-01  9.49369092e-01 -2.15438243e-01  6.48560805e+00]
 [ 5.61037091e-01  5.23452652e-02  8.26133982e-01  2.01255701e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 444.08327356
Centerline is valid?  [True, True]
Translation: X:295.54, Y:6.51, Z:201.29
[[ 7.96410353e-01 -3.07730560e-01 -5.20607771e-01  2.95535840e+02]
 [ 2.26138783e-01  9.49942667e-01 -2.15569431e-01  6.50670919e+00]
 [ 5.60884836e-01  5.39521185e-02  8.26133990e-01  2.01289118e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 444.14327356
Centerline is valid?  [True, True]
Translation: X:295.58, Y:6.52, Z:201.32
[[ 7.95421422e-01 -3.10299146e-01 -5.20595046e-01  2.95582438e+02]
 [ 2.29183367e-01  9.49205750e-01 -2.15600157e-01  6.52216037e+00]
 [ 5.61052356e-01  5.21812581e-02  8.26133990e-01  2.01322503e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 444.20327356
Centerline is valid?  [True, True]
Translation: X:295.63, Y:6.55, Z:201.36
[[ 7.96471409e-01 -3.07618236e-01 -5.20580748e-01  2.95625447e+02]
 [ 2.25962621e-01  9.49969779e-01 -2.15634676e-01  6.54632854e+00]
 [ 5.60869137e-01  5.41150634e-02  8.26133991e-01  2.01355901e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 444.26327356
Centerline is valid?  [True, True]
Translation: X:295.67, Y:6.56, Z:201.39
[[ 7.95164875e-01 -3.11010298e-01 -5.20562596e-01  2.95673923e+02]
 [ 2.29981290e-01  9.48994939e-01 -2.15678491e-01  6.55867490e+00]
 [ 5.61089501e-01  5.17803030e-02  8.26133992e-01  2.01389655e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 444.32327356
Centerline is valid?  [True, True]
Translation: X:295.72, Y:6.58, Z:201.42
[[ 7.95147996e-01 -3.11070467e-01 -5.20552428e-01  2.95719541e+02]
 [ 2.30037193e-01  9.48975813e-01 -2.15703030e-01  6.57638644e+00]
 [ 5.61090505e-01  5.17694122e-02  8.26133992e-01  2.01423015e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 444.38327355999996
Centerline is valid?  [True, True]
Translation: X:295.77, Y:6.59, Z:201.46
[[ 7.94136036e-01 -3.13670257e-01 -5.20537151e-01  2.95765527e+02]
 [ 2.33116751e-01  9.48215630e-01 -2.15739890e-01  6.59308749e+00]
 [ 5.61252649e-01  4.99808921e-02  8.26133993e-01  2.01456339e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 444.44327355999997
Centerline is valid?  [True, True]
Translation: X:295.81, Y:6.61, Z:201.49
[[ 7.94412971e-01 -3.13062341e-01 -5.20480549e-01  2.95812957e+02]
 [ 2.32302342e-01  9.48384422e-01 -2.15876375e-01  6.60709260e+00]
 [ 5.61198408e-01  5.05861423e-02  8.26134002e-01  2.01489832e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 444.50327355999997
Centerline is valid?  [True, True]
Translation: X:295.86, Y:6.62, Z:201.52
[[ 7.95499033e-01 -3.10322413e-01 -5.20462571e-01  2.95859464e+02]
 [ 2.29004142e-01  9.49176370e-01 -2.15919710e-01  6.62452745e+00]
 [ 5.61015500e-01  5.25758363e-02  8.26134003e-01  2.01523672e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 444.56327355999997
Centerline is valid?  [True, True]
Translation: X:295.91, Y:6.64, Z:201.56
[[ 7.98174506e-01 -3.03462977e-01 -5.20411067e-01  2.95905683e+02]
 [ 2.20744894e-01  9.51102925e-01 -2.16043788e-01  6.64184175e+00]
 [ 5.60525779e-01  5.75625583e-02  8.26134010e-01  2.01557270e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 444.62327356
Centerline is valid?  [True, True]
Translation: X:295.95, Y:6.66, Z:201.59
[[ 7.98451552e-01 -3.02754452e-01 -5.20398752e-01  2.95950246e+02]
 [ 2.19881581e-01  9.51296145e-01 -2.16073449e-01  6.66068190e+00]
 [ 5.60470525e-01  5.80980809e-02  8.26134011e-01  2.01590258e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 444.68327356
Centerline is valid?  [True, True]
Translation: X:296.00, Y:6.68, Z:201.62
[[ 7.98741557e-01 -3.02016289e-01 -5.20382634e-01  2.95996451e+02]
 [ 2.18977209e-01  9.51495913e-01 -2.16112260e-01  6.67623806e+00]
 [ 5.60411373e-01  5.86659066e-02  8.26134011e-01  2.01623418e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 444.74327356
Centerline is valid?  [True, True]
Translation: X:296.04, Y:6.69, Z:201.66
[[ 7.99192957e-01 -3.00933034e-01 -5.20317141e-01  2.96043694e+02]
 [ 2.17585653e-01  9.51779300e-01 -2.16269851e-01  6.69134306e+00]
 [ 5.60309826e-01  5.96277967e-02  8.26134023e-01  2.01657068e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 444.80327356
Centerline is valid?  [True, True]
Translation: X:296.09, Y:6.71, Z:201.69
[[ 8.00314920e-01 -2.98024311e-01 -5.20266796e-01  2.96089760e+02]
 [ 2.14044920e-01  9.52554328e-01 -2.16390908e-01  6.70782764e+00]
 [ 5.60072139e-01  6.18204075e-02  8.26134031e-01  2.01690351e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 444.86327356
Centerline is valid?  [True, True]
Translation: X:296.13, Y:6.73, Z:201.72
[[ 8.00164510e-01 -2.98448101e-01 -5.20255214e-01  2.96133774e+02]
 [ 2.14531496e-01  9.52438535e-01 -2.16418749e-01  6.72791527e+00]
 [ 5.60100879e-01  6.15594724e-02  8.26134031e-01  2.01723320e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 444.92327356
Centerline is valid?  [True, True]
Translation: X:296.18, Y:6.75, Z:201.76
[[ 8.09338933e-01 -2.72626871e-01 -5.20235601e-01  2.96178634e+02]
 [ 1.83839221e-01  9.58825146e-01 -2.16465887e-01  6.74592933e+00]
 [ 5.57829394e-01  7.95545623e-02  8.26134032e-01  2.01756272e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 444.98327356
Centerline is valid?  [True, True]
Translation: X:296.22, Y:6.77, Z:201.79
[[ 8.00416994e-01 -2.97833854e-01 -5.20218830e-01  2.96223765e+02]
 [ 2.13744373e-01  9.52595619e-01 -2.16506188e-01  6.76542099e+00]
 [ 5.60041050e-01  6.21013842e-02  8.26134033e-01  2.01789784e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 445.04327356
Centerline is valid?  [True, True]
Translation: X:296.27, Y:6.78, Z:201.82
[[ 7.98963034e-01 -3.01738036e-01 -5.20204026e-01  2.96269076e+02]
 [ 2.18369657e-01  9.51537893e-01 -2.16541753e-01  6.78420360e+00]
 [ 5.60332726e-01  5.94120811e-02  8.26134033e-01  2.01823225e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 445.10327356
Centerline is valid?  [True, True]
Translation: X:296.31, Y:6.80, Z:201.86
[[ 7.98910611e-01 -3.01895432e-01 -5.20193217e-01  2.96314139e+02]
 [ 2.18540428e-01  9.51492778e-01 -2.16567715e-01  6.79986737e+00]
 [ 5.60340893e-01  5.93349971e-02  8.26134034e-01  2.01855696e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 445.16327356
Centerline is valid?  [True, True]
Translation: X:296.36, Y:6.82, Z:201.89
[[ 8.07751946e-01 -2.77418286e-01 -5.20169095e-01  2.96357537e+02]
 [ 1.89417392e-01  9.57702659e-01 -2.16625641e-01  6.82286133e+00]
 [ 5.58263240e-01  7.64507097e-02  8.26134035e-01  2.01889029e+02]
 [ 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 : 0.992475 with order 1
Centerline goodness : 0.996348 with order 1
Centerline goodness : 0.969434 with order 1
Centerline goodness : 0.992737 with order 1
Centerline goodness : 0.969834 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.993651 with order 1
Centerline goodness : 0.959794 with order 1
Centerline goodness : 0.999320 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.970521 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.963041 with order 1
Centerline goodness : 0.955546 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.960583 with order 1
Centerline goodness : 0.964580 with order 1
SLAMing on frame at distance 445.22327356
Centerline is valid?  [True, True]
Translation: X:296.40, Y:6.84, Z:201.92
[[ 7.97819657e-01 -3.04836228e-01 -5.20152544e-01  2.96404283e+02]
 [ 2.21980935e-01  9.50673750e-01 -2.16665376e-01  6.83909190e+00]
 [ 5.60542826e-01  5.73959483e-02  8.26134036e-01  2.01922703e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 445.28327356
Centerline is valid?  [True, True]
Translation: X:296.45, Y:6.86, Z:201.96
[[ 7.96389392e-01 -3.08577880e-01 -5.20138085e-01  2.96448737e+02]
 [ 2.26418590e-01  9.49618711e-01 -2.16700082e-01  6.85918591e+00]
 [ 5.60801710e-01  5.48087150e-02  8.26134037e-01  2.01955949e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 445.34327356
Centerline is valid?  [True, True]
Translation: X:296.49, Y:6.88, Z:201.99
[[ 8.04482118e-01 -2.86844735e-01 -5.20123658e-01  2.96493680e+02]
 [ 2.00534058e-01  9.55412036e-01 -2.16734706e-01  6.87843309e+00]
 [ 5.59101612e-01  7.00566875e-02  8.26134037e-01  2.01989281e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 445.40327356
Centerline is valid?  [True, True]
Translation: X:296.54, Y:6.90, Z:202.02
[[ 7.94611797e-01 -3.13179682e-01 -5.20106315e-01  2.96536198e+02]
 [ 2.31858758e-01  9.48287690e-01 -2.16776319e-01  6.90341135e+00]
 [ 5.61100355e-01  5.16618160e-02  8.26134038e-01  2.02022588e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 445.46327356
Centerline is valid?  [True, True]
Translation: X:296.58, Y:6.92, Z:202.06
[[ 7.91540666e-01 -3.20887557e-01 -5.20090905e-01  2.96584214e+02]
 [ 2.41039921e-01  9.45987186e-01 -2.16813285e-01  6.91736080e+00]
 [ 5.61572017e-01  4.62538611e-02  8.26134039e-01  2.02056463e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 445.52327356
Centerline is valid?  [True, True]
Translation: X:296.63, Y:6.94, Z:202.09
[[ 7.88413115e-01 -3.28526556e-01 -5.20072169e-01  2.96628485e+02]
 [ 2.50146655e-01  9.43609646e-01 -2.16858219e-01  6.93848137e+00]
 [ 5.61988800e-01  4.08795504e-02  8.26134040e-01  2.02089860e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 445.58327356
Centerline is valid?  [True, True]
Translation: X:296.67, Y:6.96, Z:202.12
[[ 7.87766167e-01 -3.30165178e-01 -5.20014829e-01  2.96673192e+02]
 [ 2.52017949e-01  9.43079977e-01 -2.16995648e-01  6.96004035e+00]
 [ 5.62059979e-01  3.98887591e-02  8.26134049e-01  2.02123612e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 445.64327356
Centerline is valid?  [True, True]
Translation: X:296.72, Y:6.98, Z:202.16
[[ 7.89174745e-01 -3.26873944e-01 -5.19958312e-01  2.96717603e+02]
 [ 2.47990477e-01  9.44115910e-01 -2.17131003e-01  6.98244647e+00]
 [ 5.61875382e-01  4.24095937e-02  8.26134058e-01  2.02157403e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 445.70327356
Centerline is valid?  [True, True]
Translation: X:296.76, Y:7.01, Z:202.19
[[ 7.86737005e-01 -3.32774012e-01 -5.19909936e-01  2.96761344e+02]
 [ 2.54976831e-01  9.42226432e-01 -2.17246786e-01  7.00613214e+00]
 [ 5.62166969e-01  3.83510975e-02  8.26134064e-01  2.02191117e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 445.76327356
Centerline is valid?  [True, True]
Translation: X:296.80, Y:7.03, Z:202.22
[[ 7.85239040e-01 -3.36322805e-01 -5.19890970e-01  2.96804946e+02]
 [ 2.59198561e-01  9.41063346e-01 -2.17292166e-01  7.02954868e+00]
 [ 5.62330647e-01  3.58713002e-02  8.26134065e-01  2.02224699e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 445.82327356
Centerline is valid?  [True, True]
Translation: X:296.85, Y:7.06, Z:202.26
[[ 7.84260753e-01 -3.38682692e-01 -5.19835652e-01  2.96845732e+02]
 [ 2.61940099e-01  9.40273363e-01 -2.17424439e-01  7.05765047e+00]
 [ 5.62425512e-01  3.43516525e-02  8.26134074e-01  2.02257712e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 445.88327355999996
Centerline is valid?  [True, True]
Translation: X:296.89, Y:7.08, Z:202.29
[[ 7.82479432e-01 -3.42800834e-01 -5.19820667e-01  2.96889717e+02]
 [ 2.66855741e-01  9.38881808e-01 -2.17460261e-01  7.08000242e+00]
 [ 5.62595726e-01  3.14410521e-02  8.26134074e-01  2.02291260e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 445.94327355999997
Centerline is valid?  [True, True]
Translation: X:296.93, Y:7.11, Z:202.32
[[ 7.77749551e-01 -3.53483806e-01 -5.19764211e-01  2.96931647e+02]
 [ 2.79597626e-01  9.35135031e-01 -2.17595131e-01  7.10545493e+00]
 [ 5.62966077e-01  2.39096760e-02  8.26134083e-01  2.02324299e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 446.00327355999997
Centerline is valid?  [True, True]
Translation: X:296.98, Y:7.13, Z:202.36
[[ 7.75676469e-01 -3.58031031e-01 -5.19749743e-01  2.96975759e+02]
 [ 2.85044403e-01  9.33481124e-01 -2.17629686e-01  7.12748077e+00]
 [ 5.63094755e-01  2.06584711e-02  8.26134084e-01  2.02357842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 446.06327355999997
Centerline is valid?  [True, True]
Translation: X:297.02, Y:7.15, Z:202.39
[[ 7.73132403e-01 -3.63520653e-01 -5.19729759e-01  2.97017977e+02]
 [ 2.91622460e-01  9.31435929e-01 -2.17677402e-01  7.15231566e+00]
 [ 5.63225202e-01  1.67285821e-02  8.26134085e-01  2.02390931e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 446.12327356
Centerline is valid?  [True, True]
Translation: X:297.06, Y:7.18, Z:202.42
[[ 7.71524351e-01 -3.66942969e-01 -5.19714377e-01  2.97061133e+02]
 [ 2.95722236e-01  9.30133819e-01 -2.17714121e-01  7.17738349e+00]
 [ 5.63292585e-01  1.42806485e-02  8.26134086e-01  2.02424675e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 446.18327356
Centerline is valid?  [True, True]
Translation: X:297.10, Y:7.20, Z:202.46
[[ 7.69991700e-01 -3.70224209e-01 -5.19660289e-01  2.97102024e+02]
 [ 2.99592312e-01  9.28864255e-01 -2.17843162e-01  7.20280211e+00]
 [ 5.63344679e-01  1.20511993e-02  8.26134094e-01  2.02457060e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 446.24327356
Centerline is valid?  [True, True]
Translation: X:297.15, Y:7.23, Z:202.49
[[ 7.68455197e-01 -3.73435987e-01 -5.19636579e-01  2.97145207e+02]
 [ 3.03429834e-01  9.27604470e-01 -2.17899708e-01  7.22642566e+00]
 [ 5.63388806e-01  9.77292204e-03  8.26134095e-01  2.02490436e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 446.30327356
Centerline is valid?  [True, True]
Translation: X:297.19, Y:7.25, Z:202.52
[[ 7.65234223e-01 -3.80013040e-01 -5.19621664e-01  2.97186892e+02]
 [ 3.11350285e-01  9.24967685e-01 -2.17935270e-01  7.25226967e+00]
 [ 5.63451492e-01  4.98717353e-03  8.26134096e-01  2.02523462e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 446.36327356
Centerline is valid?  [True, True]
Translation: X:297.23, Y:7.28, Z:202.56
[[ 7.62056626e-01 -3.86438518e-01 -5.19552664e-01  2.97227960e+02]
 [ 3.19010154e-01  9.22315054e-01 -2.18099663e-01  7.27882696e+00]
 [ 5.63473354e-01  4.61717988e-04  8.26134109e-01  2.02556255e+02]
 [ 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 : 0.999255 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.985601 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.998351 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.975155 with order 1
SLAMing on frame at distance 446.42327356
Centerline is valid?  [True, True]
Translation: X:297.27, Y:7.31, Z:202.59
[[ 7.71306434e-01 -3.67663603e-01 -5.19528497e-01  2.97268053e+02]
 [ 2.96292766e-01  9.29848388e-01 -2.18157219e-01  7.30984962e+00]
 [ 5.63291205e-01  1.43335313e-02  8.26134111e-01  2.02589646e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 446.48327356
Centerline is valid?  [True, True]
Translation: X:297.31, Y:7.34, Z:202.62
[[ 7.56611016e-01 -3.97042573e-01 -5.19516087e-01  2.97310452e+02]
 [ 3.31798911e-01  9.17771222e-01 -2.18186768e-01  7.33534700e+00]
 [ 5.63426350e-01 -7.29235958e-03  8.26134111e-01  2.02623035e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 446.54327356
Centerline is valid?  [True, True]
Translation: X:297.36, Y:7.35, Z:202.66
[[ 7.53706710e-01 -4.02541668e-01 -5.19505919e-01  2.97355728e+02]
 [ 3.38456623e-01  9.15331134e-01 -2.18210976e-01  7.35454943e+00]
 [ 5.63358952e-01 -1.13631427e-02  8.26134111e-01  2.02656573e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 446.60327356
Centerline is valid?  [True, True]
Translation: X:297.40, Y:7.38, Z:202.69
[[ 7.52603450e-01 -4.04623512e-01 -5.19488075e-01  2.97398506e+02]
 [ 3.40956170e-01  9.14392871e-01 -2.18253450e-01  7.37790603e+00]
 [ 5.63326670e-01 -1.28643645e-02  8.26134112e-01  2.02689633e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 446.66327356
Centerline is valid?  [True, True]
Translation: X:297.44, Y:7.40, Z:202.72
[[ 7.55228250e-01 -3.99721223e-01 -5.19473998e-01  2.97442313e+02]
 [ 3.34980169e-01  9.16591017e-01 -2.18286952e-01  7.39843137e+00]
 [ 5.63399128e-01 -9.15701439e-03  8.26134113e-01  2.02722594e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 446.72327356
Centerline is valid?  [True, True]
Translation: X:297.48, Y:7.43, Z:202.76
[[ 7.57125341e-01 -3.96138403e-01 -5.19457008e-01  2.97483255e+02]
 [ 3.30605795e-01  9.18168266e-01 -2.18327376e-01  7.42689248e+00]
 [ 5.63436799e-01 -6.43430866e-03  8.26134113e-01  2.02755850e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 446.78327356
Centerline is valid?  [True, True]
Translation: X:297.52, Y:7.47, Z:202.79
[[ 7.58925603e-01 -3.92698293e-01 -5.19441989e-01  2.97515640e+02]
 [ 3.26411051e-01  9.19659383e-01 -2.18363105e-01  7.47447289e+00]
 [ 5.63460517e-01 -3.83025488e-03  8.26134114e-01  2.02788781e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 446.84327356
Centerline is valid?  [True, True]
Translation: X:297.56, Y:7.50, Z:202.82
[[ 7.73335008e-01 -3.63524156e-01 -5.19425791e-01  2.97557164e+02]
 [ 2.91140567e-01  9.31417145e-01 -2.18401629e-01  7.50206113e+00]
 [ 5.63196356e-01  1.76717067e-02  8.26134115e-01  2.02822175e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 446.90327356
Centerline is valid?  [True, True]
Translation: X:297.60, Y:7.53, Z:202.86
[[ 7.63954598e-01 -3.82859435e-01 -5.19415080e-01  2.97599300e+02]
 [ 3.14457375e-01  9.23799849e-01 -2.18427102e-01  7.52823274e+00]
 [ 5.63462449e-01  3.53448662e-03  8.26134115e-01  2.02855583e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 446.96327356
Centerline is valid?  [True, True]
Translation: X:297.64, Y:7.56, Z:202.89
[[ 7.66306498e-01 -3.78147595e-01 -5.19402298e-01  2.97641646e+02]
 [ 3.08741879e-01  9.25718519e-01 -2.18457492e-01  7.55511602e+00]
 [ 5.63429501e-01  7.04415382e-03  8.26134116e-01  2.02889311e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 447.02327356
Centerline is valid?  [True, True]
Translation: X:297.69, Y:7.57, Z:202.92
[[ 7.78455028e-01 -3.52471578e-01 -5.19395376e-01  2.97685751e+02]
 [ 2.77795411e-01  9.35467179e-01 -2.18473949e-01  7.57443036e+00]
 [ 5.62883185e-01  2.57864922e-02  8.26134116e-01  2.02922145e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 447.08327356
Centerline is valid?  [True, True]
Translation: X:297.73, Y:7.60, Z:202.96
[[ 7.68330212e-01 -3.74050615e-01 -5.19379266e-01  2.97727784e+02]
 [ 3.03757734e-01  9.27353029e-01 -2.18512240e-01  7.60289363e+00]
 [ 5.63382574e-01  1.01240872e-02  8.26134116e-01  2.02956094e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 447.14327356
Centerline is valid?  [True, True]
Translation: X:297.77, Y:7.62, Z:202.99
[[ 7.69383467e-01 -3.71898786e-01 -5.19365357e-01  2.97771919e+02]
 [ 3.01138811e-01  9.28198993e-01 -2.18545297e-01  7.62421571e+00]
 [ 5.63351132e-01  1.17440723e-02  8.26134117e-01  2.02989477e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 447.20327356
Centerline is valid?  [True, True]
Translation: X:297.82, Y:7.65, Z:203.02
[[ 7.70318089e-01 -3.69977601e-01 -5.19352112e-01  2.97816729e+02]
 [ 2.98800311e-01  9.28947022e-01 -2.18576769e-01  7.64511212e+00]
 [ 5.63319107e-01  1.31910664e-02  8.26134117e-01  2.03023171e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 447.26327356
Centerline is valid?  [True, True]
Translation: X:297.86, Y:7.66, Z:203.06
[[ 7.71460175e-01 -3.67601415e-01 -5.19344199e-01  2.97862069e+02]
 [ 2.95922860e-01  9.29863237e-01 -2.18595568e-01  7.66321456e+00]
 [ 5.63275118e-01  1.49519545e-02  8.26134118e-01  2.03056462e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 447.32327356
Centerline is valid?  [True, True]
Translation: X:297.91, Y:7.68, Z:203.09
[[ 7.73180229e-01 -3.64065640e-01 -5.19276943e-01  2.97908086e+02]
 [ 2.91555506e-01  9.31204345e-01 -2.18755241e-01  7.67941749e+00]
 [ 5.63194212e-01  1.77391758e-02  8.26134130e-01  2.03089657e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 447.38327355999996
Centerline is valid?  [True, True]
Translation: X:297.95, Y:7.70, Z:203.12
[[ 7.75386635e-01 -3.59361116e-01 -5.19264051e-01  2.97953795e+02]
 [ 2.85871716e-01  9.32957726e-01 -2.18785839e-01  7.69515251e+00]
 [ 5.63074532e-01  2.12007100e-02  8.26134130e-01  2.03122550e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 447.44327355999997
Centerline is valid?  [True, True]
Translation: X:298.00, Y:7.71, Z:203.16
[[ 7.87975507e-01 -3.30883911e-01 -5.19240251e-01  2.98000159e+02]
 [ 2.51667708e-01  9.42746735e-01 -2.18842312e-01  7.71144637e+00]
 [ 5.61923452e-01  4.17663775e-02  8.26134132e-01  2.03156000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 447.50327355999997
Centerline is valid?  [True, True]
Translation: X:298.05, Y:7.73, Z:203.19
[[ 7.90665515e-01 -3.24428376e-01 -5.19224684e-01  2.98047390e+02]
 [ 2.43924965e-01  9.44771131e-01 -2.18879241e-01  7.72645094e+00]
 [ 5.61559128e-01  4.64084052e-02  8.26134133e-01  2.03189655e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 447.56327355999997
Centerline is valid?  [True, True]
Translation: X:298.10, Y:7.74, Z:203.22
[[ 7.84338162e-01 -3.39450893e-01 -5.19217430e-01  2.98095228e+02]
 [ 2.61890278e-01  9.39945651e-01 -2.18896449e-01  7.73850668e+00]
 [ 5.62340760e-01  3.57108412e-02  8.26134133e-01  2.03222912e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.985078 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.998776 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.960327 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.975245 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.989439 with order 1
Centerline goodness : 0.980417 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.971588 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.951171 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 447.62327356
Centerline is valid?  [True, True]
Translation: X:298.14, Y:7.75, Z:203.26
[[ 7.84488908e-01 -3.39122437e-01 -5.19204320e-01  2.98143536e+02]
 [ 2.61476191e-01  9.40053686e-01 -2.18927541e-01  7.74907835e+00]
 [ 5.62323176e-01  3.59866601e-02  8.26134133e-01  2.03256070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 447.68327356
Centerline is valid?  [True, True]
Translation: X:298.19, Y:7.76, Z:203.29
[[ 7.82602197e-01 -3.43557324e-01 -5.19135981e-01  2.98193448e+02]
 [ 2.66685834e-01  9.38551256e-01 -2.19089492e-01  7.75686278e+00]
 [ 5.62505527e-01  3.30137061e-02  8.26134146e-01  2.03289472e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 447.74327356
Centerline is valid?  [True, True]
Translation: X:298.24, Y:7.76, Z:203.32
[[ 7.80705935e-01 -3.47860686e-01 -5.19125404e-01  2.98243973e+02]
 [ 2.71832321e-01  9.37067768e-01 -2.19114552e-01  7.76477868e+00]
 [ 5.62677022e-01  2.99489674e-02  8.26134146e-01  2.03323316e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 447.80327356
Centerline is valid?  [True, True]
Translation: X:298.29, Y:7.77, Z:203.36
[[ 7.79225258e-01 -3.51239695e-01 -5.19074826e-01  2.98292998e+02]
 [ 2.75809893e-01  9.35876710e-01 -2.19234317e-01  7.77411526e+00]
 [ 5.62793835e-01  2.76669454e-02  8.26134153e-01  2.03356573e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 447.86327356
Centerline is valid?  [True, True]
Translation: X:298.34, Y:7.79, Z:203.39
[[ 7.78879263e-01 -3.52025478e-01 -5.19061804e-01  2.98340281e+02]
 [ 2.76733232e-01  9.35596876e-01 -2.19265145e-01  7.78596786e+00]
 [ 5.62819520e-01  2.71394240e-02  8.26134154e-01  2.03389421e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 447.92327356
Centerline is valid?  [True, True]
Translation: X:298.39, Y:7.80, Z:203.42
[[ 7.77240209e-01 -3.55664875e-01 -5.19037720e-01  2.98389305e+02]
 [ 2.81068528e-01  9.34290255e-01 -2.19322144e-01  7.79648602e+00]
 [ 5.62937066e-01  2.45808209e-02  8.26134155e-01  2.03423000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 447.98327356
Centerline is valid?  [True, True]
Translation: X:298.44, Y:7.81, Z:203.46
[[ 7.73300256e-01 -3.64165558e-01 -5.19028093e-01  2.98438223e+02]
 [ 2.91280401e-01  9.31151723e-01 -2.19344924e-01  7.80812474e+00]
 [ 5.63171770e-01  1.84367751e-02  8.26134156e-01  2.03456819e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 448.04327356
Centerline is valid?  [True, True]
Translation: X:298.49, Y:7.82, Z:203.49
[[ 7.68694889e-01 -3.73861804e-01 -5.18975451e-01  2.98486765e+02]
 [ 3.02883540e-01  9.27412926e-01 -2.19469419e-01  7.82075479e+00]
 [ 5.63355774e-01  1.15158990e-02  8.26134163e-01  2.03490637e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 448.10327356
Centerline is valid?  [True, True]
Translation: X:298.53, Y:7.83, Z:203.52
[[ 7.62646711e-01 -3.86075800e-01 -5.18956136e-01  2.98534208e+02]
 [ 3.17607227e-01  9.22463429e-01 -2.19515083e-01  7.83461809e+00]
 [ 5.63467518e-01  2.58823691e-03  8.26134164e-01  2.03524112e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 448.16327356
Centerline is valid?  [True, True]
Translation: X:298.58, Y:7.85, Z:203.56
[[ 7.56304878e-01 -3.98431410e-01 -5.18898201e-01  2.98580817e+02]
 [ 3.32477881e-01  9.17175814e-01 -2.19651963e-01  7.85073425e+00]
 [ 5.63437121e-01 -6.39832308e-03  8.26134173e-01  2.03557637e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 448.22327356
Centerline is valid?  [True, True]
Translation: X:298.63, Y:7.86, Z:203.59
[[ 7.50103735e-01 -4.10063821e-01 -5.18837209e-01  2.98630551e+02]
 [ 3.46503032e-01  9.11934969e-01 -2.19795955e-01  7.86059495e+00]
 [ 5.63276163e-01 -1.49088994e-02  8.26134183e-01  2.03591457e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 448.28327356
Centerline is valid?  [True, True]
Translation: X:298.67, Y:7.89, Z:203.63
[[ 7.68001355e-01 -3.75530168e-01 -5.18797660e-01  2.98671739e+02]
 [ 3.04613162e-01  9.26746745e-01 -2.19889272e-01  7.89080555e+00]
 [ 5.63369098e-01  1.08426634e-02  8.26134188e-01  2.03625337e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 448.34327356
Centerline is valid?  [True, True]
Translation: X:298.71, Y:7.92, Z:203.66
[[ 7.61959160e-01 -3.87672824e-01 -5.18775501e-01  2.98709968e+02]
 [ 3.19248821e-01  9.21794939e-01 -2.19941541e-01  7.92304976e+00]
 [ 5.63469989e-01  1.96800473e-03  8.26134189e-01  2.03657914e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 448.40327356
Centerline is valid?  [True, True]
Translation: X:298.76, Y:7.94, Z:203.69
[[ 7.47236625e-01 -4.15373028e-01 -5.18751072e-01  2.98756457e+02]
 [ 3.52820602e-01  9.09460278e-01 -2.19999147e-01  7.93980352e+00]
 [ 5.63165206e-01 -1.86346455e-02  8.26134191e-01  2.03691553e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 448.46327356
Centerline is valid?  [True, True]
Translation: X:298.79, Y:7.98, Z:203.72
[[ 7.44688822e-01 -4.19943716e-01 -5.18734840e-01  2.98793935e+02]
 [ 3.58359837e-01  9.07282626e-01 -2.20037413e-01  7.97660520e+00]
 [ 5.63042437e-01 -2.20343308e-02  8.26134191e-01  2.03724878e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 448.52327356
Centerline is valid?  [True, True]
Translation: X:298.84, Y:8.00, Z:203.76
[[ 7.44141994e-01 -4.20996589e-01 -5.18666140e-01  2.98835837e+02]
 [ 3.59530146e-01  9.06780217e-01 -2.20199256e-01  8.00036377e+00]
 [ 5.63019330e-01 -2.26165999e-02  8.26134204e-01  2.03757482e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 448.58327356
Centerline is valid?  [True, True]
Translation: X:298.88, Y:8.03, Z:203.79
[[ 7.46315058e-01 -4.17176768e-01 -5.18630291e-01  2.98875633e+02]
 [ 3.54818913e-01  9.08613585e-01 -2.20283664e-01  8.03103916e+00]
 [ 5.63131755e-01 -1.96188202e-02  8.26134208e-01  2.03790626e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 448.64327356
Centerline is valid?  [True, True]
Translation: X:298.91, Y:8.07, Z:203.82
[[ 7.47123724e-01 -4.15749158e-01 -5.18612358e-01  2.98914325e+02]
 [ 3.53051862e-01  9.09291423e-01 -2.20325876e-01  8.06586487e+00]
 [ 5.63170066e-01 -1.84863696e-02  8.26134208e-01  2.03824195e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 448.70327356
Centerline is valid?  [True, True]
Translation: X:298.95, Y:8.11, Z:203.86
[[ 7.65500743e-01 -3.80870743e-01 -5.18600125e-01  2.98949619e+02]
 [ 3.10745920e-01  9.24597639e-01 -2.20354666e-01  8.10674079e+00]
 [ 5.63423097e-01  7.52878749e-03  8.26134209e-01  2.03857248e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 448.76327356
Centerline is valid?  [True, True]
Translation: X:298.99, Y:8.13, Z:203.89
[[ 7.49090631e-01 -4.12228503e-01 -5.18585469e-01  2.98992025e+02]
 [ 3.48724952e-01  9.10944306e-01 -2.20389155e-01  8.13364977e+00]
 [ 5.63253171e-01 -1.57522412e-02  8.26134209e-01  2.03891041e+02]
 [ 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 448.82327356
Centerline is valid?  [True, True]
Translation: X:299.03, Y:8.17, Z:203.92
[[ 7.57201999e-01 -3.97144872e-01 -5.18576016e-01  2.99028667e+02]
 [ 3.30397612e-01  9.17745190e-01 -2.20411397e-01  8.17170862e+00]
 [ 5.63455900e-01 -4.44032729e-03  8.26134210e-01  2.03924193e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 448.88327355999996
Centerline is valid?  [True, True]
Translation: X:299.07, Y:8.20, Z:203.96
[[ 7.57396831e-01 -3.96789766e-01 -5.18563326e-01  2.99070326e+02]
 [ 3.29946794e-01  9.17900195e-01 -2.20441249e-01  8.19973907e+00]
 [ 5.63458209e-01 -4.13680355e-03  8.26134210e-01  2.03957819e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 448.94327355999997
Centerline is valid?  [True, True]
Translation: X:299.11, Y:8.23, Z:203.99
[[ 7.57348380e-01 -3.96894771e-01 -5.18553732e-01  2.99111023e+02]
 [ 3.30058603e-01  9.17854577e-01 -2.20463815e-01  8.22566596e+00]
 [ 5.63457852e-01 -4.18520721e-03  8.26134210e-01  2.03990280e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.00327355999997
Centerline is valid?  [True, True]
Translation: X:299.15, Y:8.25, Z:204.02
[[ 7.57289373e-01 -3.97045391e-01 -5.18524601e-01  2.99153015e+02]
 [ 3.30194248e-01  9.17789332e-01 -2.20532312e-01  8.25084179e+00]
 [ 5.63457685e-01 -4.20706410e-03  8.26134213e-01  2.04023351e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.06327355999997
Centerline is valid?  [True, True]
Translation: X:299.20, Y:8.27, Z:204.06
[[ 7.57539886e-01 -3.96669138e-01 -5.18446638e-01  2.99196268e+02]
 [ 3.29612912e-01  9.17954252e-01 -2.20715472e-01  8.27325127e+00]
 [ 5.63461311e-01 -3.68593254e-03  8.26134229e-01  2.04056468e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.12327356
Centerline is valid?  [True, True]
Translation: X:299.24, Y:8.29, Z:204.09
[[ 7.58657876e-01 -3.94556882e-01 -5.18423663e-01  2.99240220e+02]
 [ 3.27017088e-01  9.18869243e-01 -2.20769425e-01  8.29498176e+00]
 [ 5.63469655e-01 -2.04493340e-03  8.26134230e-01  2.04089853e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.18327356
Centerline is valid?  [True, True]
Translation: X:299.28, Y:8.32, Z:204.12
[[ 7.60859156e-01 -3.90397572e-01 -5.18346487e-01  2.99284154e+02]
 [ 3.21858309e-01  9.20645481e-01 -2.20950508e-01  8.31684996e+00]
 [ 5.63471892e-01  1.27809334e-03  8.26134246e-01  2.04123255e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.24327356
Centerline is valid?  [True, True]
Translation: X:299.33, Y:8.34, Z:204.16
[[ 7.64796001e-01 -3.82732715e-01 -5.18268990e-01  2.99328372e+02]
 [ 3.12468279e-01  9.23831229e-01 -2.21132165e-01  8.33862680e+00]
 [ 5.63427592e-01  7.17837603e-03  8.26134263e-01  2.04156812e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.30327356
Centerline is valid?  [True, True]
Translation: X:299.38, Y:8.35, Z:204.19
[[ 7.66533395e-01 -3.79330605e-01 -5.18203479e-01  2.99375479e+02]
 [ 3.08256501e-01  9.25208417e-01 -2.21285598e-01  8.35053903e+00]
 [ 5.63386620e-01  9.88320943e-03  8.26134274e-01  2.04189542e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.36327356
Centerline is valid?  [True, True]
Translation: X:299.41, Y:8.39, Z:204.22
[[ 7.72927370e-01 -3.66168916e-01 -5.18173335e-01  2.99414565e+02]
 [ 2.92344922e-01  9.30341816e-01 -2.21356167e-01  8.38557421e+00]
 [ 5.63132069e-01  1.96068971e-02  8.26134276e-01  2.04223440e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.42327356
Centerline is valid?  [True, True]
Translation: X:299.46, Y:8.41, Z:204.26
[[ 7.76204519e-01 -3.59188646e-01 -5.18160266e-01  2.99457110e+02]
 [ 2.83928701e-01  9.32937510e-01 -2.21386755e-01  8.40887520e+00]
 [ 5.62930757e-01  2.47208282e-02  8.26134277e-01  2.04256367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.48327356
Centerline is valid?  [True, True]
Translation: X:299.50, Y:8.44, Z:204.29
[[ 7.82811265e-01 -3.44574649e-01 -5.18145573e-01  2.99498368e+02]
 [ 2.66367130e-01  9.38094468e-01 -2.21421138e-01  8.43734243e+00]
 [ 5.62365607e-01  3.53140116e-02  8.26134278e-01  2.04289872e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.54327356
Centerline is valid?  [True, True]
Translation: X:299.54, Y:8.46, Z:204.32
[[ 7.82523021e-01 -3.45249356e-01 -5.18131841e-01  2.99543267e+02]
 [ 2.67154551e-01  9.37862941e-01 -2.21453268e-01  8.45714806e+00]
 [ 5.62393250e-01  3.48710011e-02  8.26134278e-01  2.04323340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.60327356
Centerline is valid?  [True, True]
Translation: X:299.59, Y:8.48, Z:204.36
[[ 7.80087265e-01 -3.50732901e-01 -5.18121889e-01  2.99589128e+02]
 [ 2.73714847e-01  9.35963846e-01 -2.21476551e-01  8.47528188e+00]
 [ 5.62622469e-01  3.09533836e-02  8.26134278e-01  2.04356964e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.66327356
Centerline is valid?  [True, True]
Translation: X:299.64, Y:8.49, Z:204.39
[[ 7.72791766e-01 -3.66540634e-01 -5.18112778e-01  2.99638733e+02]
 [ 2.92697486e-01  9.30197225e-01 -2.21497864e-01  8.48528830e+00]
 [ 5.63135035e-01  1.95214176e-02  8.26134279e-01  2.04390755e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.72327356
Centerline is valid?  [True, True]
Translation: X:299.68, Y:8.50, Z:204.42
[[ 7.69860674e-01 -3.72668739e-01 -5.18104770e-01  2.99684651e+02]
 [ 3.00065883e-01  9.27842048e-01 -2.21516593e-01  8.50154206e+00]
 [ 5.63271700e-01  1.50713481e-02  8.26134279e-01  2.04423910e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.78327356
Centerline is valid?  [True, True]
Translation: X:299.73, Y:8.52, Z:204.46
[[ 7.68636801e-01 -3.75202679e-01 -5.18093059e-01  2.99731741e+02]
 [ 3.03102166e-01  9.26848068e-01 -2.21543980e-01  8.51751030e+00]
 [ 5.63317446e-01  1.32517280e-02  8.26134279e-01  2.04457722e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.84327356
Centerline is valid?  [True, True]
Translation: X:299.78, Y:8.52, Z:204.49
[[ 7.66455856e-01 -3.79651406e-01 -5.18083228e-01  2.99783714e+02]
 [ 3.08453566e-01  9.25075390e-01 -2.21566968e-01  8.52114620e+00]
 [ 5.63384255e-01  1.00166807e-02  8.26134279e-01  2.04491290e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.90327356
Centerline is valid?  [True, True]
Translation: X:299.82, Y:8.55, Z:204.52
[[ 7.78145551e-01 -3.55092543e-01 -5.18072183e-01  2.99823888e+02]
 [ 2.78870761e-01  9.34413042e-01 -2.21592791e-01  8.55286592e+00]
 [ 5.62779352e-01  2.79562611e-02  8.26134280e-01  2.04524989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 449.96327356
Centerline is valid?  [True, True]
Translation: X:299.87, Y:8.57, Z:204.56
[[ 7.73826750e-01 -3.64421389e-01 -5.18062943e-01  2.99871954e+02]
 [ 2.90069253e-01  9.30992422e-01 -2.21614392e-01  8.56542808e+00]
 [ 5.63073699e-01  2.12170138e-02  8.26134280e-01  2.04558500e+02]
 [ 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 450.02327356
Centerline is valid?  [True, True]
Translation: X:299.93, Y:8.56, Z:204.59
[[ 7.84788395e-01 -3.40192077e-01 -5.18050698e-01  2.99928125e+02]
 [ 2.60971827e-01  9.39557386e-01 -2.21643012e-01  8.56082748e+00]
 [ 5.62139556e-01  3.87462268e-02  8.26134280e-01  2.04592487e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 450.08327356
Centerline is valid?  [True, True]
Translation: X:299.97, Y:8.60, Z:204.63
[[ 7.73472174e-01 -3.65209732e-01 -5.18037303e-01  2.99966132e+02]
 [ 2.90977715e-01  9.30694615e-01 -2.21674316e-01  8.59749333e+00]
 [ 5.63092146e-01  2.07216043e-02  8.26134281e-01  2.04626155e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 450.14327356
Centerline is valid?  [True, True]
Translation: X:300.02, Y:8.60, Z:204.66
[[ 7.81928566e-01 -3.46754472e-01 -5.18024183e-01  3.00019709e+02]
 [ 2.68792661e-01  9.37335271e-01 -2.21704973e-01  8.59798561e+00]
 [ 5.62439529e-01  3.41163530e-02  8.26134281e-01  2.04659880e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 450.20327356
Centerline is valid?  [True, True]
Translation: X:300.06, Y:8.63, Z:204.69
[[ 7.71482625e-01 -3.69431720e-01 -5.18010390e-01  3.00059437e+02]
 [ 2.96017944e-01  9.29088797e-01 -2.21737197e-01  8.63159198e+00]
 [ 5.63194404e-01  1.77260247e-02  8.26134282e-01  2.04693807e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 450.26327356
Centerline is valid?  [True, True]
Translation: X:300.11, Y:8.63, Z:204.73
[[ 7.81203887e-01 -3.48423640e-01 -5.17997543e-01  3.00114555e+02]
 [ 2.70752808e-01  9.36756224e-01 -2.21767206e-01  8.62880721e+00]
 [ 5.62506359e-01  3.29961144e-02  8.26134282e-01  2.04727617e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 450.32327356
Centerline is valid?  [True, True]
Translation: X:300.15, Y:8.66, Z:204.76
[[ 7.81955378e-01 -3.46753902e-01 -5.17984090e-01  3.00154882e+02]
 [ 2.68730209e-01  9.37331022e-01 -2.21798623e-01  8.65935193e+00]
 [ 5.62432095e-01  3.42386534e-02  8.26134283e-01  2.04761099e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 450.38327355999996
Centerline is valid?  [True, True]
Translation: X:300.20, Y:8.68, Z:204.79
[[ 7.82292456e-01 -3.46007992e-01 -5.17973921e-01  3.00199748e+02]
 [ 2.67820498e-01  9.37585738e-01 -2.21822371e-01  8.67808599e+00]
 [ 5.62397274e-01  3.48059337e-02  8.26134283e-01  2.04794256e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 450.44327355999997
Centerline is valid?  [True, True]
Translation: X:300.25, Y:8.70, Z:204.83
[[ 7.83509217e-01 -3.43266461e-01 -5.17958921e-01  3.00245348e+02]
 [ 2.64512611e-01  9.38516051e-01 -2.21857390e-01  8.69607274e+00]
 [ 5.62268962e-01  3.68206429e-02  8.26134283e-01  2.04827673e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 450.50327355999997
Centerline is valid?  [True, True]
Translation: X:300.29, Y:8.71, Z:204.86
[[ 7.84614859e-01 -3.40752800e-01 -5.17945028e-01  3.00291032e+02]
 [ 2.61481120e-01  9.39357510e-01 -2.21889821e-01  8.71453360e+00]
 [ 5.62145130e-01  3.86652040e-02  8.26134284e-01  2.04861269e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 450.56327355999997
Centerline is valid?  [True, True]
Translation: X:300.34, Y:8.74, Z:204.90
[[ 7.87406480e-01 -3.34264903e-01 -5.17936300e-01  3.00335785e+02]
 [ 2.53705355e-01  9.41482586e-01 -2.21910193e-01  8.73634145e+00]
 [ 5.61804796e-01  4.33303111e-02  8.26134284e-01  2.04895183e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 450.62327356
Centerline is valid?  [True, True]
Translation: X:300.38, Y:8.75, Z:204.93
[[ 7.87063509e-01 -3.35079312e-01 -5.17931354e-01  3.00383132e+02]
 [ 2.54671658e-01  9.41218938e-01 -2.21921736e-01  8.75223121e+00]
 [ 5.61848182e-01  4.27640640e-02  8.26134284e-01  2.04929133e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 450.68327356
Centerline is valid?  [True, True]
Translation: X:300.43, Y:8.77, Z:204.96
[[ 7.87605815e-01 -3.33836515e-01 -5.17909511e-01  3.00428892e+02]
 [ 2.53152350e-01  9.41616699e-01 -2.21972702e-01  8.77065117e+00]
 [ 5.61774837e-01  4.37169810e-02  8.26134286e-01  2.04962764e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 450.74327356
Centerline is valid?  [True, True]
Translation: X:300.48, Y:8.79, Z:205.00
[[ 7.87200776e-01 -3.34802872e-01 -5.17901510e-01  3.00475222e+02]
 [ 2.54295587e-01  9.41304195e-01 -2.21991368e-01  8.78686556e+00]
 [ 5.61826212e-01  4.30517089e-02  8.26134286e-01  2.04996163e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 450.80327356
Centerline is valid?  [True, True]
Translation: X:300.52, Y:8.81, Z:205.03
[[ 7.88949456e-01 -3.30681732e-01 -5.17888355e-01  3.00520465e+02]
 [ 2.49349698e-01  9.42619189e-01 -2.22022056e-01  8.80712365e+00]
 [ 5.61590139e-01  4.60288750e-02  8.26134286e-01  2.05029966e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 450.86327356
Centerline is valid?  [True, True]
Translation: X:300.56, Y:8.83, Z:205.06
[[ 7.82907257e-01 -3.44762637e-01 -5.17875420e-01  3.00563019e+02]
 [ 2.66176779e-01  9.37999324e-01 -2.22052224e-01  8.83180793e+00]
 [ 5.62322104e-01  3.59998868e-02  8.26134287e-01  2.05063273e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 450.92327356
Centerline is valid?  [True, True]
Translation: X:300.61, Y:8.85, Z:205.10
[[ 7.83238632e-01 -3.44027634e-01 -5.17863140e-01  3.00608698e+02]
 [ 2.65277400e-01  9.38247299e-01 -2.22080858e-01  8.84789229e+00]
 [ 5.62285645e-01  3.65649199e-02  8.26134287e-01  2.05096228e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 450.98327356
Centerline is valid?  [True, True]
Translation: X:300.65, Y:8.86, Z:205.13
[[ 7.83989752e-01 -3.42342331e-01 -5.17843410e-01  3.00654845e+02]
 [ 2.63228680e-01  9.38813251e-01 -2.22126859e-01  8.86491478e+00]
 [ 5.62201682e-01  3.78339438e-02  8.26134288e-01  2.05129726e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 451.04327356
Centerline is valid?  [True, True]
Translation: X:300.70, Y:8.88, Z:205.16
[[ 7.85277286e-01 -3.39397607e-01 -5.17830907e-01  3.00699719e+02]
 [ 2.59684357e-01  9.39792927e-01 -2.22156001e-01  8.88217028e+00]
 [ 5.62053039e-01  3.99814759e-02  8.26134288e-01  2.05162491e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 451.10327356
Centerline is valid?  [True, True]
Translation: X:300.75, Y:8.90, Z:205.20
[[ 7.86372965e-01 -3.36880860e-01 -5.17811593e-01  3.00746130e+02]
 [ 2.56643705e-01  9.40617201e-01 -2.22201013e-01  8.89984787e+00]
 [ 5.61917759e-01  4.18397837e-02  8.26134289e-01  2.05196330e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 451.16327356
Centerline is valid?  [True, True]
Translation: X:300.79, Y:8.91, Z:205.23
[[ 7.86402195e-01 -3.36823582e-01 -5.17804463e-01  3.00792812e+02]
 [ 2.56564325e-01  9.40634931e-01 -2.22217627e-01  8.91299166e+00]
 [ 5.61913102e-01  4.19022777e-02  8.26134290e-01  2.05229123e+02]
 [ 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 : 0.992941 with order 1
Centerline goodness : 0.987968 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.979541 with order 1
Centerline goodness : 0.984269 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.980624 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.989608 with order 1
Centerline goodness : 0.970763 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.982724 with order 1
Centerline goodness : 0.991513 with order 1
SLAMing on frame at distance 451.22327356
Centerline is valid?  [True, True]
Translation: X:300.84, Y:8.93, Z:205.26
[[ 7.92481562e-01 -3.22388679e-01 -5.17724361e-01  3.00841060e+02]
 [ 2.39202238e-01  9.45155382e-01 -2.22404121e-01  8.92618628e+00]
 [ 5.61030537e-01  5.24103389e-02  8.26134307e-01  2.05262888e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 451.28327356
Centerline is valid?  [True, True]
Translation: X:300.89, Y:8.93, Z:205.30
[[ 7.78755682e-01 -3.54282319e-01 -5.17709983e-01  3.00892084e+02]
 [ 2.77337787e-01  9.34668536e-01 -2.22437586e-01  8.93346930e+00]
 [ 5.62692936e-01  2.96439932e-02  8.26134307e-01  2.05296819e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 451.34327356
Centerline is valid?  [True, True]
Translation: X:300.94, Y:8.95, Z:205.33
[[ 7.75780856e-01 -3.60769967e-01 -5.17695948e-01  3.00938809e+02]
 [ 2.85107717e-01  9.32319998e-01 -2.22470249e-01  8.94816380e+00]
 [ 5.62918869e-01  2.49890501e-02  8.26134308e-01  2.05330051e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 451.40327356
Centerline is valid?  [True, True]
Translation: X:300.99, Y:8.96, Z:205.36
[[ 7.73092708e-01 -3.66514948e-01 -5.17681811e-01  3.00986412e+02]
 [ 2.91994031e-01  9.30178391e-01 -2.22503139e-01  8.96232012e+00]
 [ 5.63087161e-01  2.08555556e-02  8.26134308e-01  2.05363688e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 451.46327356
Centerline is valid?  [True, True]
Translation: X:301.03, Y:8.98, Z:205.40
[[ 7.69864306e-01 -3.73263512e-01 -5.17671035e-01  3.01033814e+02]
 [ 3.00102703e-01  9.27588036e-01 -2.22528208e-01  8.97592579e+00]
 [ 5.63247119e-01  1.59620475e-02  8.26134309e-01  2.05397052e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 451.52327356
Centerline is valid?  [True, True]
Translation: X:301.08, Y:9.00, Z:205.43
[[ 7.73282749e-01 -3.66150094e-01 -5.17656158e-01  3.01078489e+02]
 [ 2.91515178e-01  9.30314299e-01 -2.22562812e-01  8.99549916e+00]
 [ 5.63074321e-01  2.11993558e-02  8.26134309e-01  2.05430313e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 451.58327356
Centerline is valid?  [True, True]
Translation: X:301.13, Y:9.00, Z:205.46
[[ 7.77705756e-01 -3.56687995e-01 -5.17636389e-01  3.01128329e+02]
 [ 2.80112179e-01  9.33800030e-01 -2.22608783e-01  9.00373822e+00]
 [ 5.62770756e-01  2.81278748e-02  8.26134310e-01  2.05463753e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 451.64327356
Centerline is valid?  [True, True]
Translation: X:301.18, Y:9.02, Z:205.50
[[ 7.76901347e-01 -3.58461215e-01 -5.17619411e-01  3.01175146e+02]
 [ 2.82215460e-01  9.33157108e-01 -2.22648256e-01  9.01710444e+00]
 [ 5.62830997e-01  2.68955302e-02  8.26134311e-01  2.05496682e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 451.70327356
Centerline is valid?  [True, True]
Translation: X:301.22, Y:9.03, Z:205.53
[[ 7.80931397e-01 -3.49697793e-01 -5.17549617e-01  3.01224876e+02]
 [ 2.71591848e-01  9.36265665e-01 -2.22810397e-01  9.02623363e+00]
 [ 5.62480240e-01  3.34373775e-02  8.26134324e-01  2.05530266e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 451.76327356
Centerline is valid?  [True, True]
Translation: X:301.27, Y:9.04, Z:205.56
[[ 7.71341274e-01 -3.70393989e-01 -5.17533508e-01  3.01274224e+02]
 [ 2.96432123e-01  9.28690934e-01 -2.22847809e-01  9.03619325e+00]
 [ 5.63170166e-01  1.84781564e-02  8.26134324e-01  2.05563859e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 451.82327356
Centerline is valid?  [True, True]
Translation: X:301.32, Y:9.06, Z:205.60
[[ 7.81283200e-01 -3.48956165e-01 -5.17519233e-01  3.01320042e+02]
 [ 2.70656232e-01  9.36519772e-01 -2.22880955e-01  9.05510100e+00]
 [ 5.62442678e-01  3.40633405e-02  8.26134325e-01  2.05597654e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 451.88327355999996
Centerline is valid?  [True, True]
Translation: X:301.37, Y:9.07, Z:205.63
[[ 7.71700388e-01 -3.69687701e-01 -5.17503155e-01  3.01369038e+02]
 [ 2.95534620e-01  9.28960025e-01 -2.22918283e-01  9.06531328e+00]
 [ 5.63149891e-01  1.90860268e-02  8.26134326e-01  2.05631093e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 451.94327355999997
Centerline is valid?  [True, True]
Translation: X:301.41, Y:9.08, Z:205.66
[[ 7.71714786e-01 -3.69676571e-01 -5.17489635e-01  3.01413858e+02]
 [ 2.95500207e-01  9.28963441e-01 -2.22949664e-01  9.08153936e+00]
 [ 5.63148219e-01  1.91352580e-02  8.26134326e-01  2.05663539e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 452.00327355999997
Centerline is valid?  [True, True]
Translation: X:301.46, Y:9.10, Z:205.70
[[ 7.69454529e-01 -3.74407240e-01 -5.17454294e-01  3.01459778e+02]
 [ 3.01142543e-01  9.27130005e-01 -2.23031664e-01  9.10018795e+00]
 [ 5.63252072e-01  1.57852218e-02  8.26134329e-01  2.05697316e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 452.06327355999997
Centerline is valid?  [True, True]
Translation: X:301.51, Y:9.12, Z:205.73
[[ 7.68879087e-01 -3.75664223e-01 -5.17398629e-01  3.01505976e+02]
 [ 3.02570514e-01  9.26633891e-01 -2.23160738e-01  9.11706861e+00]
 [ 5.63272610e-01  1.50340557e-02  8.26134338e-01  2.05730778e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 452.12327356
Centerline is valid?  [True, True]
Translation: X:301.55, Y:9.13, Z:205.76
[[ 7.67029248e-01 -3.79514119e-01 -5.17334675e-01  3.01553305e+02]
 [ 3.07112306e-01  9.25102783e-01 -2.23308918e-01  9.13176359e+00]
 [ 5.63336634e-01  1.24046267e-02  8.26134348e-01  2.05764350e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 452.18327356
Centerline is valid?  [True, True]
Translation: X:301.60, Y:9.15, Z:205.80
[[ 7.67276621e-01 -3.79095964e-01 -5.17274431e-01  3.01599154e+02]
 [ 3.06514015e-01  9.25267514e-01 -2.23448397e-01  9.14817587e+00]
 [ 5.63325612e-01  1.28948683e-02  8.26134358e-01  2.05797461e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 452.24327356
Centerline is valid?  [True, True]
Translation: X:301.65, Y:9.16, Z:205.83
[[ 7.70204108e-01 -3.73209125e-01 -5.17204584e-01  3.01645920e+02]
 [ 2.99311037e-01  9.27583680e-01 -2.23609973e-01  9.16269751e+00]
 [ 5.63203813e-01  1.74202788e-02  8.26134371e-01  2.05830627e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 452.30327356
Centerline is valid?  [True, True]
Translation: X:301.69, Y:9.18, Z:205.86
[[ 7.71051202e-01 -3.71476904e-01 -5.17189476e-01  3.01690785e+02]
 [ 2.97201837e-01  9.28253210e-01 -2.23644911e-01  9.17989131e+00]
 [ 5.63161710e-01  1.87320147e-02  8.26134371e-01  2.05863360e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 452.36327356
Centerline is valid?  [True, True]
Translation: X:301.74, Y:9.20, Z:205.90
[[ 7.73949656e-01 -3.65433653e-01 -5.17165520e-01  3.01737222e+02]
 [ 2.89894141e-01  9.30547991e-01 -2.23700298e-01  9.19687601e+00]
 [ 5.62994952e-01  2.32095147e-02  8.26134373e-01  2.05897014e+02]
 [ 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 : 0.968107 with order 1
Centerline goodness : 0.970064 with order 1
Centerline goodness : 0.968358 with order 1
Centerline goodness : 0.963702 with order 1
SLAMing on frame at distance 452.42327356
Centerline is valid?  [True, True]
Translation: X:301.78, Y:9.23, Z:205.93
[[ 7.78190857e-01 -3.56381749e-01 -5.17118013e-01  3.01778570e+02]
 [ 2.78948165e-01  9.33861324e-01 -2.23810073e-01  9.22573149e+00]
 [ 5.62678338e-01  2.99178315e-02  8.26134379e-01  2.05930682e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 452.48327356
Centerline is valid?  [True, True]
Translation: X:301.83, Y:9.23, Z:205.96
[[ 7.80507847e-01 -3.51352934e-01 -5.17067323e-01  3.01829934e+02]
 [ 2.72839248e-01  9.35636352e-01 -2.23927133e-01  9.23025403e+00]
 [ 5.62464439e-01  3.37006244e-02  8.26134385e-01  2.05964025e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 452.54327356
Centerline is valid?  [True, True]
Translation: X:301.87, Y:9.26, Z:206.00
[[ 7.83946135e-01 -3.43632636e-01 -5.17054223e-01  3.01870861e+02]
 [ 2.63571908e-01  9.38281910e-01 -2.23957378e-01  9.25966757e+00]
 [ 5.62101688e-01  3.92895531e-02  8.26134386e-01  2.05997606e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 452.60327356
Centerline is valid?  [True, True]
Translation: X:301.92, Y:9.28, Z:206.03
[[ 7.86081749e-01 -3.38745488e-01 -5.17036728e-01  3.01916709e+02]
 [ 2.57699107e-01  9.39902215e-01 -2.23997762e-01  9.27572806e+00]
 [ 5.61842197e-01  4.28406492e-02  8.26134387e-01  2.06030644e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 452.66327356
Centerline is valid?  [True, True]
Translation: X:301.97, Y:9.28, Z:206.06
[[ 7.85969899e-01 -3.39025302e-01 -5.17023367e-01  3.01967800e+02]
 [ 2.58013538e-01  9.39808599e-01 -2.24028596e-01  9.27846804e+00]
 [ 5.61854369e-01  4.26807049e-02  8.26134387e-01  2.06063353e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 452.72327356
Centerline is valid?  [True, True]
Translation: X:302.01, Y:9.30, Z:206.10
[[ 7.84880876e-01 -3.41655778e-01 -5.16946167e-01  3.02013885e+02]
 [ 2.61043178e-01  9.38929097e-01 -2.24206622e-01  9.29570092e+00]
 [ 5.61977286e-01  4.10302196e-02  8.26134403e-01  2.06096814e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 452.78327356
Centerline is valid?  [True, True]
Translation: X:302.06, Y:9.31, Z:206.13
[[ 7.83281425e-01 -3.45395480e-01 -5.16887001e-01  3.02060982e+02]
 [ 2.65429073e-01  9.37666063e-01 -2.24342957e-01  9.31170268e+00]
 [ 5.62154442e-01  3.85268336e-02  8.26134412e-01  2.06130585e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 452.84327356
Centerline is valid?  [True, True]
Translation: X:302.10, Y:9.34, Z:206.16
[[ 7.82458306e-01 -3.47337580e-01 -5.16832279e-01  3.02103158e+02]
 [ 2.67671610e-01  9.36998182e-01 -2.24468964e-01  9.33750965e+00]
 [ 5.62237413e-01  3.72962771e-02  8.26134420e-01  2.06163944e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 452.90327356
Centerline is valid?  [True, True]
Translation: X:302.15, Y:9.36, Z:206.20
[[ 7.81035549e-01 -3.50617143e-01 -5.16769861e-01  3.02148761e+02]
 [ 2.71505611e-01  9.35859973e-01 -2.24612588e-01  9.35541708e+00]
 [ 5.62377252e-01  3.51244988e-02  8.26134430e-01  2.06197295e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 452.96327356
Centerline is valid?  [True, True]
Translation: X:302.19, Y:9.37, Z:206.23
[[ 7.80223640e-01 -3.52442774e-01 -5.16754452e-01  3.02194949e+02]
 [ 2.73670165e-01  9.35220777e-01 -2.24648035e-01  9.37228376e+00]
 [ 5.62455076e-01  3.38554315e-02  8.26134430e-01  2.06230762e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 453.02327356
Centerline is valid?  [True, True]
Translation: X:302.24, Y:9.39, Z:206.26
[[ 7.80112147e-01 -3.52778530e-01 -5.16693669e-01  3.02240731e+02]
 [ 2.73980474e-01  9.35096337e-01 -2.24787766e-01  9.38948358e+00]
 [ 5.62458655e-01  3.37956901e-02  8.26134440e-01  2.06264033e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 453.08327356
Centerline is valid?  [True, True]
Translation: X:302.29, Y:9.41, Z:206.30
[[ 7.80424468e-01 -3.52115941e-01 -5.16673992e-01  3.02286235e+02]
 [ 2.73156497e-01  9.35326498e-01 -2.24832985e-01  9.40741473e+00]
 [ 5.62426154e-01  3.43323043e-02  8.26134441e-01  2.06297358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 453.14327356
Centerline is valid?  [True, True]
Translation: X:302.33, Y:9.43, Z:206.33
[[ 7.81271949e-01 -3.50334609e-01 -5.16604107e-01  3.02332629e+02]
 [ 2.70916367e-01  9.35939240e-01 -2.24993469e-01  9.42533798e+00]
 [ 5.62333054e-01  3.58245780e-02  8.26134454e-01  2.06331201e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 453.20327356
Centerline is valid?  [True, True]
Translation: X:302.38, Y:9.44, Z:206.36
[[ 7.81867895e-01 -3.49090999e-01 -5.16544354e-01  3.02376573e+02]
 [ 2.69336617e-01  9.36362113e-01 -2.25130584e-01  9.44339169e+00]
 [ 5.62263623e-01  3.68980667e-02  8.26134463e-01  2.06363554e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 453.26327356
Centerline is valid?  [True, True]
Translation: X:302.42, Y:9.46, Z:206.40
[[ 7.82339143e-01 -3.48087329e-01 -5.16508158e-01  3.02421770e+02]
 [ 2.68080228e-01  9.36702634e-01 -2.25213602e-01  9.46333155e+00]
 [ 5.62208553e-01  3.77277922e-02  8.26134466e-01  2.06397222e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 453.32327356
Centerline is valid?  [True, True]
Translation: X:302.47, Y:9.48, Z:206.43
[[ 7.82364265e-01 -3.48048814e-01 -5.16496060e-01  3.02467690e+02]
 [ 2.68015896e-01  9.36714373e-01 -2.25241344e-01  9.48137694e+00]
 [ 5.62204265e-01  3.77916246e-02  8.26134467e-01  2.06430842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 453.38327355999996
Centerline is valid?  [True, True]
Translation: X:302.51, Y:9.50, Z:206.46
[[ 7.90692964e-01 -3.28722696e-01 -5.16474613e-01  3.02512205e+02]
 [ 2.44890077e-01  9.43012744e-01 -2.25290512e-01  9.50247013e+00]
 [ 5.61100247e-01  5.16561149e-02  8.26134468e-01  2.06464408e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 453.44327355999997
Centerline is valid?  [True, True]
Translation: X:302.56, Y:9.52, Z:206.50
[[ 7.80631800e-01 -3.51973187e-01 -5.16458003e-01  3.02558142e+02]
 [ 2.72658915e-01  9.35352417e-01 -2.25328585e-01  9.51843578e+00]
 [ 5.62379861e-01  3.50817801e-02  8.26134469e-01  2.06497468e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 453.50327355999997
Centerline is valid?  [True, True]
Translation: X:302.60, Y:9.54, Z:206.53
[[ 7.78913589e-01 -3.55782693e-01 -5.16441958e-01  3.02603840e+02]
 [ 2.77200959e-01  9.34007541e-01 -2.25365353e-01  9.53673725e+00]
 [ 5.62541776e-01  3.23819299e-02  8.26134469e-01  2.06531016e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 453.56327355999997
Centerline is valid?  [True, True]
Translation: X:302.65, Y:9.56, Z:206.56
[[ 7.88019868e-01 -3.35224529e-01 -5.16380871e-01  3.02647687e+02]
 [ 2.52509861e-01  9.40949600e-01 -2.25505253e-01  9.55937180e+00]
 [ 5.61483266e-01  4.73113576e-02  8.26134479e-01  2.06564556e+02]
 [ 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 : 0.995814 with order 1
Centerline goodness : 0.987628 with order 1
Centerline goodness : 0.983828 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.980383 with order 1
Centerline goodness : 0.979391 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.975509 with order 1
Centerline goodness : 0.981330 with order 1
Centerline goodness : 0.960259 with order 1
Centerline goodness : 0.981084 with order 1
Centerline goodness : 0.972306 with order 1
Centerline goodness : 0.976961 with order 1
SLAMing on frame at distance 453.62327356
Centerline is valid?  [True, True]
Translation: X:302.70, Y:9.57, Z:206.60
[[ 7.75174733e-01 -3.63968909e-01 -5.16363018e-01  3.02696589e+02]
 [ 2.86905360e-01  9.31028603e-01 -2.25546127e-01  9.57090805e+00]
 [ 5.62840517e-01  2.66903410e-02  8.26134480e-01  2.06598259e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 453.68327356
Centerline is valid?  [True, True]
Translation: X:302.74, Y:9.60, Z:206.63
[[ 7.75288791e-01 -3.63749316e-01 -5.16346517e-01  3.02738000e+02]
 [ 2.86616535e-01  9.31108408e-01 -2.25583897e-01  9.59814876e+00]
 [ 5.62830572e-01  2.68992172e-02  8.26134480e-01  2.06631567e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 453.74327356
Centerline is valid?  [True, True]
Translation: X:302.78, Y:9.61, Z:206.66
[[ 7.73595056e-01 -3.67359500e-01 -5.16330985e-01  3.02784865e+02]
 [ 2.90930263e-01  9.29760963e-01 -2.25619443e-01  9.61224291e+00]
 [ 5.62947840e-01  2.43217759e-02  8.26134481e-01  2.06664695e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 453.80327356
Centerline is valid?  [True, True]
Translation: X:302.83, Y:9.63, Z:206.70
[[ 7.72940847e-01 -3.68833643e-01 -5.16259809e-01  3.02829068e+02]
 [ 2.92593762e-01  9.29199270e-01 -2.25782213e-01  9.63203501e+00]
 [ 5.62984314e-01  2.34618953e-02  8.26134494e-01  2.06697674e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 453.86327356
Centerline is valid?  [True, True]
Translation: X:302.87, Y:9.66, Z:206.73
[[ 7.69459505e-01 -3.76064557e-01 -5.16243663e-01  3.02869211e+02]
 [ 3.01268377e-01  9.26414102e-01 -2.25819125e-01  9.66302050e+00]
 [ 5.63177978e-01  1.82307814e-02  8.26134495e-01  2.06731216e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 453.92327356
Centerline is valid?  [True, True]
Translation: X:302.92, Y:9.68, Z:206.76
[[ 7.67520327e-01 -3.80064627e-01 -5.16200957e-01  3.02916408e+02]
 [ 3.06020855e-01  9.24831268e-01 -2.25916713e-01  9.67734996e+00]
 [ 5.63261737e-01  1.54274114e-02  8.26134499e-01  2.06764595e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 453.98327356
Centerline is valid?  [True, True]
Translation: X:302.96, Y:9.70, Z:206.80
[[ 7.64874842e-01 -3.85442846e-01 -5.16139796e-01  3.02959383e+02]
 [ 3.12410934e-01  9.22658075e-01 -2.26056374e-01  9.70271999e+00]
 [ 5.63352363e-01  1.16571175e-02  8.26134509e-01  2.06798342e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 454.04327356
Centerline is valid?  [True, True]
Translation: X:303.00, Y:9.73, Z:206.83
[[ 7.63443699e-01 -3.88350579e-01 -5.16079012e-01  3.02999117e+02]
 [ 3.15825863e-01  9.21460696e-01 -2.26195073e-01  9.73389323e+00]
 [ 5.63389513e-01  9.69610396e-03  8.26134518e-01  2.06831656e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 454.10327356
Centerline is valid?  [True, True]
Translation: X:303.04, Y:9.76, Z:206.86
[[ 7.61494456e-01 -3.92249561e-01 -5.16010151e-01  3.03041266e+02]
 [ 3.20427473e-01  9.19832035e-01 -2.26352074e-01  9.75956898e+00]
 [ 5.63429169e-01  7.02202088e-03  8.26134531e-01  2.06864972e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 454.16327356
Centerline is valid?  [True, True]
Translation: X:303.09, Y:9.78, Z:206.90
[[ 7.61871039e-01 -3.91609089e-01 -5.15940734e-01  3.03087611e+02]
 [ 3.19546803e-01  9.20099432e-01 -2.26510211e-01  9.77540857e+00]
 [ 5.63420234e-01  7.70435753e-03  8.26134543e-01  2.06898213e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 454.22327356
Centerline is valid?  [True, True]
Translation: X:303.13, Y:9.79, Z:206.93
[[ 7.61573997e-01 -3.92278340e-01 -5.15870867e-01  3.03132206e+02]
 [ 3.20247395e-01  9.19816645e-01 -2.26669242e-01  9.79481627e+00]
 [ 5.63424044e-01  7.41909939e-03  8.26134555e-01  2.06931338e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 454.28327356
Centerline is valid?  [True, True]
Translation: X:303.17, Y:9.82, Z:206.96
[[ 7.63865818e-01 -3.87888410e-01 -5.15801894e-01  3.03174386e+02]
 [ 3.14841964e-01  9.21642259e-01 -2.26826107e-01  9.81865701e+00]
 [ 5.63368041e-01  1.08686286e-02  8.26134568e-01  2.06964174e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 454.34327356
Centerline is valid?  [True, True]
Translation: X:303.21, Y:9.86, Z:207.00
[[ 7.64559081e-01 -3.86546301e-01 -5.15782288e-01  3.03211658e+02]
 [ 3.13192825e-01  9.22193011e-01 -2.26870681e-01  9.85555978e+00]
 [ 5.63346844e-01  1.19167270e-02  8.26134568e-01  2.06997566e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 454.40327356
Centerline is valid?  [True, True]
Translation: X:303.25, Y:9.88, Z:207.03
[[ 7.67059983e-01 -3.81580693e-01 -5.15766573e-01  3.03254978e+02]
 [ 3.07182645e-01  9.24203607e-01 -2.26906403e-01  9.87655165e+00]
 [ 5.63256430e-01  1.56162808e-02  8.26134569e-01  2.07030367e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 454.46327356
Centerline is valid?  [True, True]
Translation: X:303.30, Y:9.90, Z:207.06
[[ 7.71356281e-01 -3.72844254e-01 -5.15748632e-01  3.03298376e+02]
 [ 2.96639044e-01  9.27631531e-01 -2.26947177e-01  9.90100709e+00]
 [ 5.63040643e-01  2.20659498e-02  8.26134570e-01  2.07064168e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 454.52327356
Centerline is valid?  [True, True]
Translation: X:303.34, Y:9.92, Z:207.10
[[ 7.75169446e-01 -3.64886821e-01 -5.15722734e-01  3.03342427e+02]
 [ 2.87038453e-01  9.30632685e-01 -2.27006017e-01  9.92090818e+00]
 [ 5.62779936e-01  2.79358725e-02  8.26134572e-01  2.07097121e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 454.58327356
Centerline is valid?  [True, True]
Translation: X:303.39, Y:9.94, Z:207.13
[[ 7.77156201e-01 -3.60661524e-01 -5.15704861e-01  3.03387358e+02]
 [ 2.81941152e-01  9.32179716e-01 -2.27046613e-01  9.94068268e+00]
 [ 5.62616588e-01  3.10522605e-02  8.26134572e-01  2.07130593e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 454.64327356
Centerline is valid?  [True, True]
Translation: X:303.44, Y:9.94, Z:207.16
[[ 7.83626249e-01 -3.46428726e-01 -5.15671445e-01  3.03439900e+02]
 [ 2.64844708e-01  9.37162023e-01 -2.27122487e-01  9.94426188e+00]
 [ 5.61949449e-01  4.14062894e-02  8.26134575e-01  2.07164355e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 454.70327356
Centerline is valid?  [True, True]
Translation: X:303.49, Y:9.96, Z:207.20
[[ 7.86227410e-01 -3.40521392e-01 -5.15646819e-01  3.03485347e+02]
 [ 2.57747808e-01  9.39125151e-01 -2.27178386e-01  9.96077806e+00]
 [ 5.61615997e-01  4.57070369e-02  8.26134577e-01  2.07197248e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 454.76327356
Centerline is valid?  [True, True]
Translation: X:303.53, Y:9.98, Z:207.23
[[ 7.87875334e-01 -3.36714406e-01 -5.15631522e-01  3.03530852e+02]
 [ 2.53179700e-01  9.40358573e-01 -2.27213102e-01  9.98047805e+00]
 [ 5.61384447e-01  4.84681648e-02  8.26134577e-01  2.07231058e+02]
 [ 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 : 0.997580 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.965491 with order 1
SLAMing on frame at distance 454.82327356
Centerline is valid?  [True, True]
Translation: X:303.57, Y:10.01, Z:207.26
[[ 7.89545450e-01 -3.32789603e-01 -5.15624925e-01  3.03571974e+02]
 [ 2.48487463e-01  9.41605748e-01 -2.27228072e-01  1.00095937e+01]
 [ 5.61134533e-01  5.12805609e-02  8.26134578e-01  2.07264728e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 454.88327355999996
Centerline is valid?  [True, True]
Translation: X:303.62, Y:10.02, Z:207.30
[[ 7.89777280e-01 -3.32317239e-01 -5.15574534e-01  3.03622710e+02]
 [ 2.47850288e-01  9.41746083e-01 -2.27342361e-01  1.00153701e+01]
 [ 5.61090084e-01  5.17645348e-02  8.26134584e-01  2.07297951e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 454.94327355999997
Centerline is valid?  [True, True]
Translation: X:303.67, Y:10.04, Z:207.33
[[ 7.90566295e-01 -3.30547833e-01 -5.15502729e-01  3.03665190e+02]
 [ 2.45635796e-01  9.42286842e-01 -2.27505086e-01  1.00415857e+01]
 [ 5.60952751e-01  5.32319296e-02  8.26134597e-01  2.07331631e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.00327355999997
Centerline is valid?  [True, True]
Translation: X:303.71, Y:10.06, Z:207.37
[[ 7.90672497e-01 -3.30319984e-01 -5.15485898e-01  3.03712052e+02]
 [ 2.45339633e-01  9.42354789e-01 -2.27543216e-01  1.00580003e+01]
 [ 5.60932677e-01  5.34430419e-02  8.26134598e-01  2.07365382e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.06327355999997
Centerline is valid?  [True, True]
Translation: X:303.76, Y:10.07, Z:207.40
[[ 7.90767764e-01 -3.30113335e-01 -5.15472142e-01  3.03759059e+02]
 [ 2.45073252e-01  9.42416577e-01 -2.27574376e-01  1.00727749e+01]
 [ 5.60914827e-01  5.36300465e-02  8.26134598e-01  2.07398774e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.12327356
Centerline is valid?  [True, True]
Translation: X:303.80, Y:10.09, Z:207.43
[[ 7.90396952e-01 -3.31115188e-01 -5.15398283e-01  3.03804154e+02]
 [ 2.46159490e-01  9.42093038e-01 -2.27741548e-01  1.00885236e+01]
 [ 5.60961820e-01  5.31360473e-02  8.26134612e-01  2.07431200e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.18327356
Centerline is valid?  [True, True]
Translation: X:303.85, Y:10.11, Z:207.46
[[ 7.90553060e-01 -3.30782677e-01 -5.15372370e-01  3.03849989e+02]
 [ 2.45725364e-01  9.42192191e-01 -2.27800176e-01  1.01051952e+01]
 [ 5.60932175e-01  5.34480634e-02  8.26134614e-01  2.07464374e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.24327356
Centerline is valid?  [True, True]
Translation: X:303.90, Y:10.12, Z:207.50
[[ 7.91036036e-01 -3.29737898e-01 -5.15300794e-01  3.03896564e+02]
 [ 2.44376062e-01  9.42503936e-01 -2.27961992e-01  1.01210003e+01]
 [ 5.60840735e-01  5.43989716e-02  8.26134627e-01  2.07497738e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.30327356
Centerline is valid?  [True, True]
Translation: X:303.94, Y:10.14, Z:207.53
[[ 7.90828519e-01 -3.30255265e-01 -5.15287991e-01  3.03943162e+02]
 [ 2.44973879e-01  9.42341729e-01 -2.27990930e-01  1.01374295e+01]
 [ 5.60872582e-01  5.40696313e-02  8.26134627e-01  2.07531328e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.36327356
Centerline is valid?  [True, True]
Translation: X:303.99, Y:10.15, Z:207.57
[[ 7.89366983e-01 -3.33823389e-01 -5.15229765e-01  3.03990549e+02]
 [ 2.49142137e-01  9.41216417e-01 -2.28122451e-01  1.01533559e+01]
 [ 5.61095323e-01  5.17068864e-02  8.26134636e-01  2.07565238e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.42327356
Centerline is valid?  [True, True]
Translation: X:304.04, Y:10.17, Z:207.60
[[ 7.87251109e-01 -3.38836847e-01 -5.15194412e-01  3.04037346e+02]
 [ 2.55071257e-01  9.39607566e-01 -2.28202271e-01  1.01666804e+01]
 [ 5.61403905e-01  4.82412054e-02  8.26134639e-01  2.07598077e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.48327356
Centerline is valid?  [True, True]
Translation: X:304.09, Y:10.18, Z:207.63
[[ 7.84051096e-01 -3.46201717e-01 -5.15177882e-01  3.04085292e+02]
 [ 2.63843663e-01  9.37172991e-01 -2.28239583e-01  1.01811664e+01]
 [ 5.61827732e-01  4.30250752e-02  8.26134639e-01  2.07631966e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.54327356
Centerline is valid?  [True, True]
Translation: X:304.13, Y:10.19, Z:207.67
[[ 7.81151172e-01 -3.52725395e-01 -5.15157882e-01  3.04132877e+02]
 [ 2.71616996e-01  9.34938658e-01 -2.28284719e-01  1.01939212e+01]
 [ 5.62162836e-01  3.83992390e-02  8.26134640e-01  2.07665148e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.60327356
Centerline is valid?  [True, True]
Translation: X:304.18, Y:10.21, Z:207.70
[[ 7.78638337e-01 -3.58260974e-01 -5.15142130e-01  3.04180842e+02]
 [ 2.78222765e-01  9.32985505e-01 -2.28320259e-01  1.02079664e+01]
 [ 5.62418379e-01  3.44546389e-02  8.26134641e-01  2.07698927e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.66327356
Centerline is valid?  [True, True]
Translation: X:304.23, Y:10.22, Z:207.73
[[ 7.76782268e-01 -3.62292381e-01 -5.15124780e-01  3.04228770e+02]
 [ 2.83029477e-01  9.31529012e-01 -2.28359398e-01  1.02224755e+01]
 [ 5.62586547e-01  3.15900337e-02  8.26134642e-01  2.07732808e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.72327356
Centerline is valid?  [True, True]
Translation: X:304.27, Y:10.24, Z:207.77
[[ 7.74899470e-01 -3.66364273e-01 -5.15080606e-01  3.04274686e+02]
 [ 2.87848633e-01  9.30026693e-01 -2.28459000e-01  1.02378455e+01]
 [ 5.62737928e-01  2.87675095e-02  8.26134647e-01  2.07765651e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.78327356
Centerline is valid?  [True, True]
Translation: X:304.32, Y:10.25, Z:207.80
[[ 7.73345788e-01 -3.69656751e-01 -5.15063276e-01  3.04320971e+02]
 [ 2.91775656e-01  9.28792550e-01 -2.28498065e-01  1.02536243e+01]
 [ 5.62852786e-01  2.64250909e-02  8.26134648e-01  2.07798858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.84327356
Centerline is valid?  [True, True]
Translation: X:304.37, Y:10.27, Z:207.83
[[ 7.70848454e-01 -3.74933413e-01 -5.14992812e-01  3.04367635e+02]
 [ 2.98010664e-01  9.26771664e-01 -2.28656789e-01  1.02702758e+01]
 [ 5.63011815e-01  2.27863821e-02  8.26134660e-01  2.07832497e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.90327356
Centerline is valid?  [True, True]
Translation: X:304.41, Y:10.29, Z:207.87
[[ 7.68861784e-01 -3.79072662e-01 -5.14932494e-01  3.04414148e+02]
 [ 3.02898586e-01  9.25152102e-01 -2.28792558e-01  1.02866596e+01]
 [ 5.63119884e-01  1.99375300e-02  8.26134669e-01  2.07865975e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 455.96327356
Centerline is valid?  [True, True]
Translation: X:304.46, Y:10.31, Z:207.90
[[ 7.80245036e-01 -3.55148976e-01 -5.14865894e-01  3.04457894e+02]
 [ 2.74086561e-01  9.34056720e-01 -2.28942354e-01  1.03093664e+01]
 [ 5.62222591e-01  3.75133128e-02  8.26134680e-01  2.07899474e+02]
 [ 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 : 0.997842 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.998581 with order 1
Centerline goodness : 0.997772 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.994388 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 456.02327356
Centerline is valid?  [True, True]
Translation: X:304.50, Y:10.33, Z:207.93
[[ 7.79906541e-01 -3.55916735e-01 -5.14848584e-01  3.04501888e+02]
 [ 2.74980181e-01  9.33784491e-01 -2.28981275e-01  1.03285334e+01]
 [ 5.62255891e-01  3.70108379e-02  8.26134681e-01  2.07932188e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 456.08327356
Centerline is valid?  [True, True]
Translation: X:304.54, Y:10.35, Z:207.97
[[ 7.70951471e-01 -3.74955315e-01 -5.14822630e-01  3.04544968e+02]
 [ 2.97781806e-01  9.26750695e-01 -2.29039615e-01  1.03504829e+01]
 [ 5.62991852e-01  2.32736160e-02  8.26134683e-01  2.07965098e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 456.14327356
Centerline is valid?  [True, True]
Translation: X:304.59, Y:10.37, Z:208.00
[[ 7.79422634e-01 -3.57034091e-01 -5.14807745e-01  3.04590713e+02]
 [ 2.76257819e-01  9.33384780e-01 -2.29073069e-01  1.03679085e+01]
 [ 5.62300609e-01  3.63250698e-02  8.26134683e-01  2.07998423e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 456.20327356
Centerline is valid?  [True, True]
Translation: X:304.63, Y:10.39, Z:208.03
[[ 7.71467275e-01 -3.73941106e-01 -5.14787618e-01  3.04634173e+02]
 [ 2.96510384e-01  9.27138825e-01 -2.29118291e-01  1.03911565e+01]
 [ 5.62956335e-01  2.41173893e-02  8.26134684e-01  2.08031935e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 456.26327356
Centerline is valid?  [True, True]
Translation: X:304.68, Y:10.41, Z:208.07
[[ 7.80459474e-01 -3.54815685e-01 -5.14770667e-01  3.04678503e+02]
 [ 2.73547166e-01  9.34162355e-01 -2.29156371e-01  1.04110883e+01]
 [ 5.62187654e-01  3.80332030e-02  8.26134685e-01  2.08065072e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 456.32327356
Centerline is valid?  [True, True]
Translation: X:304.72, Y:10.43, Z:208.10
[[ 7.72910586e-01 -3.71002136e-01 -5.14749105e-01  3.04722263e+02]
 [ 2.92922012e-01  9.28257429e-01 -2.29204798e-01  1.04340641e+01]
 [ 5.62855151e-01  2.63734715e-02  8.26134686e-01  2.08098694e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 456.38327355999996
Centerline is valid?  [True, True]
Translation: X:304.77, Y:10.46, Z:208.13
[[ 7.73384196e-01 -3.70037405e-01 -5.14732167e-01  3.04765955e+02]
 [ 2.91738257e-01  9.28620759e-01 -2.29242830e-01  1.04561708e+01]
 [ 5.62819398e-01  2.71257166e-02  8.26134687e-01  2.08132037e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 456.44327355999997
Centerline is valid?  [True, True]
Translation: X:304.81, Y:10.48, Z:208.16
[[ 7.73887305e-01 -3.69085186e-01 -5.14659659e-01  3.04809291e+02]
 [ 2.90487135e-01  9.28972729e-01 -2.29405520e-01  1.04764140e+01]
 [ 5.62774968e-01  2.80320093e-02  8.26134700e-01  2.08164595e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 456.50327355999997
Centerline is valid?  [True, True]
Translation: X:304.85, Y:10.50, Z:208.20
[[ 7.81393777e-01 -3.52952410e-01 -5.14634201e-01  3.04854685e+02]
 [ 2.71116828e-01  9.34795471e-01 -2.29462619e-01  1.04957888e+01]
 [ 5.62067105e-01  3.97746703e-02  8.26134702e-01  2.08198234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 456.56327355999997
Centerline is valid?  [True, True]
Translation: X:304.90, Y:10.52, Z:208.23
[[ 7.81424280e-01 -3.52961850e-01 -5.14581409e-01  3.04898386e+02]
 [ 2.71050655e-01  9.34785604e-01 -2.29580959e-01  1.05159012e+01]
 [ 5.62056614e-01  3.99225078e-02  8.26134708e-01  2.08231000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 456.62327356
Centerline is valid?  [True, True]
Translation: X:304.94, Y:10.54, Z:208.26
[[ 7.81701974e-01 -3.52465928e-01 -5.14499556e-01  3.04942422e+02]
 [ 2.70337510e-01  9.34947062e-01 -2.29764277e-01  1.05363968e+01]
 [ 5.62013927e-01  4.05186597e-02  8.26134725e-01  2.08264058e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 456.68327356
Centerline is valid?  [True, True]
Translation: X:304.99, Y:10.56, Z:208.30
[[ 7.82877131e-01 -3.49955309e-01 -5.14426554e-01  3.04987373e+02]
 [ 2.67228870e-01  9.35800201e-01 -2.29927630e-01  1.05574858e+01]
 [ 5.61864867e-01  4.25354566e-02  8.26134738e-01  2.08297858e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 456.74327356
Centerline is valid?  [True, True]
Translation: X:305.03, Y:10.58, Z:208.33
[[ 7.83243735e-01 -3.49212194e-01 -5.14373497e-01  3.05031375e+02]
 [ 2.66263293e-01  9.36046244e-01 -2.30046274e-01  1.05797279e+01]
 [ 5.61812344e-01  4.32235216e-02  8.26134745e-01  2.08331405e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 456.80327356
Centerline is valid?  [True, True]
Translation: X:305.08, Y:10.60, Z:208.36
[[ 7.83915147e-01 -3.47728741e-01 -5.14355680e-01  3.05075308e+02]
 [ 2.64464764e-01  9.36546194e-01 -2.30086105e-01  1.06011953e+01]
 [ 5.61725406e-01  4.43390297e-02  8.26134746e-01  2.08364722e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 456.86327356
Centerline is valid?  [True, True]
Translation: X:305.12, Y:10.62, Z:208.40
[[ 7.85339817e-01 -3.44606020e-01 -5.14284029e-01  3.05119103e+02]
 [ 2.60631271e-01  9.37580953e-01 -2.30246167e-01  1.06237587e+01]
 [ 5.61527126e-01  4.67829828e-02  8.26134759e-01  2.08398217e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 456.92327356
Centerline is valid?  [True, True]
Translation: X:305.16, Y:10.64, Z:208.43
[[ 7.86011314e-01 -3.43161511e-01 -5.14224068e-01  3.05163770e+02]
 [ 2.58820176e-01  9.38049659e-01 -2.30380021e-01  1.06448640e+01]
 [ 5.61425267e-01  4.79897392e-02  8.26134768e-01  2.08431857e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 456.98327356
Centerline is valid?  [True, True]
Translation: X:305.21, Y:10.67, Z:208.47
[[ 7.86662124e-01 -3.41758286e-01 -5.14163375e-01  3.05207476e+02]
 [ 2.57058074e-01  9.38500822e-01 -2.30515411e-01  1.06671972e+01]
 [ 5.61323301e-01  4.91678963e-02  8.26134777e-01  2.08465242e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 457.04327356
Centerline is valid?  [True, True]
Translation: X:305.25, Y:10.69, Z:208.50
[[ 7.79809022e-01 -3.57174294e-01 -5.14124900e-01  3.05251081e+02]
 [ 2.75422558e-01  9.33255326e-01 -2.30601196e-01  1.06899668e+01]
 [ 5.62174621e-01  3.82232978e-02  8.26134780e-01  2.08498704e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 457.10327356
Centerline is valid?  [True, True]
Translation: X:305.29, Y:10.71, Z:208.53
[[ 7.81702262e-01 -3.53031000e-01 -5.14111551e-01  3.05294955e+02]
 [ 2.70446666e-01  9.34702073e-01 -2.30630953e-01  1.07109060e+01]
 [ 5.61961009e-01  4.12449829e-02  8.26134781e-01  2.08531842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 457.16327356
Centerline is valid?  [True, True]
Translation: X:305.34, Y:10.73, Z:208.57
[[ 7.83548838e-01 -3.48942970e-01 -5.14091453e-01  3.05339421e+02]
 [ 2.65531396e-01  9.36099235e-01 -2.30675747e-01  1.07315877e+01]
 [ 5.61733296e-01  4.42382922e-02  8.26134782e-01  2.08565272e+02]
 [ 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 457.22327356
Centerline is valid?  [True, True]
Translation: X:305.38, Y:10.75, Z:208.60
[[ 7.84842078e-01 -3.46053426e-01 -5.14071920e-01  3.05384445e+02]
 [ 2.62052033e-01  9.37068488e-01 -2.30719270e-01  1.07503112e+01]
 [ 5.61561791e-01  4.63645990e-02  8.26134783e-01  2.08598503e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 457.28327356
Centerline is valid?  [True, True]
Translation: X:305.43, Y:10.77, Z:208.63
[[ 7.85639181e-01 -3.44261604e-01 -5.14057414e-01  3.05430761e+02]
 [ 2.59892103e-01  9.37661879e-01 -2.30751587e-01  1.07679420e+01]
 [ 5.61450952e-01  4.76880259e-02  8.26134783e-01  2.08632236e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 457.34327356
Centerline is valid?  [True, True]
Translation: X:305.48, Y:10.78, Z:208.67
[[ 7.85692021e-01 -3.44188524e-01 -5.14025591e-01  3.05476393e+02]
 [ 2.59758914e-01  9.37681342e-01 -2.30822458e-01  1.07844623e+01]
 [ 5.61438647e-01  4.78326337e-02  8.26134786e-01  2.08665220e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 457.40327356
Centerline is valid?  [True, True]
Translation: X:305.52, Y:10.81, Z:208.70
[[ 7.89218415e-01 -3.36134441e-01 -5.13953237e-01  3.05519565e+02]
 [ 2.50050977e-01  9.40277164e-01 -2.30983472e-01  1.08078161e+01]
 [ 5.60899993e-01  5.37819000e-02  8.26134799e-01  2.08698550e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 457.46327356
Centerline is valid?  [True, True]
Translation: X:305.57, Y:10.82, Z:208.73
[[ 7.96719989e-01 -3.17977284e-01 -5.13933563e-01  3.05566671e+02]
 [ 2.28430155e-01  9.45751594e-01 -2.31027241e-01  1.08221802e+01]
 [ 5.59514901e-01  6.66660975e-02  8.26134800e-01  2.08731856e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 457.52327356
Centerline is valid?  [True, True]
Translation: X:305.61, Y:10.84, Z:208.77
[[ 7.97437572e-01 -3.16204808e-01 -5.13914233e-01  3.05613959e+02]
 [ 2.26299271e-01  9.46253236e-01 -2.31070234e-01  1.08368289e+01]
 [ 5.59358525e-01  6.79656698e-02  8.26134801e-01  2.08765354e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 457.58327356
Centerline is valid?  [True, True]
Translation: X:305.66, Y:10.85, Z:208.80
[[ 7.98003763e-01 -3.14803803e-01 -5.13895476e-01  3.05661073e+02]
 [ 2.24610667e-01  9.46645297e-01 -2.31111943e-01  1.08526759e+01]
 [ 5.59231654e-01  6.90017942e-02  8.26134801e-01  2.08799079e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 457.64327356
Centerline is valid?  [True, True]
Translation: X:305.71, Y:10.87, Z:208.83
[[ 7.87885461e-01 -3.39373432e-01 -5.13869803e-01  3.05709842e+02]
 [ 2.53791383e-01  9.39228844e-01 -2.31169014e-01  1.08653167e+01]
 [ 5.61093962e-01  5.17189769e-02  8.26134803e-01  2.08832930e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 457.70327356
Centerline is valid?  [True, True]
Translation: X:305.76, Y:10.88, Z:208.87
[[ 7.88315217e-01 -3.38402055e-01 -5.13851310e-01  3.05756754e+02]
 [ 2.52607017e-01  9.39537959e-01 -2.31210115e-01  1.08802462e+01]
 [ 5.61024789e-01  5.24640056e-02  8.26134804e-01  2.08866271e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 457.76327356
Centerline is valid?  [True, True]
Translation: X:305.80, Y:10.90, Z:208.90
[[ 7.89126842e-01 -3.36619763e-01 -5.13776180e-01  3.05802399e+02]
 [ 2.50375765e-01  9.40093972e-01 -2.31376965e-01  1.08964060e+01]
 [ 5.60883949e-01  5.39486699e-02  8.26134818e-01  2.08899119e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 457.82327356
Centerline is valid?  [True, True]
Translation: X:305.85, Y:10.91, Z:208.93
[[ 7.90603429e-01 -3.33164914e-01 -5.13758073e-01  3.05848653e+02]
 [ 2.46235605e-01  9.41176988e-01 -2.31417165e-01  1.09138291e+01]
 [ 5.60637355e-01  5.64536742e-02  8.26134818e-01  2.08932748e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 457.88327355999996
Centerline is valid?  [True, True]
Translation: X:305.89, Y:10.93, Z:208.97
[[ 7.93202520e-01 -3.27021284e-01 -5.13699175e-01  3.05894866e+02]
 [ 2.38842972e-01  9.43048052e-01 -2.31547848e-01  1.09314975e+01]
 [ 5.60164081e-01  6.09708987e-02  8.26134827e-01  2.08966383e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 457.94327355999997
Centerline is valid?  [True, True]
Translation: X:305.94, Y:10.95, Z:209.00
[[ 7.93663843e-01 -3.25926634e-01 -5.13682328e-01  3.05939863e+02]
 [ 2.37517835e-01  9.43373503e-01 -2.31585216e-01  1.09498856e+01]
 [ 5.60074087e-01  6.17920976e-02  8.26134828e-01  2.08999501e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 458.00327355999997
Centerline is valid?  [True, True]
Translation: X:305.99, Y:10.97, Z:209.03
[[ 7.93631216e-01 -3.26124095e-01 -5.13607406e-01  3.05985064e+02]
 [ 2.37646621e-01  9.43300285e-01 -2.31751281e-01  1.09682064e+01]
 [ 5.60065689e-01  6.18679864e-02  8.26134841e-01  2.09032674e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 458.06327355999997
Centerline is valid?  [True, True]
Translation: X:306.03, Y:10.99, Z:209.07
[[ 7.92967568e-01 -3.27757189e-01 -5.13592895e-01  3.06031185e+02]
 [ 2.39567479e-01  9.42806375e-01 -2.31783437e-01  1.09862144e+01]
 [ 5.60187343e-01  6.07565930e-02  8.26134842e-01  2.09066385e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 458.12327356
Centerline is valid?  [True, True]
Translation: X:306.08, Y:11.00, Z:209.10
[[ 7.91922447e-01 -3.30300564e-01 -5.13576066e-01  3.06075247e+02]
 [ 2.42568361e-01  9.42029588e-01 -2.31820721e-01  1.10042437e+01]
 [ 5.60374364e-01  5.90067284e-02  8.26134843e-01  2.09098821e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 458.18327356
Centerline is valid?  [True, True]
Translation: X:306.12, Y:11.02, Z:209.13
[[ 7.89224947e-01 -3.36734696e-01 -5.13550122e-01  3.06121121e+02]
 [ 2.50190077e-01  9.40019911e-01 -2.31878183e-01  1.10216573e+01]
 [ 5.60828769e-01  5.45189021e-02  8.26134844e-01  2.09132201e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 458.24327356
Centerline is valid?  [True, True]
Translation: X:306.17, Y:11.04, Z:209.17
[[ 7.83364738e-01 -3.50177263e-01 -5.13532445e-01  3.06166933e+02]
 [ 2.66197662e-01  9.35603099e-01 -2.31917325e-01  1.10387945e+01]
 [ 5.61674721e-01  4.49747183e-02  8.26134845e-01  2.09165473e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 458.30327356
Centerline is valid?  [True, True]
Translation: X:306.21, Y:11.06, Z:209.20
[[ 7.78557597e-01 -3.60764458e-01 -5.13514435e-01  3.06213442e+02]
 [ 2.78830172e-01  9.31906430e-01 -2.31957198e-01  1.10561388e+01]
 [ 5.62229316e-01  3.74087206e-02  8.26134846e-01  2.09199235e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 458.36327356
Centerline is valid?  [True, True]
Translation: X:306.26, Y:11.07, Z:209.23
[[ 7.73434341e-01 -3.71707641e-01 -5.13451800e-01  3.06258758e+02]
 [ 2.91852295e-01  9.27875955e-01 -2.32095778e-01  1.10736236e+01]
 [ 5.62691353e-01  2.96587592e-02  8.26134855e-01  2.09232252e+02]
 [ 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 458.42327356
Centerline is valid?  [True, True]
Translation: X:306.30, Y:11.09, Z:209.27
[[ 7.68750124e-01 -3.81326404e-01 -5.13432975e-01  3.06304324e+02]
 [ 3.03375993e-01  9.24161906e-01 -2.32137415e-01  1.10925192e+01]
 [ 5.63015322e-01  2.26924278e-02  8.26134856e-01  2.09265862e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 458.48327356
Centerline is valid?  [True, True]
Translation: X:306.35, Y:11.11, Z:209.30
[[ 7.64604408e-01 -3.89654002e-01 -5.13371072e-01  3.06349096e+02]
 [ 3.13304475e-01  9.20808873e-01 -2.32274248e-01  1.11125613e+01]
 [ 5.63223228e-01  1.67564601e-02  8.26134866e-01  2.09299259e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 458.54327356
Centerline is valid?  [True, True]
Translation: X:306.39, Y:11.13, Z:209.33
[[ 7.62676842e-01 -3.93440266e-01 -5.13350554e-01  3.06392354e+02]
 [ 3.17835672e-01  9.19243218e-01 -2.32319588e-01  1.11325331e+01]
 [ 5.63297896e-01  1.40236517e-02  8.26134867e-01  2.09331736e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 458.60327356
Centerline is valid?  [True, True]
Translation: X:306.43, Y:11.16, Z:209.37
[[ 7.66593193e-01 -3.85788400e-01 -5.13324641e-01  3.06434161e+02]
 [ 3.08582544e-01  9.22376182e-01 -2.32376832e-01  1.11598081e+01]
 [ 5.63126709e-01  1.97354744e-02  8.26134868e-01  2.09365360e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 458.66327356
Centerline is valid?  [True, True]
Translation: X:306.48, Y:11.18, Z:209.40
[[ 7.71622811e-01 -3.75702604e-01 -5.13269706e-01  3.06481119e+02]
 [ 2.96380087e-01  9.26338744e-01 -2.32498121e-01  1.11752265e+01]
 [ 5.62811764e-01  2.72779334e-02  8.26134875e-01  2.09398822e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 458.72327356
Centerline is valid?  [True, True]
Translation: X:306.52, Y:11.20, Z:209.43
[[ 7.70476327e-01 -3.78076129e-01 -5.13249131e-01  3.06522704e+02]
 [ 2.99200076e-01  9.25420347e-01 -2.32543534e-01  1.11985755e+01]
 [ 5.62890348e-01  2.56051090e-02  8.26134877e-01  2.09431210e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 458.78327356
Centerline is valid?  [True, True]
Translation: X:306.56, Y:11.23, Z:209.46
[[ 7.70578403e-01 -3.77910275e-01 -5.13218033e-01  3.06563597e+02]
 [ 2.98955287e-01  9.25482212e-01 -2.32612150e-01  1.12279024e+01]
 [ 5.62880682e-01  2.58166546e-02  8.26134879e-01  2.09464842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 458.84327356
Centerline is valid?  [True, True]
Translation: X:306.61, Y:11.25, Z:209.50
[[ 7.70800316e-01 -3.77545399e-01 -5.13153335e-01  3.06605366e+02]
 [ 2.98422346e-01  9.25618336e-01 -2.32754808e-01  1.12527130e+01]
 [ 5.62859642e-01  2.62710573e-02  8.26134889e-01  2.09497718e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 458.90327356
Centerline is valid?  [True, True]
Translation: X:306.65, Y:11.28, Z:209.53
[[ 7.71427326e-01 -3.76289086e-01 -5.13133906e-01  3.06646849e+02]
 [ 2.96885495e-01  9.26101649e-01 -2.32797635e-01  1.12777991e+01]
 [ 5.62813365e-01  2.72444429e-02  8.26134890e-01  2.09530535e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 458.96327356
Centerline is valid?  [True, True]
Translation: X:306.69, Y:11.31, Z:209.56
[[ 7.63058749e-01 -3.93014715e-01 -5.13108935e-01  3.06687690e+02]
 [ 3.16964500e-01  9.19409128e-01 -2.32852662e-01  1.13060241e+01]
 [ 5.63271561e-01  1.50429441e-02  8.26134891e-01  2.09563835e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 459.02327356
Centerline is valid?  [True, True]
Translation: X:306.73, Y:11.33, Z:209.60
[[ 7.66979906e-01 -3.85331613e-01 -5.13090023e-01  3.06730259e+02]
 [ 3.07687201e-01  9.22544751e-01 -2.32894329e-01  1.13316128e+01]
 [ 5.63090055e-01  2.07540370e-02  8.26134892e-01  2.09597471e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 459.08327356
Centerline is valid?  [True, True]
Translation: X:306.77, Y:11.36, Z:209.63
[[ 7.70570947e-01 -3.78125498e-01 -5.13070681e-01  3.06772983e+02]
 [ 2.98998036e-01  9.25386709e-01 -2.32936932e-01  1.13572072e+01]
 [ 5.62868182e-01  2.60873066e-02  8.26134893e-01  2.09631205e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 459.14327356
Centerline is valid?  [True, True]
Translation: X:306.82, Y:11.38, Z:209.66
[[ 7.73810772e-01 -3.71479101e-01 -5.13049868e-01  3.06815946e+02]
 [ 2.90991774e-01  9.27923929e-01 -2.32982767e-01  1.13820835e+01]
 [ 5.62619478e-01  3.09912833e-02  8.26134894e-01  2.09664885e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 459.20327356
Centerline is valid?  [True, True]
Translation: X:306.86, Y:11.40, Z:209.70
[[ 7.76685016e-01 -3.65518772e-01 -5.12987731e-01  3.06860379e+02]
 [ 2.83759046e-01  9.30126924e-01 -2.33119516e-01  1.14039302e+01]
 [ 5.62353260e-01  3.54955256e-02  8.26134904e-01  2.09698590e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 459.26327356
Centerline is valid?  [True, True]
Translation: X:306.90, Y:11.43, Z:209.73
[[ 7.79331289e-01 -3.59869075e-01 -5.12968801e-01  3.06904670e+02]
 [ 2.76970003e-01  9.32160656e-01 -2.33161165e-01  1.14260097e+01]
 [ 5.62076827e-01  3.96328209e-02  8.26134904e-01  2.09732307e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 459.32327356
Centerline is valid?  [True, True]
Translation: X:306.95, Y:11.45, Z:209.77
[[ 7.81547157e-01 -3.55055981e-01 -5.12951549e-01  3.06949621e+02]
 [ 2.71191233e-01  9.33848750e-01 -2.33199114e-01  1.14458660e+01]
 [ 5.61817903e-01  4.31481409e-02  8.26134905e-01  2.09765809e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 459.38327355999996
Centerline is valid?  [True, True]
Translation: X:306.99, Y:11.46, Z:209.80
[[ 7.82962903e-01 -3.51941653e-01 -5.12938753e-01  3.06994399e+02]
 [ 2.67452931e-01  9.34919235e-01 -2.33227256e-01  1.14649911e+01]
 [ 5.61638693e-01  4.54213170e-02  8.26134906e-01  2.09799000e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 459.44327355999997
Centerline is valid?  [True, True]
Translation: X:307.04, Y:11.48, Z:209.83
[[ 7.84316290e-01 -3.48934621e-01 -5.12925518e-01  3.07040719e+02]
 [ 2.63844553e-01  9.35936708e-01 -2.33256361e-01  1.14826661e+01]
 [ 5.61457041e-01  4.76141593e-02  8.26134906e-01  2.09832739e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 459.50327355999997
Centerline is valid?  [True, True]
Translation: X:307.09, Y:11.50, Z:209.87
[[ 7.94531779e-01 -3.25054876e-01 -5.12892366e-01  3.07085747e+02]
 [ 2.35371964e-01  9.43481587e-01 -2.33329238e-01  1.15028143e+01]
 [ 5.59749310e-01  6.46670117e-02  8.26134909e-01  2.09866358e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 459.56327355999997
Centerline is valid?  [True, True]
Translation: X:307.13, Y:11.52, Z:209.90
[[ 7.83671319e-01 -3.50456456e-01 -5.12873801e-01  3.07132362e+02]
 [ 2.65587081e-01  9.35415376e-01 -2.33370040e-01  1.15170562e+01]
 [ 5.61536077e-01  4.66727514e-02  8.26134909e-01  2.09899304e+02]
 [ 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 459.62327356
Centerline is valid?  [True, True]
Translation: X:307.18, Y:11.53, Z:209.93
[[ 7.82309989e-01 -3.53509261e-01 -5.12856982e-01  3.07179521e+02]
 [ 2.69208123e-01  9.34370462e-01 -2.33406996e-01  1.15329821e+01]
 [ 5.61709950e-01  4.45313590e-02  8.26134910e-01  2.09933066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 459.68327356
Centerline is valid?  [True, True]
Translation: X:307.23, Y:11.55, Z:209.97
[[ 7.80393462e-01 -3.57751782e-01 -5.12834971e-01  3.07226217e+02]
 [ 2.74245965e-01  9.32892142e-01 -2.33455351e-01  1.15482661e+01]
 [ 5.61938783e-01  4.15441083e-02  8.26134911e-01  2.09966353e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 459.74327356
Centerline is valid?  [True, True]
Translation: X:307.27, Y:11.56, Z:210.00
[[ 7.77588431e-01 -3.63834437e-01 -5.12816473e-01  3.07273093e+02]
 [ 2.81495271e-01  9.30720173e-01 -2.33495979e-01  1.15623686e+01]
 [ 5.62242514e-01  3.72083603e-02  8.26134912e-01  2.09999422e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 459.80327356
Centerline is valid?  [True, True]
Translation: X:307.32, Y:11.58, Z:210.03
[[ 7.75847744e-01 -3.67555323e-01 -5.12799534e-01  3.07319839e+02]
 [ 2.85926211e-01  9.29359166e-01 -2.33533175e-01  1.15778207e+01]
 [ 5.62411309e-01  3.45633590e-02  8.26134913e-01  2.10032791e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 459.86327356
Centerline is valid?  [True, True]
Translation: X:307.37, Y:11.59, Z:210.07
[[ 7.83526391e-01 -3.50913191e-01 -5.12782924e-01  3.07368564e+02]
 [ 2.66002706e-01  9.35247444e-01 -2.33569642e-01  1.15900419e+01]
 [ 5.61541587e-01  4.66063336e-02  8.26134913e-01  2.10066475e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 459.92327356
Centerline is valid?  [True, True]
Translation: X:307.42, Y:11.61, Z:210.10
[[ 7.81041749e-01 -3.56435602e-01 -5.12764515e-01  3.07415099e+02]
 [ 2.72571935e-01  9.33343926e-01 -2.33610050e-01  1.16062517e+01]
 [ 5.61852585e-01  4.26939861e-02  8.26134914e-01  2.10099925e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 459.98327356
Centerline is valid?  [True, True]
Translation: X:307.46, Y:11.62, Z:210.13
[[ 7.79952907e-01 -3.58832737e-01 -5.12749969e-01  3.07462946e+02]
 [ 2.75416377e-01  9.32500535e-01 -2.33641974e-01  1.16192548e+01]
 [ 5.61978009e-01  4.10099979e-02  8.26134915e-01  2.10133285e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 460.04327356
Centerline is valid?  [True, True]
Translation: X:307.51, Y:11.63, Z:210.17
[[ 7.80262382e-01 -3.58183202e-01 -5.12733272e-01  3.07511400e+02]
 [ 2.74615938e-01  9.32727395e-01 -2.33678611e-01  1.16324214e+01]
 [ 5.61940122e-01  4.15259010e-02  8.26134915e-01  2.10167066e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 460.10327356
Centerline is valid?  [True, True]
Translation: X:307.56, Y:11.65, Z:210.20
[[ 7.76851453e-01 -3.65579534e-01 -5.12692329e-01  3.07557942e+02]
 [ 2.83405488e-01  9.30071857e-01 -2.33768412e-01  1.16463140e+01]
 [ 5.62301654e-01  3.63035111e-02  8.26134919e-01  2.10199840e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 460.16327356
Centerline is valid?  [True, True]
Translation: X:307.61, Y:11.66, Z:210.23
[[ 7.79340459e-01 -3.60270718e-01 -5.12672858e-01  3.07605103e+02]
 [ 2.77025276e-01  9.31981417e-01 -2.33811108e-01  1.16624470e+01]
 [ 5.62036872e-01  4.01951163e-02  8.26134920e-01  2.10233654e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 460.22327356
Centerline is valid?  [True, True]
Translation: X:307.65, Y:11.68, Z:210.27
[[ 7.80966150e-01 -3.56821003e-01 -5.12611593e-01  3.07651824e+02]
 [ 2.72813890e-01  9.33189235e-01 -2.33945365e-01  1.16771390e+01]
 [ 5.61840240e-01  4.28558484e-02  8.26134929e-01  2.10266742e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 460.28327356
Centerline is valid?  [True, True]
Translation: X:307.70, Y:11.69, Z:210.30
[[ 7.81076425e-01 -3.56611635e-01 -5.12589270e-01  3.07699291e+02]
 [ 2.72531851e-01  9.33259382e-01 -2.33994267e-01  1.16915974e+01]
 [ 5.61823823e-01  4.30705032e-02  8.26134931e-01  2.10300265e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 460.34327356
Centerline is valid?  [True, True]
Translation: X:307.75, Y:11.71, Z:210.33
[[ 7.79604332e-01 -3.59837388e-01 -5.12575983e-01  3.07746644e+02]
 [ 2.76368400e-01  9.32123152e-01 -2.34023368e-01  1.17066121e+01]
 [ 5.61994299e-01  4.07858273e-02  8.26134931e-01  2.10333885e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 460.40327356
Centerline is valid?  [True, True]
Translation: X:307.79, Y:11.72, Z:210.37
[[ 7.76080786e-01 -3.67465870e-01 -5.12510925e-01  3.07793491e+02]
 [ 2.85403085e-01  9.29360785e-01 -2.34165776e-01  1.17207629e+01]
 [ 5.62355486e-01  3.54593605e-02  8.26134941e-01  2.10366889e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 460.46327356
Centerline is valid?  [True, True]
Translation: X:307.84, Y:11.73, Z:210.40
[[ 7.72979608e-01 -3.73971825e-01 -5.12491561e-01  3.07841176e+02]
 [ 2.93171463e-01  9.26928819e-01 -2.34208150e-01  1.17345693e+01]
 [ 5.62630447e-01  3.07902229e-02  8.26134942e-01  2.10400364e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 460.52327356
Centerline is valid?  [True, True]
Translation: X:307.89, Y:11.75, Z:210.43
[[ 7.70289395e-01 -3.79512998e-01 -5.12468665e-01  3.07887666e+02]
 [ 2.99787004e-01  9.24797724e-01 -2.34258240e-01  1.17519063e+01]
 [ 5.62833902e-01  2.68151919e-02  8.26134943e-01  2.10434093e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 460.58327356
Centerline is valid?  [True, True]
Translation: X:307.93, Y:11.77, Z:210.47
[[ 7.66863299e-01 -3.86473510e-01 -5.12405022e-01  3.07934854e+02]
 [ 3.08057267e-01  9.22040447e-01 -2.34397383e-01  1.17677248e+01]
 [ 5.63046535e-01  2.19006602e-02  8.26134953e-01  2.10467777e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 460.64327356
Centerline is valid?  [True, True]
Translation: X:307.98, Y:11.79, Z:210.50
[[ 7.65861029e-01 -3.88537697e-01 -5.12342992e-01  3.07979827e+02]
 [ 3.10449194e-01  9.21203352e-01 -2.34532904e-01  1.17871188e+01]
 [ 5.63096956e-01  2.05631423e-02  8.26134962e-01  2.10501104e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 460.70327356
Centerline is valid?  [True, True]
Translation: X:308.02, Y:11.81, Z:210.53
[[ 7.65550489e-01 -3.89236708e-01 -5.12276521e-01  3.08024397e+02]
 [ 3.11193089e-01  9.20915353e-01 -2.34678020e-01  1.18079076e+01]
 [ 5.63108613e-01  2.02409604e-02  8.26134973e-01  2.10534571e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 460.76327356
Centerline is valid?  [True, True]
Translation: X:308.07, Y:11.83, Z:210.57
[[ 7.66596109e-01 -3.87253400e-01 -5.12215979e-01  3.08067913e+02]
 [ 3.08719704e-01  9.21713817e-01 -2.34810101e-01  1.18303884e+01]
 [ 5.63047555e-01  2.18733441e-02  8.26134981e-01  2.10567872e+02]
 [ 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 460.82327355999996
Centerline is valid?  [True, True]
Translation: X:308.11, Y:11.86, Z:210.60
[[ 7.68511769e-01 -3.83467781e-01 -5.12193441e-01  3.08109368e+02]
 [ 3.04137304e-01  9.23223500e-01 -2.34859254e-01  1.18562363e+01]
 [ 5.62929979e-01  2.47149687e-02  8.26134983e-01  2.10600897e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 460.88327355999996
Centerline is valid?  [True, True]
Translation: X:308.15, Y:11.88, Z:210.63
[[ 7.70870708e-01 -3.78736974e-01 -5.12168581e-01  3.08151670e+02]
 [ 2.98421173e-01  9.25073224e-01 -2.34913459e-01  1.18813039e+01]
 [ 5.62763853e-01  2.82459554e-02  8.26134984e-01  2.10634223e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 460.94327355999997
Centerline is valid?  [True, True]
Translation: X:308.19, Y:11.91, Z:210.67
[[ 7.72563408e-01 -3.75361380e-01 -5.12103130e-01  3.08193759e+02]
 [ 2.94277631e-01  9.26363492e-01 -2.35056069e-01  1.19072422e+01]
 [ 5.62624614e-01  3.08952221e-02  8.26134994e-01  2.10667621e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.00327355999997
Centerline is valid?  [True, True]
Translation: X:308.23, Y:11.93, Z:210.70
[[ 7.74038778e-01 -3.72398563e-01 -5.12038357e-01  3.08234671e+02]
 [ 2.90633218e-01  9.27477578e-01 -2.35197099e-01  1.19331005e+01]
 [ 5.62491157e-01  3.32363195e-02  8.26135004e-01  2.10700271e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.06327355999997
Centerline is valid?  [True, True]
Translation: X:308.28, Y:11.96, Z:210.73
[[ 7.75465335e-01 -3.69444877e-01 -5.12019527e-01  3.08277282e+02]
 [ 2.87068215e-01  9.28576805e-01 -2.35238086e-01  1.19587177e+01]
 [ 5.62356963e-01  3.54344497e-02  8.26135005e-01  2.10733954e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.12327356
Centerline is valid?  [True, True]
Translation: X:308.32, Y:11.98, Z:210.77
[[ 7.76321280e-01 -3.67731776e-01 -5.11955673e-01  3.08320854e+02]
 [ 2.84926114e-01  9.29201153e-01 -2.35376989e-01  1.19824377e+01]
 [ 5.62265399e-01  3.68586249e-02  8.26135015e-01  2.10767647e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.18327356
Centerline is valid?  [True, True]
Translation: X:308.36, Y:12.01, Z:210.80
[[ 7.76150971e-01 -3.68164849e-01 -5.11902641e-01  3.08363666e+02]
 [ 2.85368842e-01  9.29036066e-01 -2.35492276e-01  1.20061197e+01]
 [ 5.62275994e-01  3.66964948e-02  8.26135021e-01  2.10800871e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.24327356
Centerline is valid?  [True, True]
Translation: X:308.41, Y:12.03, Z:210.83
[[ 7.74817958e-01 -3.71061399e-01 -5.11830606e-01  3.08407551e+02]
 [ 2.88734132e-01  9.27955960e-01 -2.35648757e-01  1.20280236e+01]
 [ 5.62396419e-01  3.48019226e-02  8.26135034e-01  2.10834234e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.30327356
Centerline is valid?  [True, True]
Translation: X:308.45, Y:12.05, Z:210.87
[[ 7.72712308e-01 -3.75445247e-01 -5.11816916e-01  3.08451762e+02]
 [ 2.93967300e-01  9.26303879e-01 -2.35678490e-01  1.20488623e+01]
 [ 5.62582363e-01  3.16542331e-02  8.26135034e-01  2.10867556e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.36327356
Centerline is valid?  [True, True]
Translation: X:308.50, Y:12.07, Z:210.90
[[ 7.70537357e-01 -3.79914944e-01 -5.11797633e-01  3.08496438e+02]
 [ 2.99300331e-01  9.24583812e-01 -2.35720357e-01  1.20701764e+01]
 [ 5.62753493e-01  2.84501403e-02  8.26135035e-01  2.10901295e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.42327356
Centerline is valid?  [True, True]
Translation: X:308.54, Y:12.09, Z:210.93
[[ 7.68295456e-01 -3.84514962e-01 -5.11732681e-01  3.08541500e+02]
 [ 3.04729131e-01  9.22772781e-01 -2.35861297e-01  1.20902176e+01]
 [ 5.62905186e-01  2.52713075e-02  8.26135045e-01  2.10934863e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.48327356
Centerline is valid?  [True, True]
Translation: X:308.59, Y:12.11, Z:210.97
[[ 7.66618438e-01 -3.87934414e-01 -5.11666943e-01  3.08585461e+02]
 [ 3.08742722e-01  9.21401173e-01 -2.36003835e-01  1.21099669e+01]
 [ 5.63004531e-01  2.29514465e-02  8.26135055e-01  2.10967666e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.54327356
Centerline is valid?  [True, True]
Translation: X:308.63, Y:12.13, Z:211.00
[[ 7.68684263e-01 -3.83934995e-01 -5.11584229e-01  3.08629293e+02]
 [ 3.03818984e-01  9.22990576e-01 -2.36183025e-01  1.21332759e+01]
 [ 5.62866351e-01  2.61211734e-02  8.26135071e-01  2.11001389e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.60327356
Centerline is valid?  [True, True]
Translation: X:308.68, Y:12.15, Z:211.04
[[ 7.66713915e-01 -3.87927040e-01 -5.11529455e-01  3.08675404e+02]
 [ 3.08535564e-01  9.21394246e-01 -2.36301607e-01  1.21517044e+01]
 [ 5.62988079e-01  2.33507014e-02  8.26135078e-01  2.11035156e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.66327356
Centerline is valid?  [True, True]
Translation: X:308.72, Y:12.17, Z:211.07
[[ 7.65389345e-01 -3.90606526e-01 -5.11474038e-01  3.08720287e+02]
 [ 3.11676598e-01  9.20305693e-01 -2.36421507e-01  1.21701464e+01]
 [ 5.63060253e-01  2.15400148e-02  8.26135085e-01  2.11068165e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.72327356
Centerline is valid?  [True, True]
Translation: X:308.77, Y:12.19, Z:211.10
[[ 7.65183569e-01 -3.91034087e-01 -5.11455226e-01  3.08766072e+02]
 [ 3.12163570e-01  9.20130172e-01 -2.36462198e-01  1.21877579e+01]
 [ 5.63070165e-01  2.12792997e-02  8.26135086e-01  2.11101532e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.78327356
Centerline is valid?  [True, True]
Translation: X:308.81, Y:12.21, Z:211.13
[[ 7.65247803e-01 -3.90928677e-01 -5.11439702e-01  3.08810459e+02]
 [ 3.12014418e-01  9.20172132e-01 -2.36495770e-01  1.22075131e+01]
 [ 5.63065540e-01  2.14013077e-02  8.26135087e-01  2.11134650e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.84327356
Centerline is valid?  [True, True]
Translation: X:308.85, Y:12.23, Z:211.17
[[ 7.65428664e-01 -3.90671352e-01 -5.11365676e-01  3.08853742e+02]
 [ 3.11598311e-01  9.20271997e-01 -2.36655748e-01  1.22273876e+01]
 [ 5.63050133e-01  2.18024118e-02  8.26135100e-01  2.11167059e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.90327356
Centerline is valid?  [True, True]
Translation: X:308.90, Y:12.25, Z:211.20
[[ 7.66925489e-01 -3.87775935e-01 -5.11326821e-01  3.08898609e+02]
 [ 3.08062456e-01  9.21440096e-01 -2.36739675e-01  1.22467482e+01]
 [ 5.62958984e-01  2.40410945e-02  8.26135103e-01  2.11200337e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 461.96327356
Centerline is valid?  [True, True]
Translation: X:308.94, Y:12.27, Z:211.23
[[ 7.68974429e-01 -3.83719765e-01 -5.11309564e-01  3.08942763e+02]
 [ 3.03166568e-01  9.23052930e-01 -2.36776941e-01  1.22673443e+01]
 [ 5.62821784e-01  2.70634467e-02  8.26135104e-01  2.11233549e+02]
 [ 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 462.02327356
Centerline is valid?  [True, True]
Translation: X:308.99, Y:12.28, Z:211.27
[[ 7.67080169e-01 -3.87515809e-01 -5.11292003e-01  3.08988463e+02]
 [ 3.07699928e-01  9.21541902e-01 -2.36814857e-01  1.22843471e+01]
 [ 5.62946506e-01  2.43314681e-02  8.26135105e-01  2.11266689e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 462.08327356
Centerline is valid?  [True, True]
Translation: X:309.03, Y:12.30, Z:211.30
[[ 7.69541723e-01 -3.82629242e-01 -5.11273313e-01  3.09032382e+02]
 [ 3.01805853e-01  9.23478662e-01 -2.36855203e-01  1.23039822e+01]
 [ 5.62777722e-01  2.79646830e-02  8.26135105e-01  2.11299480e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 462.14327356
Centerline is valid?  [True, True]
Translation: X:309.08, Y:12.32, Z:211.33
[[ 7.71563690e-01 -3.78561337e-01 -5.11254131e-01  3.09077054e+02]
 [ 2.96899078e-01  9.25057262e-01 -2.36896601e-01  1.23246513e+01]
 [ 5.62619241e-01  3.09899357e-02  8.26135106e-01  2.11333032e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 462.20327356
Centerline is valid?  [True, True]
Translation: X:309.12, Y:12.35, Z:211.37
[[ 7.72664888e-01 -3.76397220e-01 -5.11188912e-01  3.09121625e+02]
 [ 2.94212360e-01  9.25879269e-01 -2.37037266e-01  1.23460004e+01]
 [ 5.62519385e-01  3.27522764e-02  8.26135116e-01  2.11366668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 462.26327356
Centerline is valid?  [True, True]
Translation: X:309.17, Y:12.36, Z:211.40
[[ 7.75048642e-01 -3.71491947e-01 -5.11168597e-01  3.09165973e+02]
 [ 2.88308811e-01  9.27723340e-01 -2.37081069e-01  1.23643901e+01]
 [ 5.62296747e-01  3.63749502e-02  8.26135117e-01  2.11399364e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 462.32327355999996
Centerline is valid?  [True, True]
Translation: X:309.21, Y:12.38, Z:211.43
[[ 7.75337325e-01 -3.70916695e-01 -5.11148548e-01  3.09210060e+02]
 [ 2.87591938e-01  9.27934776e-01 -2.37124289e-01  1.23837322e+01]
 [ 5.62265871e-01  3.68491099e-02  8.26135118e-01  2.11432173e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 462.38327355999996
Centerline is valid?  [True, True]
Translation: X:309.26, Y:12.40, Z:211.47
[[ 7.75839624e-01 -3.69900846e-01 -5.11122532e-01  3.09255530e+02]
 [ 2.86339552e-01  9.28307675e-01 -2.37180357e-01  1.24033206e+01]
 [ 5.62212184e-01  3.76593222e-02  8.26135120e-01  2.11465901e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 462.44327355999997
Centerline is valid?  [True, True]
Translation: X:309.30, Y:12.42, Z:211.50
[[ 7.75817536e-01 -3.69975522e-01 -5.11102009e-01  3.09300982e+02]
 [ 2.86399931e-01  9.28277750e-01 -2.37224574e-01  1.24218883e+01]
 [ 5.62211909e-01  3.76634043e-02  8.26135121e-01  2.11499331e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 462.50327355999997
Centerline is valid?  [True, True]
Translation: X:309.35, Y:12.44, Z:211.53
[[ 7.74979747e-01 -3.71818819e-01 -5.11035378e-01  3.09347130e+02]
 [ 2.88511772e-01  9.27586853e-01 -2.37368043e-01  1.24398133e+01]
 [ 5.62287603e-01  3.65157030e-02  8.26135131e-01  2.11532957e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 462.56327355999997
Centerline is valid?  [True, True]
Translation: X:309.39, Y:12.46, Z:211.57
[[ 7.73926004e-01 -3.74096979e-01 -5.10969658e-01  3.09393051e+02]
 [ 2.91146289e-01  9.26727091e-01 -2.37509448e-01  1.24569413e+01]
 [ 5.62380991e-01  3.50478184e-02  8.26135141e-01  2.11566213e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 462.62327356
Centerline is valid?  [True, True]
Translation: X:309.44, Y:12.47, Z:211.60
[[ 7.72478501e-01 -3.77102378e-01 -5.10950841e-01  3.09439054e+02]
 [ 2.94719587e-01  9.25586517e-01 -2.37549922e-01  1.24734453e+01]
 [ 5.62509850e-01  3.29149864e-02  8.26135142e-01  2.11599390e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 462.68327356
Centerline is valid?  [True, True]
Translation: X:309.48, Y:12.49, Z:211.63
[[ 7.70872784e-01 -3.80399774e-01 -5.10931662e-01  3.09484525e+02]
 [ 2.98644732e-01  9.24316916e-01 -2.37591168e-01  1.24921870e+01]
 [ 5.62642404e-01  3.05655157e-02  8.26135143e-01  2.11632881e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 462.74327356
Centerline is valid?  [True, True]
Translation: X:309.53, Y:12.51, Z:211.67
[[ 7.70051988e-01 -3.82149800e-01 -5.10863451e-01  3.09528565e+02]
 [ 3.00646572e-01  9.23630010e-01 -2.37737761e-01  1.25104556e+01]
 [ 5.62700252e-01  2.94810902e-02  8.26135153e-01  2.11665297e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 462.80327356
Centerline is valid?  [True, True]
Translation: X:309.57, Y:12.53, Z:211.70
[[ 7.80605469e-01 -3.60138794e-01 -5.10837695e-01  3.09571990e+02]
 [ 2.74273346e-01  9.31787839e-01 -2.37793092e-01  1.25335249e+01]
 [ 5.61630870e-01  4.55134242e-02  8.26135155e-01  2.11698760e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 462.86327356
Centerline is valid?  [True, True]
Translation: X:309.62, Y:12.55, Z:211.73
[[ 7.70845397e-01 -3.80613366e-01 -5.10813899e-01  3.09618425e+02]
 [ 2.98733743e-01  9.24223072e-01 -2.37844202e-01  1.25503435e+01]
 [ 5.62632673e-01  3.07437600e-02  8.26135156e-01  2.11732288e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 462.92327356
Centerline is valid?  [True, True]
Translation: X:309.66, Y:12.57, Z:211.77
[[ 7.71735734e-01 -3.78831719e-01 -5.10793976e-01  3.09662501e+02]
 [ 2.96569811e-01  9.24908715e-01 -2.37886982e-01  1.25702781e+01]
 [ 5.62556934e-01  3.20998116e-02  8.26135157e-01  2.11765258e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 462.98327356
Centerline is valid?  [True, True]
Translation: X:309.71, Y:12.59, Z:211.80
[[ 7.71831064e-01 -3.78691634e-01 -5.10753811e-01  3.09707246e+02]
 [ 2.96345100e-01  9.24958562e-01 -2.37973193e-01  1.25895723e+01]
 [ 5.62544568e-01  3.23157138e-02  8.26135161e-01  2.11798435e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 463.04327356
Centerline is valid?  [True, True]
Translation: X:309.75, Y:12.61, Z:211.83
[[ 7.70109856e-01 -3.82278873e-01 -5.10679619e-01  3.09752399e+02]
 [ 3.00540563e-01  9.23562866e-01 -2.38132320e-01  1.26082257e+01]
 [ 5.62677687e-01  2.99081063e-02  8.26135174e-01  2.11831640e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 463.10327356
Centerline is valid?  [True, True]
Translation: X:309.80, Y:12.63, Z:211.87
[[ 7.72923970e-01 -3.76584893e-01 -5.10658746e-01  3.09795059e+02]
 [ 2.93686857e-01  9.25753591e-01 -2.38177074e-01  1.26339241e+01]
 [ 5.62438056e-01  3.41190078e-02  8.26135175e-01  2.11865395e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 463.16327356
Centerline is valid?  [True, True]
Translation: X:309.84, Y:12.65, Z:211.90
[[ 7.69595832e-01 -3.83426706e-01 -5.10593984e-01  3.09840528e+02]
 [ 3.01795915e-01  9.23106053e-01 -2.38315843e-01  1.26513779e+01]
 [ 5.62709056e-01  2.93117011e-02  8.26135184e-01  2.11898460e+02]
 [ 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 463.22327356
Centerline is valid?  [True, True]
Translation: X:309.89, Y:12.67, Z:211.93
[[ 7.65896072e-01 -3.90789600e-01 -5.10574868e-01  3.09886069e+02]
 [ 3.10607508e-01  9.20167928e-01 -2.38356791e-01  1.26691799e+01]
 [ 5.62961974e-01  2.39681430e-02  8.26135185e-01  2.11931721e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 463.28327356
Centerline is valid?  [True, True]
Translation: X:309.93, Y:12.69, Z:211.97
[[ 7.63837410e-01 -3.94819519e-01 -5.10558476e-01  3.09931593e+02]
 [ 3.15427938e-01  9.18517566e-01 -2.38391898e-01  1.26878998e+01]
 [ 5.63078703e-01  2.10482425e-02  8.26135186e-01  2.11965238e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 463.34327356
Centerline is valid?  [True, True]
Translation: X:309.98, Y:12.71, Z:212.00
[[ 7.63931318e-01 -3.94722918e-01 -5.10492663e-01  3.09975765e+02]
 [ 3.15217798e-01  9.18553134e-01 -2.38532764e-01  1.27088169e+01]
 [ 5.63068984e-01  2.13062760e-02  8.26135196e-01  2.11998499e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 463.40327356
Centerline is valid?  [True, True]
Translation: X:310.02, Y:12.73, Z:212.03
[[ 7.66704529e-01 -3.89403823e-01 -5.10420247e-01  3.10020184e+02]
 [ 3.08723090e-01  9.20716169e-01 -2.38687640e-01  1.27295173e+01]
 [ 5.62898054e-01  2.54243784e-02  8.26135208e-01  2.12031842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 463.46327356
Centerline is valid?  [True, True]
Translation: X:310.06, Y:12.75, Z:212.06
[[ 7.69103909e-01 -3.84728727e-01 -5.10355743e-01  3.10063512e+02]
 [ 3.03020639e-01  9.22572964e-01 -2.38825497e-01  1.27511253e+01]
 [ 5.62723440e-01  2.90333001e-02  8.26135217e-01  2.12064782e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 463.52327356
Centerline is valid?  [True, True]
Translation: X:310.11, Y:12.77, Z:212.10
[[ 7.68121974e-01 -3.86723225e-01 -5.10327131e-01  3.10109659e+02]
 [ 3.05373165e-01  9.21781108e-01 -2.38886623e-01  1.27670475e+01]
 [ 5.62792914e-01  2.76538531e-02  8.26135219e-01  2.12097860e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 463.58327356
Centerline is valid?  [True, True]
Translation: X:310.15, Y:12.79, Z:212.13
[[ 7.70809901e-01 -3.81438031e-01 -5.10252021e-01  3.10154077e+02]
 [ 2.98928691e-01  9.23849655e-01 -2.39046968e-01  1.27885925e+01]
 [ 5.62577758e-01  3.17308009e-02  8.26135232e-01  2.12131443e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 463.64327356
Centerline is valid?  [True, True]
Translation: X:310.20, Y:12.81, Z:212.16
[[ 7.72399972e-01 -3.78299056e-01 -5.10184386e-01  3.10198480e+02]
 [ 2.95072919e-01  9.25051090e-01 -2.39191248e-01  1.28092209e+01]
 [ 5.62432446e-01  3.42097169e-02  8.26135243e-01  2.12164760e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 463.70327356
Centerline is valid?  [True, True]
Translation: X:310.24, Y:12.83, Z:212.20
[[ 7.72460236e-01 -3.78265573e-01 -5.10117966e-01  3.10244258e+02]
 [ 2.94939735e-01  9.25056943e-01 -2.39332833e-01  1.28283364e+01]
 [ 5.62419537e-01  3.44210390e-02  8.26135253e-01  2.12198489e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 463.76327356
Centerline is valid?  [True, True]
Translation: X:310.29, Y:12.85, Z:212.23
[[ 7.72063432e-01 -3.79148767e-01 -5.10063005e-01  3.10288851e+02]
 [ 2.95920486e-01  9.24713362e-01 -2.39449919e-01  1.28483911e+01]
 [ 5.62449218e-01  3.39324338e-02  8.26135260e-01  2.12231771e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 463.82327355999996
Centerline is valid?  [True, True]
Translation: X:310.34, Y:12.86, Z:212.26
[[ 7.71448102e-01 -3.80496861e-01 -5.09990162e-01  3.10335131e+02]
 [ 2.97433274e-01  9.24187697e-01 -2.39604982e-01  1.28642147e+01]
 [ 5.62495577e-01  3.31547648e-02  8.26135272e-01  2.12264846e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 463.88327355999996
Centerline is valid?  [True, True]
Translation: X:310.38, Y:12.88, Z:212.30
[[ 7.70701988e-01 -3.82104055e-01 -5.09916599e-01  3.10380625e+02]
 [ 2.99255896e-01  9.23558528e-01 -2.39761453e-01  1.28820128e+01]
 [ 5.62551647e-01  3.21890796e-02  8.26135284e-01  2.12298007e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 463.94327355999997
Centerline is valid?  [True, True]
Translation: X:310.43, Y:12.90, Z:212.33
[[ 7.70135398e-01 -3.83268094e-01 -5.09899046e-01  3.10427277e+02]
 [ 3.00626365e-01  9.23103642e-01 -2.39798779e-01  1.28975275e+01]
 [ 5.62596887e-01  3.13884315e-02  8.26135285e-01  2.12331284e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 464.00327355999997
Centerline is valid?  [True, True]
Translation: X:310.47, Y:12.91, Z:212.36
[[ 7.70490058e-01 -3.82580024e-01 -5.09879983e-01  3.10472791e+02]
 [ 2.99774975e-01  9.23369954e-01 -2.39839306e-01  1.29133867e+01]
 [ 5.62565584e-01  3.19445420e-02  8.26135286e-01  2.12363956e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 464.06327355999997
Centerline is valid?  [True, True]
Translation: X:310.52, Y:12.93, Z:212.40
[[ 7.70947749e-01 -3.81708572e-01 -5.09841283e-01  3.10519952e+02]
 [ 2.98676543e-01  9.23704483e-01 -2.39921550e-01  1.29288548e+01]
 [ 5.62522791e-01  3.26893477e-02  8.26135289e-01  2.12397507e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 464.12327356
Centerline is valid?  [True, True]
Translation: X:310.57, Y:12.94, Z:212.43
[[ 7.71371290e-01 -3.80872162e-01 -5.09826176e-01  3.10566953e+02]
 [ 2.97653374e-01  9.24026361e-01 -2.39953648e-01  1.29442649e+01]
 [ 5.62484491e-01  3.33418736e-02  8.26135290e-01  2.12430970e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 464.18327356
Centerline is valid?  [True, True]
Translation: X:310.61, Y:12.96, Z:212.46
[[ 7.71230240e-01 -3.81249201e-01 -5.09757749e-01  3.10613329e+02]
 [ 2.98009411e-01  9.23873849e-01 -2.40098943e-01  1.29614516e+01]
 [ 5.62489384e-01  3.32589591e-02  8.26135300e-01  2.12464497e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 464.24327356
Centerline is valid?  [True, True]
Translation: X:310.66, Y:12.98, Z:212.50
[[ 7.70408865e-01 -3.82989140e-01 -5.09695496e-01  3.10661290e+02]
 [ 3.00007073e-01  9.23192723e-01 -2.40231040e-01  1.29753255e+01]
 [ 5.62553052e-01  3.21638689e-02  8.26135309e-01  2.12498044e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 464.30327356
Centerline is valid?  [True, True]
Translation: X:310.71, Y:12.99, Z:212.53
[[ 7.68427760e-01 -3.87035630e-01 -5.09629472e-01  3.10708884e+02]
 [ 3.04765691e-01  9.21596244e-01 -2.40371038e-01  1.29889229e+01]
 [ 5.62704763e-01  2.93902003e-02  8.26135319e-01  2.12531276e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 464.36327356
Centerline is valid?  [True, True]
Translation: X:310.76, Y:13.00, Z:212.56
[[ 7.66087613e-01 -3.91672989e-01 -5.09609693e-01  3.10756840e+02]
 [ 3.10302495e-01  9.19735814e-01 -2.40412966e-01  1.30028804e+01]
 [ 5.62869550e-01  2.60442361e-02  8.26135320e-01  2.12564895e+02]
 [ 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 : 0.980105 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.977070 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 464.42327356
Centerline is valid?  [True, True]
Translation: X:310.80, Y:13.02, Z:212.60
[[ 7.63591440e-01 -3.96603932e-01 -5.09542376e-01  3.10803552e+02]
 [ 3.16130739e-01  9.17711486e-01 -2.40555572e-01  1.30162917e+01]
 [ 5.63018177e-01  2.26041678e-02  8.26135330e-01  2.12597523e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 464.48327356
Centerline is valid?  [True, True]
Translation: X:310.85, Y:13.03, Z:212.63
[[ 7.61600644e-01 -4.00442253e-01 -5.09519834e-01  3.10849373e+02]
 [ 3.20713912e-01  9.16107326e-01 -2.40603311e-01  1.30333417e+01]
 [ 5.63122584e-01  1.98335374e-02  8.26135331e-01  2.12630719e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 464.54327356
Centerline is valid?  [True, True]
Translation: X:310.90, Y:13.04, Z:212.66
[[ 7.56221774e-01 -4.10600538e-01 -5.09446590e-01  3.10902659e+02]
 [ 3.32843068e-01  9.11729634e-01 -2.40758316e-01  1.30355496e+01]
 [ 5.63333046e-01  1.25009146e-02  8.26135344e-01  2.12664123e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 464.60327356
Centerline is valid?  [True, True]
Translation: X:310.95, Y:13.05, Z:212.70
[[ 7.56437000e-01 -4.10236387e-01 -5.09420427e-01  3.10949923e+02]
 [ 3.32366802e-01  9.11888748e-01 -2.40813663e-01  1.30512708e+01]
 [ 5.63325282e-01  1.28459264e-02  8.26135345e-01  2.12697813e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 464.66327356
Centerline is valid?  [True, True]
Translation: X:310.99, Y:13.08, Z:212.73
[[ 7.59141708e-01 -4.05288131e-01 -5.09357828e-01  3.10989003e+02]
 [ 3.26316398e-01  9.14036448e-01 -2.40946010e-01  1.30837198e+01]
 [ 5.63224178e-01  1.67003536e-02  8.26135354e-01  2.12731284e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 464.72327356
Centerline is valid?  [True, True]
Translation: X:311.03, Y:13.10, Z:212.76
[[ 7.62488579e-01 -3.99035272e-01 -5.09295610e-01  3.11033564e+02]
 [ 3.18705514e-01  9.16683398e-01 -2.41077465e-01  1.31022803e+01]
 [ 5.63061242e-01  2.15034944e-02  8.26135363e-01  2.12764085e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 464.78327356
Centerline is valid?  [True, True]
Translation: X:311.08, Y:13.12, Z:212.80
[[ 7.67148735e-01 -3.90042942e-01 -5.09263509e-01  3.11078749e+02]
 [ 3.07860963e-01  9.20364379e-01 -2.41145261e-01  1.31217939e+01]
 [ 5.62765001e-01  2.82119270e-02  8.26135365e-01  2.12797590e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 464.84327356
Centerline is valid?  [True, True]
Translation: X:311.12, Y:13.14, Z:212.83
[[ 7.72067160e-01 -3.80302729e-01 -5.09197540e-01  3.11122961e+02]
 [ 2.96096856e-01  9.24179877e-01 -2.41284495e-01  1.31421201e+01]
 [ 5.62351272e-01  3.55160442e-02  8.26135375e-01  2.12830686e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 464.90327356
Centerline is valid?  [True, True]
Translation: X:311.17, Y:13.16, Z:212.86
[[ 7.76114410e-01 -3.72064342e-01 -5.09131170e-01  3.11168853e+02]
 [ 2.86153130e-01  9.27270515e-01 -2.41424477e-01  1.31591110e+01]
 [ 5.61927761e-01  4.16835380e-02  8.26135385e-01  2.12863841e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 464.96327356
Centerline is valid?  [True, True]
Translation: X:311.21, Y:13.18, Z:212.90
[[ 7.77721204e-01 -3.68729455e-01 -5.09105410e-01  3.11214005e+02]
 [ 2.82134912e-01  9.28486880e-01 -2.41478787e-01  1.31785218e+01]
 [ 5.61738036e-01  4.41667628e-02  8.26135386e-01  2.12897303e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 465.02327356
Centerline is valid?  [True, True]
Translation: X:311.26, Y:13.19, Z:212.93
[[ 7.78801161e-01 -3.66535154e-01 -5.09039029e-01  3.11261545e+02]
 [ 2.79425177e-01  9.29269604e-01 -2.41618655e-01  1.31907176e+01]
 [ 5.61596227e-01  4.59345681e-02  8.26135396e-01  2.12930070e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 465.08327356
Centerline is valid?  [True, True]
Translation: X:311.31, Y:13.21, Z:212.96
[[ 7.77791882e-01 -3.68700821e-01 -5.09018166e-01  3.11307616e+02]
 [ 2.81981331e-01  9.28485711e-01 -2.41662601e-01  1.32065258e+01]
 [ 5.61717293e-01  4.44295890e-02  8.26135397e-01  2.12963050e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 465.14327356
Centerline is valid?  [True, True]
Translation: X:311.36, Y:13.22, Z:213.00
[[ 7.74496592e-01 -3.75602678e-01 -5.08996716e-01  3.11356071e+02]
 [ 2.90197138e-01  9.25938969e-01 -2.41707771e-01  1.32195420e+01]
 [ 5.62085981e-01  3.94924547e-02  8.26135398e-01  2.12996681e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 465.20327356
Centerline is valid?  [True, True]
Translation: X:311.40, Y:13.23, Z:213.03
[[ 7.70212413e-01 -3.84351009e-01 -5.08966739e-01  3.11404398e+02]
 [ 3.00624749e-01  9.22589617e-01 -2.41770881e-01  1.32290839e+01]
 [ 5.62492311e-01  3.32069355e-02  8.26135400e-01  2.13029203e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 465.26327356
Centerline is valid?  [True, True]
Translation: X:311.45, Y:13.24, Z:213.06
[[ 7.66624041e-01 -3.91490836e-01 -5.08942536e-01  3.11452930e+02]
 [ 3.09150284e-01  9.19754483e-01 -2.41821821e-01  1.32406578e+01]
 [ 5.62773206e-01  2.80466922e-02  8.26135401e-01  2.13062452e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 465.32327355999996
Centerline is valid?  [True, True]
Translation: X:311.50, Y:13.25, Z:213.10
[[ 7.65218661e-01 -3.94322271e-01 -5.08871642e-01  3.11500851e+02]
 [ 3.12449477e-01  9.18599691e-01 -2.41970932e-01  1.32537657e+01]
 [ 5.62863860e-01  2.61639943e-02  8.26135413e-01  2.13095700e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 465.38327355999996
Centerline is valid?  [True, True]
Translation: X:311.55, Y:13.27, Z:213.13
[[ 7.65277979e-01 -3.94232301e-01 -5.08852147e-01  3.11545949e+02]
 [ 3.12314292e-01  9.18634864e-01 -2.42011923e-01  1.32701535e+01]
 [ 5.62858240e-01  2.62845969e-02  8.26135414e-01  2.13128249e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 465.44327355999997
Centerline is valid?  [True, True]
Translation: X:311.59, Y:13.28, Z:213.16
[[ 7.67795439e-01 -3.89341363e-01 -5.08825577e-01  3.11592673e+02]
 [ 3.06409627e-01  9.20606502e-01 -2.42067776e-01  1.32847361e+01]
 [ 5.62675132e-01  2.99494787e-02  8.26135415e-01  2.13161257e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 465.50327355999997
Centerline is valid?  [True, True]
Translation: X:311.64, Y:13.30, Z:213.19
[[ 7.69457569e-01 -3.86075323e-01 -5.08803395e-01  3.11637922e+02]
 [ 3.02464309e-01  9.21898022e-01 -2.42114394e-01  1.33037591e+01]
 [ 5.62539236e-01  3.24018856e-02  8.26135416e-01  2.13194665e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 465.56327355999997
Centerline is valid?  [True, True]
Translation: X:311.68, Y:13.32, Z:213.23
[[ 7.70022228e-01 -3.85043656e-01 -5.08730922e-01  3.11683856e+02]
 [ 3.01128262e-01  9.22295325e-01 -2.42266596e-01  1.33201869e+01]
 [ 5.62483367e-01  3.33574053e-02  8.26135428e-01  2.13227653e+02]
 [ 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 465.62327356
Centerline is valid?  [True, True]
Translation: X:311.73, Y:13.34, Z:213.26
[[ 7.68497755e-01 -3.88177968e-01 -5.08654170e-01  3.11728944e+02]
 [ 3.04777505e-01  9.21053475e-01 -2.42427655e-01  1.33394670e+01]
 [ 5.62602766e-01  3.12787594e-02  8.26135441e-01  2.13260948e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 465.68327356
Centerline is valid?  [True, True]
Translation: X:311.77, Y:13.36, Z:213.29
[[ 7.67948338e-01 -3.89307888e-01 -5.08620408e-01  3.11774811e+02]
 [ 3.06085164e-01  9.20601088e-01 -2.42498473e-01  1.33575026e+01]
 [ 5.62643069e-01  3.05451385e-02  8.26135444e-01  2.13294425e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 465.74327356
Centerline is valid?  [True, True]
Translation: X:311.82, Y:13.38, Z:213.33
[[ 7.64605573e-01 -3.95924469e-01 -5.08549046e-01  3.11820212e+02]
 [ 3.13923736e-01  9.17918194e-01 -2.42648053e-01  1.33759272e+01]
 [ 5.62876724e-01  2.58844366e-02  8.26135455e-01  2.13327668e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 465.80327356
Centerline is valid?  [True, True]
Translation: X:311.87, Y:13.39, Z:213.36
[[ 7.63125725e-01 -3.98807785e-01 -5.08518907e-01  3.11865838e+02]
 [ 3.17344350e-01  9.16724514e-01 -2.42711204e-01  1.33940945e+01]
 [ 5.62966865e-01  2.38435611e-02  8.26135457e-01  2.13361041e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 465.86327356
Centerline is valid?  [True, True]
Translation: X:311.91, Y:13.41, Z:213.39
[[ 7.61889792e-01 -4.01251778e-01 -5.08449561e-01  3.11910703e+02]
 [ 3.20184366e-01  9.15697952e-01 -2.42856403e-01  1.34141962e+01]
 [ 5.63032786e-01  2.22322140e-02  8.26135468e-01  2.13394449e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 465.92327356
Centerline is valid?  [True, True]
Translation: X:311.95, Y:13.44, Z:213.43
[[ 7.62656338e-01 -3.99835488e-01 -5.08416063e-01  3.11954850e+02]
 [ 3.18435796e-01  9.16288902e-01 -2.42926515e-01  1.34352904e+01]
 [ 5.62986638e-01  2.33715727e-02  8.26135470e-01  2.13427765e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 465.98327356
Centerline is valid?  [True, True]
Translation: X:312.00, Y:13.46, Z:213.46
[[ 7.61242085e-01 -4.02611137e-01 -5.08345118e-01  3.11998368e+02]
 [ 3.21672736e-01  9.15118159e-01 -2.43074900e-01  1.34576044e+01]
 [ 5.63060511e-01  2.15180787e-02  8.26135481e-01  2.13460992e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 466.04327356
Centerline is valid?  [True, True]
Translation: X:312.04, Y:13.48, Z:213.49
[[ 7.60454480e-01 -4.04173392e-01 -5.08284225e-01  3.12041881e+02]
 [ 3.23466182e-01  9.14451929e-01 -2.43202178e-01  1.34806570e+01]
 [ 5.63097339e-01  2.05314279e-02  8.26135490e-01  2.13494450e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 466.10327356
Centerline is valid?  [True, True]
Translation: X:312.09, Y:13.50, Z:213.53
[[ 7.60390327e-01 -4.04384607e-01 -5.08212199e-01  3.12085649e+02]
 [ 3.23619785e-01  9.14357556e-01 -2.43352613e-01  1.35024548e+01]
 [ 5.63095715e-01  2.05754505e-02  8.26135501e-01  2.13527677e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 466.16327356
Centerline is valid?  [True, True]
Translation: X:312.13, Y:13.53, Z:213.56
[[ 7.59207729e-01 -4.06694096e-01 -5.08137320e-01  3.12127700e+02]
 [ 3.26293203e-01  9.13365298e-01 -2.43508886e-01  1.35258805e+01]
 [ 5.63148621e-01  1.90720748e-02  8.26135514e-01  2.13560325e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 466.22327356
Centerline is valid?  [True, True]
Translation: X:312.17, Y:13.55, Z:213.59
[[ 7.60547349e-01 -4.04214205e-01 -5.08112789e-01  3.12171170e+02]
 [ 3.23276502e-01  9.14423752e-01 -2.43560064e-01  1.35491645e+01]
 [ 5.63080841e-01  2.09780363e-02  8.26135515e-01  2.13593886e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 466.28327356
Centerline is valid?  [True, True]
Translation: X:312.21, Y:13.57, Z:213.63
[[ 7.62387095e-01 -4.00820960e-01 -5.08043773e-01  3.12214397e+02]
 [ 3.19102651e-01  9.15850359e-01 -2.43703956e-01  1.35728406e+01]
 [ 5.62973726e-01  2.36786363e-02  8.26135525e-01  2.13627341e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 466.34327356
Centerline is valid?  [True, True]
Translation: X:312.26, Y:13.59, Z:213.66
[[ 7.66114327e-01 -3.93737525e-01 -5.07975982e-01  3.12256940e+02]
 [ 3.10506994e-01  9.18762716e-01 -2.43845193e-01  1.35946958e+01]
 [ 5.62720396e-01  2.90832007e-02  8.26135536e-01  2.13659842e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 466.40327356
Centerline is valid?  [True, True]
Translation: X:312.30, Y:13.62, Z:213.69
[[ 7.66912187e-01 -3.92210751e-01 -5.07953172e-01  3.12298926e+02]
 [ 3.08644974e-01  9.19377306e-01 -2.43892701e-01  1.36197468e+01]
 [ 5.62657958e-01  3.02670912e-02  8.26135537e-01  2.13693016e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 466.46327356
Centerline is valid?  [True, True]
Translation: X:312.34, Y:13.64, Z:213.73
[[ 7.68422884e-01 -3.89335894e-01 -5.07881712e-01  3.12341865e+02]
 [ 3.05101804e-01  9.20519780e-01 -2.44041437e-01  1.36424288e+01]
 [ 5.62529253e-01  3.25713983e-02  8.26135548e-01  2.13726001e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 466.52327356
Centerline is valid?  [True, True]
Translation: X:312.38, Y:13.67, Z:213.76
[[ 7.69350712e-01 -3.87597746e-01 -5.07806528e-01  3.12384564e+02]
 [ 3.02917275e-01  9.21199522e-01 -2.44197801e-01  1.36664643e+01]
 [ 5.62441648e-01  3.40503822e-02  8.26135560e-01  2.13759232e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 466.58327356
Centerline is valid?  [True, True]
Translation: X:312.43, Y:13.69, Z:213.79
[[ 7.69018337e-01 -3.88297378e-01 -5.07775486e-01  3.12427994e+02]
 [ 3.03712634e-01  9.20920489e-01 -2.44262335e-01  1.36888695e+01]
 [ 5.62467273e-01  3.36243845e-02  8.26135562e-01  2.13792501e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 466.64327356
Centerline is valid?  [True, True]
Translation: X:312.47, Y:13.71, Z:213.83
[[ 7.68493925e-01 -3.89374040e-01 -5.07744960e-01  3.12470905e+02]
 [ 3.04960384e-01  9.20491216e-01 -2.44325776e-01  1.37110710e+01]
 [ 5.62508890e-01  3.29207762e-02  8.26135565e-01  2.13825393e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 466.70327356
Centerline is valid?  [True, True]
Translation: X:312.51, Y:13.73, Z:213.86
[[ 7.67909037e-01 -3.90623017e-01 -5.07670533e-01  3.12514452e+02]
 [ 3.06354816e-01  9.19987004e-01 -2.44480345e-01  1.37335046e+01]
 [ 5.62549942e-01  3.22113535e-02  8.26135577e-01  2.13858675e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 466.76327356
Centerline is valid?  [True, True]
Translation: X:312.56, Y:13.76, Z:213.89
[[ 7.68065890e-01 -3.90411294e-01 -5.07596109e-01  3.12557827e+02]
 [ 3.05999510e-01  9.20064194e-01 -2.44634787e-01  1.37562876e+01]
 [ 5.62529189e-01  3.25714743e-02  8.26135589e-01  2.13891956e+02]
 [ 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 466.82327355999996
Centerline is valid?  [True, True]
Translation: X:312.60, Y:13.78, Z:213.93
[[ 7.68153772e-01 -3.90338427e-01 -5.07519157e-01  3.12601843e+02]
 [ 3.05807230e-01  9.20085684e-01 -2.44794347e-01  1.37784341e+01]
 [ 5.62513751e-01  3.28366737e-02  8.26135602e-01  2.13925438e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 466.88327355999996
Centerline is valid?  [True, True]
Translation: X:312.64, Y:13.80, Z:213.96
[[ 7.69133049e-01 -3.88497545e-01 -5.07448529e-01  3.12644749e+02]
 [ 3.03506590e-01  9.20808238e-01 -2.44940685e-01  1.38011411e+01]
 [ 5.62421641e-01  3.43780032e-02  8.26135613e-01  2.13958416e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 466.94327355999997
Centerline is valid?  [True, True]
Translation: X:312.69, Y:13.82, Z:213.99
[[ 7.69463627e-01 -3.87883775e-01 -5.07416894e-01  3.12688288e+02]
 [ 3.02728828e-01  9.21046804e-01 -2.45006208e-01  1.38242892e+01]
 [ 5.62388641e-01  3.49136440e-02  8.26135615e-01  2.13991974e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.00327355999997
Centerline is valid?  [True, True]
Translation: X:312.73, Y:13.85, Z:214.02
[[ 7.70019062e-01 -3.86865045e-01 -5.07352029e-01  3.12730065e+02]
 [ 3.01421521e-01  9.21439752e-01 -2.45140468e-01  1.38481135e+01]
 [ 5.62330606e-01  3.58360126e-02  8.26135624e-01  2.14024600e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.06327355999997
Centerline is valid?  [True, True]
Translation: X:312.77, Y:13.87, Z:214.06
[[ 7.69881717e-01 -3.87173303e-01 -5.07325315e-01  3.12770925e+02]
 [ 3.01754164e-01  9.21316163e-01 -2.45195744e-01  1.38727892e+01]
 [ 5.62340259e-01  3.56841944e-02  8.26135626e-01  2.14056974e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.12327356
Centerline is valid?  [True, True]
Translation: X:312.82, Y:13.89, Z:214.09
[[ 7.77082942e-01 -3.72556269e-01 -5.07290772e-01  3.12815924e+02]
 [ 2.84244577e-01  9.26848976e-01 -2.45267194e-01  1.38929457e+01]
 [ 5.61557763e-01  4.63983015e-02  8.26135628e-01  2.14090537e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.18327356
Centerline is valid?  [True, True]
Translation: X:312.86, Y:13.92, Z:214.12
[[ 7.74554145e-01 -3.77824693e-01 -5.07261647e-01  3.12858938e+02]
 [ 2.90492904e-01  9.24893686e-01 -2.45327419e-01  1.39173051e+01]
 [ 5.61853851e-01  4.26634601e-02  8.26135630e-01  2.14124138e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.24327356
Centerline is valid?  [True, True]
Translation: X:312.90, Y:13.94, Z:214.16
[[ 7.74583271e-01 -3.77857423e-01 -5.07192788e-01  3.12901160e+02]
 [ 2.90439467e-01  9.24872713e-01 -2.45469713e-01  1.39401058e+01]
 [ 5.61841323e-01  4.28279301e-02  8.26135640e-01  2.14156730e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.30327356
Centerline is valid?  [True, True]
Translation: X:312.94, Y:13.96, Z:214.19
[[ 7.72492998e-01 -3.82228859e-01 -5.07105184e-01  3.12943746e+02]
 [ 2.95543628e-01  9.23206237e-01 -2.45650582e-01  1.39638903e+01]
 [ 5.62057410e-01  3.98916489e-02  8.26135657e-01  2.14189810e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.36327356
Centerline is valid?  [True, True]
Translation: X:312.99, Y:13.99, Z:214.22
[[ 7.71327469e-01 -3.84607397e-01 -5.07080946e-01  3.12987700e+02]
 [ 2.98354282e-01  9.22288422e-01 -2.45700607e-01  1.39852279e+01]
 [ 5.62173157e-01  3.82258558e-02  8.26135658e-01  2.14223099e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.42327356
Centerline is valid?  [True, True]
Translation: X:313.03, Y:14.01, Z:214.26
[[ 7.68830887e-01 -3.89664657e-01 -5.07011363e-01  3.13029962e+02]
 [ 3.04310599e-01  9.20301975e-01 -2.45844126e-01  1.40087285e+01]
 [ 5.62400326e-01  3.47236264e-02  8.26135669e-01  2.14255925e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.48327356
Centerline is valid?  [True, True]
Translation: X:313.07, Y:14.04, Z:214.29
[[ 7.65882888e-01 -3.95505697e-01 -5.06950339e-01  3.13071172e+02]
 [ 3.11224144e-01  9.17953341e-01 -2.45969911e-01  1.40351526e+01]
 [ 5.62639258e-01  3.06089600e-02  8.26135677e-01  2.14288989e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.54327356
Centerline is valid?  [True, True]
Translation: X:313.12, Y:14.05, Z:214.32
[[ 7.67783309e-01 -3.91839598e-01 -5.06922598e-01  3.13116967e+02]
 [ 3.06794403e-01  9.19428015e-01 -2.46027072e-01  1.40526734e+01]
 [ 5.62481987e-01  3.33744634e-02  8.26135679e-01  2.14322266e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.60327356
Centerline is valid?  [True, True]
Translation: X:313.16, Y:14.08, Z:214.35
[[ 7.67463132e-01 -3.92502315e-01 -5.06894737e-01  3.13157953e+02]
 [ 3.07550325e-01  9.19160070e-01 -2.46084465e-01  1.40769745e+01]
 [ 5.62506124e-01  3.29651130e-02  8.26135680e-01  2.14354611e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.66327356
Centerline is valid?  [True, True]
Translation: X:313.20, Y:14.11, Z:214.39
[[ 7.68867796e-01 -3.89778258e-01 -5.06868052e-01  3.13196818e+02]
 [ 3.04252797e-01  9.20242154e-01 -2.46139418e-01  1.41074380e+01]
 [ 5.62381142e-01  3.50326494e-02  8.26135682e-01  2.14387493e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.72327356
Centerline is valid?  [True, True]
Translation: X:313.24, Y:14.13, Z:214.42
[[ 7.72081682e-01 -3.83401294e-01 -5.06846450e-01  3.13238606e+02]
 [ 2.96596878e-01  9.22726277e-01 -2.46183894e-01  1.41344602e+01]
 [ 5.62067762e-01  3.97449998e-02  8.26135683e-01  2.14421152e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.78327356
Centerline is valid?  [True, True]
Translation: X:313.28, Y:14.16, Z:214.45
[[ 7.75042344e-01 -3.77475086e-01 -5.06776010e-01  3.13279708e+02]
 [ 2.89425064e-01  9.24962292e-01 -2.46328828e-01  1.41621003e+01]
 [ 5.61731695e-01  4.42415930e-02  8.26135694e-01  2.14454506e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.84327356
Centerline is valid?  [True, True]
Translation: X:313.32, Y:14.19, Z:214.49
[[ 7.76720740e-01 -3.74103734e-01 -5.06706314e-01  3.13320680e+02]
 [ 2.85310401e-01  9.26201633e-01 -2.46472128e-01  1.41901106e+01]
 [ 5.61518359e-01  4.68714320e-02  8.26135704e-01  2.14487895e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.90327356
Centerline is valid?  [True, True]
Translation: X:313.37, Y:14.21, Z:214.52
[[ 7.76926146e-01 -3.73769827e-01 -5.06637819e-01  3.13366646e+02]
 [ 2.84821266e-01  9.26314711e-01 -2.46612859e-01  1.42090052e+01]
 [ 5.61482511e-01  4.72987529e-02  8.26135714e-01  2.14521629e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 467.96327356
Centerline is valid?  [True, True]
Translation: X:313.41, Y:14.23, Z:214.55
[[ 7.75910811e-01 -3.75960495e-01 -5.06572917e-01  3.13408453e+02]
 [ 2.87347502e-01  9.25498658e-01 -2.46746118e-01  1.42341620e+01]
 [ 5.61599347e-01  4.58905186e-02  8.26135723e-01  2.14554688e+02]
 [ 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 : 0.995736 with order 1
Centerline goodness : 0.956285 with order 1
Centerline goodness : 0.985106 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.940561 with order 1
Centerline goodness : 0.970900 with order 1
Centerline goodness : 0.102687 with order 1
Centerline goodness : 0.914321 with order 1
Centerline goodness : 0.927110 with order 1
SLAMing on frame at distance 468.02327356
Centerline is valid?  [True, True]
Translation: X:313.45, Y:14.26, Z:214.59
[[ 7.75448276e-01 -3.77016226e-01 -5.06496531e-01  3.13447686e+02]
 [ 2.88505360e-01  9.25096561e-01 -2.46902835e-01  1.42648040e+01]
 [ 5.61644574e-01  4.53334137e-02  8.26135736e-01  2.14587793e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 468.08327356
Centerline is valid?  [True, True]
Translation: X:313.49, Y:14.29, Z:214.62
[[ 7.75652262e-01 -3.76701806e-01 -5.06418125e-01  3.13490447e+02]
 [ 2.88026178e-01  9.25202958e-01 -2.47063569e-01  1.42897033e+01]
 [ 5.61608840e-01  4.57737397e-02  8.26135749e-01  2.14621345e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 468.14327356
Centerline is valid?  [True, True]
Translation: X:313.53, Y:14.31, Z:214.65
[[ 7.77092090e-01 -3.73817969e-01 -5.06347716e-01  3.13533083e+02]
 [ 2.84494285e-01  9.26256608e-01 -2.47207802e-01  1.43129552e+01]
 [ 5.61418636e-01  4.80501957e-02  8.26135760e-01  2.14654340e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 468.20327356
Centerline is valid?  [True, True]
Translation: X:313.58, Y:14.34, Z:214.69
[[ 7.77282664e-01 -3.73493896e-01 -5.06294350e-01  3.13575725e+02]
 [ 2.84037498e-01  9.26367623e-01 -2.47317058e-01  1.43371866e+01]
 [ 5.61386105e-01  4.84286815e-02  8.26135766e-01  2.14687656e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 468.26327356
Centerline is valid?  [True, True]
Translation: X:313.62, Y:14.36, Z:214.72
[[ 7.78134853e-01 -3.71751065e-01 -5.06268008e-01  3.13617408e+02]
 [ 2.81926051e-01  9.26998006e-01 -2.47370974e-01  1.43627835e+01]
 [ 5.61269856e-01  4.97578364e-02  8.26135767e-01  2.14720829e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 468.32327355999996
Centerline is valid?  [True, True]
Translation: X:313.66, Y:14.38, Z:214.75
[[ 7.85971566e-01 -3.54991691e-01 -5.06191266e-01  3.13662227e+02]
 [ 2.61897851e-01  9.32812650e-01 -2.47527929e-01  1.43836368e+01]
 [ 5.60051974e-01  6.19795095e-02  8.26135780e-01  2.14754438e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 468.38327355999996
Centerline is valid?  [True, True]
Translation: X:313.70, Y:14.41, Z:214.79
[[ 7.79107349e-01 -3.69845076e-01 -5.06168310e-01  3.13703706e+02]
 [ 2.79524792e-01  9.27670511e-01 -2.47574865e-01  1.44112623e+01]
 [ 5.61121759e-01  5.14008050e-02  8.26135781e-01  2.14788101e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 468.44327355999997
Centerline is valid?  [True, True]
Translation: X:313.75, Y:14.43, Z:214.82
[[ 7.87422832e-01 -3.51828441e-01 -5.06144280e-01  3.13747435e+02]
 [ 2.58084159e-01  9.33849522e-01 -2.47623983e-01  1.44313264e+01]
 [ 5.59783754e-01  6.43569575e-02  8.26135782e-01  2.14820874e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 468.50327355999997
Centerline is valid?  [True, True]
Translation: X:313.79, Y:14.45, Z:214.85
[[ 7.86177845e-01 -3.54639858e-01 -5.06117542e-01  3.13790939e+02]
 [ 2.61384752e-01  9.32916562e-01 -2.47678624e-01  1.44548043e+01]
 [ 5.60002149e-01  6.24280386e-02  8.26135784e-01  2.14854531e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 468.56327355999997
Centerline is valid?  [True, True]
Translation: X:313.83, Y:14.48, Z:214.89
[[ 7.76162708e-01 -3.76147849e-01 -5.06047673e-01  3.13831831e+02]
 [ 2.86875366e-01  9.25357835e-01 -2.47821311e-01  1.44811531e+01]
 [ 5.61492632e-01  4.71770489e-02  8.26135794e-01  2.14887392e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 468.62327356
Centerline is valid?  [True, True]
Translation: X:313.88, Y:14.50, Z:214.92
[[ 7.75768193e-01 -3.76991189e-01 -5.06025053e-01  3.13875203e+02]
 [ 2.87851041e-01  9.25042423e-01 -2.47867493e-01  1.45039060e+01]
 [ 5.61538502e-01  4.66278787e-02  8.26135795e-01  2.14920756e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 468.68327356
Centerline is valid?  [True, True]
Translation: X:313.92, Y:14.52, Z:214.95
[[ 7.75087747e-01 -3.78491446e-01 -5.05947833e-01  3.13921381e+02]
 [ 2.89538272e-01  9.24473456e-01 -2.48025034e-01  1.45210709e+01]
 [ 5.61610695e-01  4.57499031e-02  8.26135808e-01  2.14954091e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 468.74327356
Centerline is valid?  [True, True]
Translation: X:313.96, Y:14.54, Z:214.99
[[ 7.75620571e-01 -3.77517374e-01 -5.05859033e-01  3.13964503e+02]
 [ 2.88259528e-01  9.24824420e-01 -2.48206038e-01  1.45441929e+01]
 [ 5.61532879e-01  4.66950226e-02  8.26135825e-01  2.14987328e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 468.80327356
Centerline is valid?  [True, True]
Translation: X:314.01, Y:14.57, Z:215.02
[[ 7.75211028e-01 -3.78479561e-01 -5.05767816e-01  3.14007868e+02]
 [ 2.89286731e-01  9.24453731e-01 -2.48391801e-01  1.45664037e+01]
 [ 5.61570164e-01  4.62441453e-02  8.26135842e-01  2.15020438e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 468.86327356
Centerline is valid?  [True, True]
Translation: X:314.05, Y:14.59, Z:215.05
[[ 7.74931046e-01 -3.79100768e-01 -5.05731629e-01  3.14049362e+02]
 [ 2.89979906e-01  9.24216733e-01 -2.48465459e-01  1.45916046e+01]
 [ 5.61599081e-01  4.58915875e-02  8.26135845e-01  2.15053371e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 468.92327356
Centerline is valid?  [True, True]
Translation: X:314.09, Y:14.62, Z:215.09
[[ 7.74963503e-01 -3.79163557e-01 -5.05634815e-01  3.14089654e+02]
 [ 2.89927371e-01  9.24180260e-01 -2.48662354e-01  1.46175443e+01]
 [ 5.61581417e-01  4.61068758e-02  8.26135865e-01  2.15085717e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 468.98327356
Centerline is valid?  [True, False]
Translation: X:314.13, Y:14.63, Z:215.11
[[ 7.76572576e-01 -3.75076285e-01 -5.06214198e-01  3.14129805e+02]
 [ 2.87224363e-01  9.25892246e-01 -2.45409277e-01  1.46344356e+01]
 [ 5.60747001e-01  4.51810639e-02  8.26753574e-01  2.15114985e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 469.04327356
Centerline is valid?  [False, False]
Translation: X:314.17, Y:14.65, Z:215.14
[[ 7.78486376e-01 -3.72534762e-01 -5.05150287e-01  3.14170177e+02]
 [ 2.85667196e-01  9.26920240e-01 -2.43337465e-01  1.46505361e+01]
 [ 5.58885690e-01  4.51300352e-02  8.28015740e-01  2.15142988e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 469.10327356
Centerline is valid?  [False, False]
Translation: X:314.21, Y:14.67, Z:215.17
[[ 7.80166390e-01 -3.70661770e-01 -5.03934773e-01  3.14211035e+02]
 [ 2.85052700e-01  9.27705292e-01 -2.41055699e-01  1.46655370e+01]
 [ 5.56853088e-01  4.44155865e-02  8.29422627e-01  2.15171177e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 469.16327356
Centerline is valid?  [False, False]
Translation: X:314.24, Y:14.68, Z:215.19
[[ 7.80975777e-01 -3.69701840e-01 -5.03385922e-01  3.14238253e+02]
 [ 2.84481281e-01  9.28087465e-01 -2.40258317e-01  1.46754376e+01]
 [ 5.56010106e-01  4.44320537e-02  8.29987081e-01  2.15190317e+02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]


 Total time of SLAM: 6711.57 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!