+ python -m lidar_slam --result /working/result.json --no-model /working/e37da15e-d91f-4446-9d56-6dbb3fa7084b
Lidar SLAM 0.0.26
=====================================================
 The recording path: /working/e37da15e-d91f-4446-9d56-6dbb3fa7084b
 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 0.027702638
Adjusted end_distance from 9.223372036854776e+18 to 264.837702638
Slamming from 0.027702638 to 264.837702638 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 [00:03<01:35,  3.07s/it]
  6%|▋         | 2/32 [00:03<00:43,  1.46s/it]
  9%|▉         | 3/32 [00:03<00:26,  1.08it/s]
 12%|█▎        | 4/32 [00:03<00:18,  1.51it/s]
 16%|█▌        | 5/32 [00:04<00:14,  1.89it/s]
 19%|█▉        | 6/32 [00:04<00:11,  2.30it/s]
 22%|██▏       | 7/32 [00:04<00:09,  2.67it/s]
 25%|██▌       | 8/32 [00:04<00:08,  2.99it/s]
 28%|██▊       | 9/32 [00:05<00:07,  3.16it/s]
 31%|███▏      | 10/32 [00:05<00:06,  3.30it/s]
 34%|███▍      | 11/32 [00:05<00:05,  3.53it/s]
 38%|███▊      | 12/32 [00:06<00:05,  3.71it/s]
 41%|████      | 13/32 [00:06<00:04,  3.83it/s]
 44%|████▍     | 14/32 [00:06<00:04,  3.85it/s]
 47%|████▋     | 15/32 [00:06<00:04,  3.82it/s]
 50%|█████     | 16/32 [00:07<00:04,  3.86it/s]
 53%|█████▎    | 17/32 [00:07<00:03,  3.88it/s]
 56%|█████▋    | 18/32 [00:07<00:03,  3.97it/s]
 59%|█████▉    | 19/32 [00:07<00:03,  3.97it/s]
 62%|██████▎   | 20/32 [00:08<00:02,  4.01it/s]
 66%|██████▌   | 21/32 [00:08<00:02,  4.06it/s]
 69%|██████▉   | 22/32 [00:08<00:02,  3.97it/s]
 72%|███████▏  | 23/32 [00:08<00:02,  3.91it/s]
 75%|███████▌  | 24/32 [00:09<00:02,  3.97it/s]
 78%|███████▊  | 25/32 [00:09<00:01,  3.93it/s]
 81%|████████▏ | 26/32 [00:09<00:01,  3.92it/s]
 84%|████████▍ | 27/32 [00:09<00:01,  3.94it/s]
 88%|████████▊ | 28/32 [00:10<00:01,  4.00it/s]
 91%|█████████ | 29/32 [00:10<00:00,  4.01it/s]
 94%|█████████▍| 30/32 [00:10<00:00,  3.91it/s]
 97%|█████████▋| 31/32 [00:10<00:00,  3.81it/s]
100%|██████████| 32/32 [00:11<00:00,  4.33it/s]
100%|██████████| 32/32 [00:11<00:00,  2.91it/s]
Averaged over 500 frames
Shape size (median max width): 2.5846
=====================================================
 Detecting centerlines in parallel with 20 job(s)
Centerline goodness : 0.963192 with order 1
Centerline goodness : 0.942397 with order 1
Centerline goodness : 0.956211 with order 1
Centerline goodness : 0.947192 with order 1
Centerline goodness : 0.944490 with order 1
Centerline goodness : 0.955520 with order 1
Centerline goodness : 0.941306 with order 1
Centerline goodness : 0.962067 with order 1
Centerline goodness : 0.943920 with order 1
Centerline goodness : 0.950156 with order 1
Centerline goodness : 0.953577 with order 1
Centerline goodness : 0.945183 with order 1
Centerline goodness : 0.973986 with order 1
Centerline goodness : 0.965917 with order 1
Centerline goodness : 0.959509 with order 1
Centerline goodness : 0.969059 with order 1
Centerline goodness : 0.968327 with order 1
Centerline goodness : 0.942155 with order 1
Centerline goodness : 0.975247 with order 1
Centerline goodness : 0.969867 with order 1
SLAMing on frame at distance 0.027702638
Centerline is valid?  [0, False]
SLAMing on frame at distance 0.087702638
Centerline is valid?  [False, False]
Translation: X:0.07, Y:0.00, Z:-0.00
[[ 9.99998311e-01  3.89618251e-04  1.79633382e-03  6.63376283e-02]
 [-3.93000036e-04  9.99998151e-01  1.88263567e-03  2.39775103e-03]
 [-1.79559699e-03 -1.88333845e-03  9.99996614e-01 -1.06297044e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.147702638
Centerline is valid?  [False, False]
Translation: X:0.11, Y:0.00, Z:-0.00
[[ 9.99994465e-01 -1.28512277e-03  3.06884977e-03  1.08000015e-01]
 [ 1.28564581e-03  9.99999159e-01 -1.68465761e-04  3.44959522e-03]
 [-3.06863069e-03  1.72410282e-04  9.99995277e-01 -1.33241724e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.207702638
Centerline is valid?  [False, False]
Translation: X:0.17, Y:0.01, Z:-0.00
[[ 0.99997655 -0.00468944  0.00499076  0.17338118]
 [ 0.00469524  0.99998831 -0.00115105  0.0062705 ]
 [-0.0049853   0.00117446  0.99998688 -0.0015978 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.267702638
Centerline is valid?  [False, False]
Translation: X:0.23, Y:0.01, Z:-0.00
[[ 0.99993357 -0.00968613  0.00624715  0.23334547]
 [ 0.00969515  0.999952   -0.00141419  0.00930403]
 [-0.00623315  0.00147466  0.99997949 -0.00265155]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.327702638
Centerline is valid?  [False, False]
Translation: X:0.29, Y:0.01, Z:-0.00
[[ 0.99982737 -0.01625521  0.00900044  0.2881614 ]
 [ 0.01628838  0.99986077 -0.00362358  0.0119869 ]
 [-0.00894029  0.00376955  0.99995293 -0.00232427]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.387702638
Centerline is valid?  [False, False]
Translation: X:0.32, Y:0.01, Z:-0.00
[[ 0.99972174 -0.02105298  0.01064033  0.32031677]
 [ 0.02108103  0.99977457 -0.00253099  0.01395827]
 [-0.01058465  0.0027546   0.99994019 -0.0029054 ]
 [ 0.          0.          0.          1.        ]]

SLAMing on frame at distance 0.447702638
Centerline is valid?  [False, True]
Translation: X:0.38, Y:0.02, Z:-0.00
[[ 9.99566146e-01 -2.74824723e-02  1.05940100e-02  3.76367988e-01]
 [ 2.74860846e-02  9.99622167e-01 -1.95499732e-04  1.80009091e-02]
 [-1.05846344e-02  4.86602768e-04  9.99943863e-01 -4.10663347e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.507702638
Centerline is valid?  [True, True]
Translation: X:0.43, Y:0.03, Z:-0.01
[[ 9.99405139e-01 -3.28514789e-02  1.04951862e-02  4.34831381e-01]
 [ 3.28435669e-02  9.99460076e-01  9.25382208e-04  2.84140958e-02]
 [-1.05199198e-02 -5.80132384e-04  9.99944496e-01 -5.63164466e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.5677026380000001
Centerline is valid?  [True, True]
Translation: X:0.50, Y:0.03, Z:-0.01
[[ 9.99300528e-01 -3.58929719e-02  1.04951887e-02  4.96474598e-01]
 [ 3.58852274e-02  9.99355489e-01  9.25354285e-04  3.42347409e-02]
 [-1.05216381e-02 -5.48084794e-04  9.99944496e-01 -6.28400162e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.6277026379999999
Centerline is valid?  [True, True]
Translation: X:0.56, Y:0.04, Z:-0.01
[[ 9.99262659e-01 -3.69322156e-02  1.04952159e-02  5.57272090e-01]
 [ 3.69245315e-02  9.99317629e-01  9.25044814e-04  4.45882475e-02]
 [-1.05222183e-02 -5.36831810e-04  9.99944496e-01 -6.93144710e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.687702638
Centerline is valid?  [True, True]
Translation: X:0.62, Y:0.05, Z:-0.01
[[ 9.99263101e-01 -3.69202445e-02  1.04952341e-02  6.19176147e-01]
 [ 3.69125619e-02  9.99318071e-01  9.24839075e-04  5.20343496e-02]
 [-1.05222223e-02 -5.36751585e-04  9.99944496e-01 -7.58789985e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.747702638
Centerline is valid?  [True, True]
Translation: X:0.68, Y:0.06, Z:-0.01
[[ 9.99202427e-01 -3.85273712e-02  1.04952799e-02  6.78691149e-01]
 [ 3.85197825e-02  9.99257410e-01  9.24319081e-04  6.21818351e-02]
 [-1.05230978e-02 -5.19305972e-04  9.99944496e-01 -8.22151624e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.8077026380000001
Centerline is valid?  [True, True]
Translation: X:0.74, Y:0.07, Z:-0.01
[[ 9.99254353e-01 -3.71562591e-02  1.04952799e-02  7.39524462e-01]
 [ 3.71485950e-02  9.99309325e-01  9.24319081e-04  7.42403690e-02]
 [-1.05223753e-02 -5.33744964e-04  9.99944496e-01 -8.87116087e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.8677026379999999
Centerline is valid?  [True, True]
Translation: X:0.80, Y:0.08, Z:-0.01
[[ 9.99317304e-01 -3.54227850e-02  1.04953376e-02  8.00156420e-01]
 [ 3.54150324e-02  9.99372264e-01  9.23662442e-04  7.63906382e-02]
 [-1.05214680e-02 -5.51339138e-04  9.99944496e-01 -9.50899109e-03]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.927702638
Centerline is valid?  [True, True]
Translation: X:0.86, Y:0.09, Z:-0.01
[[ 9.99340630e-01 -3.47585055e-02  1.04953553e-02  8.59657411e-01]
 [ 3.47507185e-02  9.99395585e-01  9.23462082e-04  9.10233144e-02]
 [-1.05211099e-02 -5.58132042e-04  9.99944496e-01 -1.01468579e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 0.987702638
Centerline is valid?  [True, True]
Translation: X:0.92, Y:0.10, Z:-0.01
[[ 9.99289200e-01 -3.62069259e-02  1.04953730e-02  9.20603407e-01]
 [ 3.61992207e-02  9.99344167e-01  9.23260834e-04  1.03989667e-01]
 [-1.05219182e-02 -5.42680258e-04  9.99944496e-01 -1.07983483e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 1.047702638
Centerline is valid?  [True, True]
Translation: X:0.98, Y:0.12, Z:-0.01
[[ 9.99042376e-01 -4.24756037e-02  1.04954174e-02  9.80116189e-01]
 [ 4.24682488e-02  9.99097391e-01  9.22756116e-04  1.16491582e-01]
 [-1.05251387e-02 -4.76150467e-04  9.99944496e-01 -1.14341060e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 1.1077026380000001
Centerline is valid?  [True, True]
Translation: X:1.04, Y:0.12, Z:-0.01
[[ 9.98747266e-01 -4.89259186e-02  1.04954218e-02  1.04097659e+00]
 [ 4.89189195e-02  9.98802327e-01  9.22705834e-04  1.23452626e-01]
 [-1.05279959e-02 -4.08125235e-04  9.99944496e-01 -1.20792777e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 1.167702638
Centerline is valid?  [True, True]
Translation: X:1.10, Y:0.13, Z:-0.01
[[ 9.98524968e-01 -5.32703869e-02  1.04954307e-02  1.09992775e+00]
 [ 5.32636285e-02  9.98580059e-01  9.22603920e-04  1.33118865e-01]
 [-1.05296753e-02 -3.62218326e-04  9.99944496e-01 -1.27068616e-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 : 0.997287 with order 1
Centerline goodness : 0.995138 with order 1
Centerline goodness : 0.980349 with order 1
Centerline goodness : 0.999739 with order 1
Centerline goodness : 0.989349 with order 1
Centerline goodness : 0.980798 with order 1
Centerline goodness : 0.996810 with order 1
Centerline goodness : 0.989298 with order 1
Centerline goodness : 0.984336 with order 1
Centerline goodness : 0.985065 with order 1
Centerline goodness : 0.993943 with order 1
Centerline goodness : 0.994246 with order 1
Centerline goodness : 0.973818 with order 1
Centerline goodness : 0.991539 with order 1
Centerline goodness : 0.979893 with order 1
Centerline goodness : 0.977418 with order 1
Centerline goodness : 0.979919 with order 1
Centerline goodness : 0.979286 with order 1
SLAMing on frame at distance 1.227702638
Centerline is valid?  [True, True]
Translation: X:1.16, Y:0.14, Z:-0.01
[[ 9.98395467e-01 -5.56447472e-02  1.04954299e-02  1.16110156e+00]
 [ 5.56381197e-02  9.98450574e-01  9.22613321e-04  1.40364169e-01]
 [-1.05305066e-02 -3.37186971e-04  9.99944496e-01 -1.33556357e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 1.287702638
Centerline is valid?  [True, True]
Translation: X:1.22, Y:0.15, Z:-0.01
[[ 9.98257569e-01 -5.80660903e-02  1.04954558e-02  1.22012482e+00]
 [ 5.80595996e-02  9.98312693e-01  9.22318160e-04  1.50510706e-01]
 [-1.05313022e-02 -3.11349120e-04  9.99944496e-01 -1.39842518e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 1.347702638
Centerline is valid?  [True, True]
Translation: X:1.28, Y:0.16, Z:-0.01
[[ 9.98215314e-01 -5.87880345e-02  1.04954555e-02  1.28243496e+00]
 [ 5.87815837e-02  9.98270442e-01  9.22322121e-04  1.57876308e-01]
 [-1.05315245e-02 -3.03736570e-04  9.99944496e-01 -1.46450586e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 1.407702638
Centerline is valid?  [True, True]
Translation: X:1.34, Y:0.16, Z:-0.02
[[ 9.97974834e-01 -6.27381366e-02  1.04955744e-02  1.34484355e+00]
 [ 6.27319183e-02  9.98029989e-01  9.20966772e-04  1.62121494e-01]
 [-1.05326778e-02 -2.60694144e-04  9.99944496e-01 -1.53028470e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 1.467702638
Centerline is valid?  [True, True]
Translation: X:1.41, Y:0.16, Z:-0.02
[[ 9.97939501e-01 -6.32976460e-02  1.04956926e-02  1.40689209e+00]
 [ 6.32914727e-02  9.97994661e-01  9.19618535e-04  1.63780161e-01]
 [-1.05328548e-02 -2.53435823e-04  9.99944496e-01 -1.59544870e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 1.527702638
Centerline is valid?  [True, True]
Translation: X:1.47, Y:0.17, Z:-0.02
[[ 9.97744683e-01 -6.62977137e-02  1.04957178e-02  1.46856405e+00]
 [ 6.62917093e-02  9.97799862e-01  9.19330003e-04  1.69485286e-01]
 [-1.05335753e-02 -2.21477548e-04  9.99944496e-01 -1.66068116e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 1.587702638
Centerline is valid?  [True, True]
Translation: X:1.53, Y:0.18, Z:-0.02
[[ 9.97256417e-01 -7.32767177e-02  1.04957590e-02  1.52910229e+00]
 [ 7.32711045e-02  9.97311637e-01  9.18859569e-04  1.78429371e-01]
 [-1.05348736e-02 -1.47302747e-04  9.99944496e-01 -1.72500560e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 1.647702638
Centerline is valid?  [True, True]
Translation: X:1.59, Y:0.18, Z:-0.02
[[ 9.97214103e-01 -7.38503277e-02  1.04957676e-02  1.58984259e+00]
 [ 7.38447473e-02  9.97269326e-01  9.18761561e-04  1.81119174e-01]
 [-1.05349579e-02 -1.41144681e-04  9.99944496e-01 -1.78899942e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 1.707702638
Centerline is valid?  [True, True]
Translation: X:1.65, Y:0.19, Z:-0.02
[[ 9.97164193e-01 -7.45212095e-02  1.04957846e-02  1.65214410e+00]
 [ 7.45156682e-02  9.97219420e-01  9.18566943e-04  1.85796497e-01]
 [-1.05350530e-02 -1.33861659e-04  9.99944496e-01 -1.85480629e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 1.767702638
Centerline is valid?  [True, True]
Translation: X:1.71, Y:0.20, Z:-0.02
[[ 9.97080175e-01 -7.56370462e-02  1.04958185e-02  1.71423475e+00]
 [ 7.56315708e-02  9.97135408e-01  9.18179246e-04  2.01381352e-01]
 [-1.05352007e-02 -1.21683080e-04  9.99944496e-01 -1.92137683e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 1.8277026379999999
Centerline is valid?  [True, True]
Translation: X:1.78, Y:0.20, Z:-0.02
[[ 9.96844968e-01 -7.86761962e-02  1.04959536e-02  1.77696450e+00]
 [ 7.86709055e-02  9.96900220e-01  9.16632571e-04  1.98975250e-01]
 [-1.05355356e-02 -8.80143907e-05  9.99944496e-01 -1.98686619e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 1.887702638
Centerline is valid?  [True, True]
Translation: X:1.84, Y:0.21, Z:-0.02
[[ 9.97040343e-01 -7.61602809e-02  1.04960178e-02  1.83758778e+00]
 [ 7.61548586e-02  9.97095581e-01  9.15897421e-04  2.13994548e-01]
 [-1.05352879e-02 -1.13863930e-04  9.99944496e-01 -2.05181233e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 1.947702638
Centerline is valid?  [True, True]
Translation: X:1.90, Y:0.21, Z:-0.02
[[ 9.96571629e-01 -8.20659548e-02  1.04960558e-02  1.90085827e+00]
 [ 8.20608644e-02  9.96626899e-01  9.15461668e-04  2.07526432e-01]
 [-1.05357798e-02 -5.10077164e-05  9.99944496e-01 -2.11759492e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.007702638
Centerline is valid?  [True, True]
Translation: X:1.96, Y:0.21, Z:-0.02
[[ 9.96415177e-01 -8.39441852e-02  1.04961001e-02  1.96331452e+00]
 [ 8.39392043e-02  9.96470458e-01  9.14953673e-04  2.12698108e-01]
 [-1.05358587e-02 -3.06394397e-05  9.99944496e-01 -2.18358278e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.067702638
Centerline is valid?  [True, True]
Translation: X:2.02, Y:0.21, Z:-0.02
[[ 9.95915903e-01 -8.96735473e-02  1.04961671e-02  2.02464485e+00]
 [ 8.96688926e-02  9.95971211e-01  9.14184158e-04  2.08783574e-01]
 [-1.05358584e-02  3.07291369e-05  9.99944496e-01 -2.24753565e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.127702638
Centerline is valid?  [True, True]
Translation: X:2.09, Y:0.19, Z:-0.02
[[ 9.94583365e-01 -1.03410643e-01  1.04961756e-02  2.08712415e+00]
 [ 1.03406753e-01  9.94638732e-01  9.14086525e-04  1.91295809e-01]
 [-1.05344290e-02  1.76240183e-04  9.99944496e-01 -2.31151174e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.187702638
Centerline is valid?  [True, True]
Translation: X:2.15, Y:0.19, Z:-0.02
[[ 9.94247108e-01 -1.06595111e-01  1.04961842e-02  2.14896060e+00]
 [ 1.06591399e-01  9.94302488e-01  9.13987692e-04  1.93119845e-01]
 [-1.05338087e-02  2.10073342e-04  9.99944496e-01 -2.37657857e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.247702638
Centerline is valid?  [True, True]
Translation: X:2.21, Y:0.19, Z:-0.02
[[ 9.93655856e-01 -1.11972631e-01  1.04962199e-02  2.21039576e+00]
 [ 1.11969223e-01  9.93711255e-01  9.13577529e-04  1.88358686e-01]
 [-1.05325075e-02  2.67471928e-04  9.99944496e-01 -2.44059705e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.307702638
Centerline is valid?  [True, True]
Translation: X:2.27, Y:0.18, Z:-0.03
[[ 9.93216214e-01 -1.15807515e-01  1.04962288e-02  2.27069497e+00]
 [ 1.15804322e-01  9.93271627e-01  9.13475014e-04  1.84229199e-01]
 [-1.05313935e-02  3.08230470e-04  9.99944496e-01 -2.50350641e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.367702638
Centerline is valid?  [True, True]
Translation: X:2.33, Y:0.18, Z:-0.03
[[ 9.92556037e-01 -1.21335664e-01  1.04962286e-02  2.33201427e+00]
 [ 1.21332780e-01  9.92611466e-01  9.13477360e-04  1.76235720e-01]
 [-1.05295142e-02  3.66859127e-04  9.99944496e-01 -2.56714208e-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 2.427702638
Centerline is valid?  [True, True]
Translation: X:2.39, Y:0.16, Z:-0.03
[[ 9.91176383e-01 -1.32133294e-01  1.04962388e-02  2.39465583e+00]
 [ 1.32131014e-01  9.91231840e-01  9.13360598e-04  1.62477971e-01]
 [-1.05248914e-02  4.81577222e-04  9.99944496e-01 -2.63162992e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.487702638
Centerline is valid?  [True, True]
Translation: X:2.46, Y:0.15, Z:-0.03
[[ 9.90133608e-01 -1.39732839e-01  1.04962466e-02  2.45644505e+00]
 [ 1.39730986e-01  9.90189082e-01  9.13270756e-04  1.51345358e-01]
 [-1.05208827e-02  5.62390818e-04  9.99944496e-01 -2.69546531e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.547702638
Centerline is valid?  [True, True]
Translation: X:2.52, Y:0.14, Z:-0.03
[[ 9.88961820e-01 -1.47798329e-01  1.04962709e-02  2.51801472e+00]
 [ 1.47796931e-01  9.89017307e-01  9.12991133e-04  1.39865744e-01]
 [-1.05159321e-02  6.48403253e-04  9.99944496e-01 -2.75902483e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.607702638
Centerline is valid?  [True, True]
Translation: X:2.58, Y:0.13, Z:-0.03
[[ 9.88368515e-01 -1.51715212e-01  1.04962951e-02  2.57965669e+00]
 [ 1.51714037e-01  9.88424007e-01  9.12712824e-04  1.31769054e-01]
 [-1.05132625e-02  6.90338686e-04  9.99944496e-01 -2.82297006e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.6677026379999997
Centerline is valid?  [True, True]
Translation: X:2.64, Y:0.13, Z:-0.03
[[ 9.88979497e-01 -1.47679998e-01  1.04963137e-02  2.64156100e+00]
 [ 1.47678599e-01  9.89034984e-01  9.12498417e-04  1.28009898e-01]
 [-1.05159793e-02  6.47638681e-04  9.99944496e-01 -2.88759178e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.727702638
Centerline is valid?  [True, True]
Translation: X:2.70, Y:0.12, Z:-0.03
[[ 9.90089235e-01 -1.40046896e-01  1.04963346e-02  2.70230710e+00]
 [ 1.40045072e-01  9.90144709e-01  9.12258755e-04  1.23149822e-01]
 [-1.05206492e-02  5.66742355e-04  9.99944496e-01 -2.95089591e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.787702638
Centerline is valid?  [True, True]
Translation: X:2.76, Y:0.11, Z:-0.03
[[ 9.91804395e-01 -1.27333691e-01  1.04963444e-02  2.76445260e+00]
 [ 1.27331156e-01  9.91859841e-01  9.12145235e-04  1.11620553e-01]
 [-1.05270493e-02  4.31842017e-04  9.99944496e-01 -3.01506988e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.847702638
Centerline is valid?  [True, True]
Translation: X:2.83, Y:0.11, Z:-0.03
[[ 9.93119523e-01 -1.16633783e-01  1.04963517e-02  2.82602084e+00]
 [ 1.16630652e-01  9.93174939e-01  9.12061758e-04  1.05337334e-01]
 [-1.05310907e-02  3.18409999e-04  9.99944496e-01 -3.07911880e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.907702638
Centerline is valid?  [True, True]
Translation: X:2.89, Y:0.09, Z:-0.03
[[ 9.94479953e-01 -1.04400425e-01  1.04963715e-02  2.88841097e+00]
 [ 1.04396614e-01  9.94535326e-01  9.11834108e-04  9.22509948e-02]
 [-1.05342081e-02  1.88984898e-04  9.99944496e-01 -3.14340070e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 2.967702638
Centerline is valid?  [True, True]
Translation: X:2.95, Y:0.08, Z:-0.03
[[ 9.96379929e-01 -8.43615043e-02  1.04963887e-02  2.94914475e+00]
 [ 8.43565815e-02  9.96435214e-01  9.11636093e-04  8.17354605e-02]
 [-1.05358783e-02 -2.28964392e-05  9.99944496e-01 -3.20618104e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.027702638
Centerline is valid?  [True, True]
Translation: X:3.01, Y:0.07, Z:-0.03
[[ 9.97847788e-01 -6.47272506e-02  1.04963966e-02  3.01115086e+00]
 [ 6.47212413e-02  9.97902966e-01  9.11544533e-04  7.06506084e-02]
 [-1.05333871e-02 -2.30242878e-04  9.99944496e-01 -3.27025234e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.087702638
Centerline is valid?  [True, True]
Translation: X:3.07, Y:0.06, Z:-0.03
[[ 9.98540489e-01 -5.29784604e-02  1.04964042e-02  3.07147785e+00]
 [ 5.29718030e-02  9.98595592e-01  9.11457395e-04  6.44648057e-02]
 [-1.05299506e-02 -3.54113659e-04  9.99944496e-01 -3.33300821e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.147702638
Centerline is valid?  [True, True]
Translation: X:3.13, Y:0.06, Z:-0.03
[[ 9.98786782e-01 -4.81122527e-02  1.04964112e-02  3.13254267e+00]
 [ 4.81053277e-02  9.98841853e-01  9.11376386e-04  6.47407792e-02]
 [-1.05281032e-02 -4.05337386e-04  9.99944496e-01 -3.39712809e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.2077026379999998
Centerline is valid?  [True, True]
Translation: X:3.19, Y:0.06, Z:-0.03
[[ 9.99187839e-01 -3.89035613e-02  1.04964188e-02  3.19339327e+00]
 [ 3.88961299e-02  9.99242844e-01  9.11289282e-04  5.57316056e-02]
 [-1.05239237e-02 -5.02279101e-04  9.99944496e-01 -3.46017661e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.267702638
Centerline is valid?  [True, True]
Translation: X:3.26, Y:0.04, Z:-0.04
[[ 9.99321529e-01 -3.53030847e-02  1.04964222e-02  3.25621256e+00]
 [ 3.52954555e-02  9.99376506e-01  9.11249528e-04  4.29520552e-02]
 [-1.05220477e-02 -5.40155267e-04  9.99944496e-01 -3.52495108e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.327702638
Centerline is valid?  [True, True]
Translation: X:3.32, Y:0.05, Z:-0.04
[[ 9.99479790e-01 -3.04954724e-02  1.04964376e-02  3.31722542e+00]
 [ 3.04875807e-02  9.99534730e-01  9.11072001e-04  4.67465823e-02]
 [-1.05193375e-02 -5.90587063e-04  9.99944496e-01 -3.58933187e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.387702638
Centerline is valid?  [True, True]
Translation: X:3.38, Y:0.04, Z:-0.04
[[ 9.99262535e-01 -3.69352108e-02  1.04964559e-02  3.37787333e+00]
 [ 3.69276755e-02  9.99317526e-01  9.10861512e-04  3.53592848e-02]
 [-1.05229352e-02 -5.22580067e-04  9.99944496e-01 -3.65194482e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.447702638
Centerline is valid?  [True, True]
Translation: X:3.44, Y:0.03, Z:-0.04
[[ 9.99120628e-01 -4.05930364e-02  1.04964549e-02  3.43902620e+00]
 [ 4.05857023e-02  9.99175646e-01  9.10873598e-04  2.86035212e-02]
 [-1.05247772e-02 -4.84066610e-04  9.99944496e-01 -3.71552249e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.507702638
Centerline is valid?  [True, True]
Translation: X:3.50, Y:0.03, Z:-0.04
[[ 9.98960031e-01 -4.43698248e-02  1.04964549e-02  3.50022938e+00]
 [ 4.43626988e-02  9.99015076e-01  9.10873645e-04  2.60575264e-02]
 [-1.05265319e-02 -4.44275299e-04  9.99944496e-01 -3.77953577e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.567702638
Centerline is valid?  [True, True]
Translation: X:3.56, Y:0.02, Z:-0.04
[[ 9.98706227e-01 -4.97563699e-02  1.04964451e-02  3.56184294e+00]
 [ 4.97495397e-02  9.98761310e-01  9.10985580e-04  1.90881891e-02]
 [-1.05287706e-02 -3.87613658e-04  9.99944496e-01 -3.84358281e-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 3.6277026379999997
Centerline is valid?  [True, True]
Translation: X:3.62, Y:0.01, Z:-0.04
[[ 9.98474281e-01 -5.42119394e-02  1.04964670e-02  3.62208316e+00]
 [ 5.42053576e-02  9.98529394e-01  9.10733997e-04  1.44460096e-02]
 [-1.05304035e-02 -3.40379727e-04  9.99944496e-01 -3.90638120e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.6877026379999998
Centerline is valid?  [True, True]
Translation: X:3.68, Y:0.01, Z:-0.04
[[ 9.98444719e-01 -5.47537057e-02  1.04964556e-02  3.68463621e+00]
 [ 5.47471525e-02  9.98499835e-01  9.10864825e-04  1.26736832e-02]
 [-1.05305824e-02 -3.34797118e-04  9.99944496e-01 -3.97188869e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.747702638
Centerline is valid?  [True, True]
Translation: X:3.74, Y:0.01, Z:-0.04
[[ 9.98245005e-01 -5.82814774e-02  1.04965989e-02  3.74496201e+00]
 [ 5.82751363e-02  9.98300146e-01  9.09211001e-04  8.36195890e-03]
 [-1.05317463e-02 -2.95924611e-04  9.99944496e-01 -4.03473737e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.807702638
Centerline is valid?  [True, True]
Translation: X:3.80, Y:0.01, Z:-0.04
[[ 9.98324768e-01 -5.68988483e-02  1.04966045e-02  3.80465475e+00]
 [ 5.68924315e-02  9.98379900e-01  9.09145843e-04  1.21071843e-02]
 [-1.05313283e-02 -3.10445460e-04  9.99944496e-01 -4.09773522e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.867702638
Centerline is valid?  [True, True]
Translation: X:3.87, Y:0.01, Z:-0.04
[[ 9.98328736e-01 -5.68291779e-02  1.04966528e-02  3.86745752e+00]
 [ 5.68227632e-02  9.98383868e-01  9.08588003e-04  1.32078651e-02]
 [-1.05313231e-02 -3.10620696e-04  9.99944496e-01 -4.16373294e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.927702638
Centerline is valid?  [True, True]
Translation: X:3.93, Y:0.01, Z:-0.04
[[ 9.98135673e-01 -6.01248492e-02  1.04967109e-02  3.92857723e+00]
 [ 6.01186236e-02  9.98190827e-01  9.07916747e-04  1.32285011e-02]
 [-1.05323088e-02 -2.75176284e-04  9.99944496e-01 -4.22786075e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 3.987702638
Centerline is valid?  [True, True]
Translation: X:3.99, Y:0.02, Z:-0.04
[[ 9.97632749e-01 -6.79611253e-02  1.04968472e-02  3.98970597e+00]
 [ 6.79553496e-02  9.97687952e-01  9.06337995e-04  1.50880094e-02]
 [-1.05341737e-02 -1.90875547e-04  9.99944496e-01 -4.29212148e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.047702638
Centerline is valid?  [True, True]
Translation: X:4.05, Y:0.01, Z:-0.04
[[ 9.96996413e-01 -7.67330957e-02  1.04968561e-02  4.05018239e+00]
 [ 7.67278068e-02  9.97051665e-01  9.06234964e-04  1.29260435e-02]
 [-1.05354460e-02 -9.81122642e-05  9.99944496e-01 -4.35540529e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.107702638
Centerline is valid?  [True, True]
Translation: X:4.11, Y:0.01, Z:-0.04
[[ 9.96515642e-01 -8.27429255e-02  1.04968557e-02  4.11384091e+00]
 [ 8.27379698e-02  9.96570924e-01  9.06238993e-04  1.33315192e-02]
 [-1.05358461e-02 -3.45927997e-05  9.99944496e-01 -4.42226737e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.167702638
Centerline is valid?  [True, True]
Translation: X:4.18, Y:0.01, Z:-0.04
[[ 9.95546958e-01 -9.36806655e-02  1.04970021e-02  4.17674315e+00]
 [ 9.36763351e-02  9.95602293e-01  9.04539790e-04  1.27488397e-02]
 [-1.05355773e-02  8.28088541e-05  9.99944496e-01 -4.48816636e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.227702638
Centerline is valid?  [True, True]
Translation: X:4.24, Y:0.01, Z:-0.05
[[ 9.94822682e-01 -1.01082348e-01  1.04971289e-02  4.24050395e+00]
 [ 1.01078445e-01  9.94878049e-01  9.03066400e-04  1.13072240e-02]
 [-1.05346472e-02  1.62642530e-04  9.99944496e-01 -4.55490154e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.287702638
Centerline is valid?  [True, True]
Translation: X:4.30, Y:0.01, Z:-0.05
[[ 9.94292210e-01 -1.06173485e-01  1.04972739e-02  4.30050107e+00]
 [ 1.06169883e-01  9.94347597e-01  9.01377357e-04  1.24860747e-02]
 [-1.05336415e-02  2.18261861e-04  9.99944496e-01 -4.61791414e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.347702638
Centerline is valid?  [True, True]
Translation: X:4.36, Y:0.01, Z:-0.05
[[ 9.94040749e-01 -1.08502518e-01  1.04972873e-02  4.36303000e+00]
 [ 1.08499047e-01  9.94096145e-01  9.01221899e-04  1.05630890e-02]
 [-1.05330977e-02  2.43094376e-04  9.99944496e-01 -4.68337579e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.407702638
Centerline is valid?  [True, True]
Translation: X:4.42, Y:0.02, Z:-0.05
[[ 9.94286107e-01 -1.06230610e-01  1.04974147e-02  4.42459753e+00]
 [ 1.06227029e-01  9.94341495e-01  8.99734992e-04  1.81095783e-02]
 [-1.05335944e-02  2.20515174e-04  9.99944496e-01 -4.74862159e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.467702638
Centerline is valid?  [True, True]
Translation: X:4.48, Y:0.03, Z:-0.05
[[ 9.94905214e-01 -1.00266742e-01  1.04974510e-02  4.48484544e+00]
 [ 1.00262833e-01  9.94960580e-01  8.99311932e-04  2.83606235e-02]
 [-1.05347210e-02  1.57774048e-04  9.99944496e-01 -4.81277289e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.527702638
Centerline is valid?  [True, True]
Translation: X:4.55, Y:0.04, Z:-0.05
[[ 9.95429309e-01 -9.49225681e-02  1.04974610e-02  4.54586672e+00]
 [ 9.49183631e-02  9.95484654e-01  8.99194704e-04  3.53803549e-02]
 [-1.05354152e-02  1.01317053e-04  9.99944496e-01 -4.87745918e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.587702638
Centerline is valid?  [True, True]
Translation: X:4.61, Y:0.04, Z:-0.05
[[ 9.95273846e-01 -9.65389821e-02  1.04974918e-02  4.60811707e+00]
 [ 9.65348708e-02  9.95329197e-01  8.98835003e-04  4.11624348e-02]
 [-1.05352327e-02  1.18787045e-04  9.99944496e-01 -4.94331332e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.647702638
Centerline is valid?  [True, True]
Translation: X:4.67, Y:0.05, Z:-0.05
[[ 9.94884767e-01 -1.00469396e-01  1.04976364e-02  4.66950957e+00]
 [ 1.00465522e-01  9.94940136e-01  8.97142703e-04  5.27251575e-02]
 [-1.05346552e-02  1.62096911e-04  9.99944496e-01 -5.00872428e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.707702638
Centerline is valid?  [True, True]
Translation: X:4.73, Y:0.06, Z:-0.05
[[ 9.94090792e-01 -1.08043026e-01  1.04976885e-02  4.72988652e+00]
 [ 1.08039579e-01  9.94146189e-01  8.96533224e-04  5.56755786e-02]
 [-1.05331012e-02  2.42930424e-04  9.99944496e-01 -5.07234582e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.767702638
Centerline is valid?  [True, True]
Translation: X:4.79, Y:0.06, Z:-0.05
[[ 9.93315262e-01 -1.14954722e-01  1.04976956e-02  4.79070742e+00]
 [ 1.14951662e-01  9.93370682e-01  8.96450088e-04  6.10736640e-02]
 [-1.05311542e-02  3.16269997e-04  9.99944496e-01 -5.13667738e-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 4.827702638
Centerline is valid?  [True, True]
Translation: X:4.85, Y:0.06, Z:-0.05
[[ 9.91972695e-01 -1.26015758e-01  1.04977058e-02  4.85087390e+00]
 [ 1.26013317e-01  9.92028145e-01  8.96330100e-04  6.45643420e-02]
 [-1.05269714e-02  4.33715745e-04  9.99944496e-01 -5.20014923e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.8877026379999995
Centerline is valid?  [True, True]
Translation: X:4.91, Y:0.07, Z:-0.05
[[ 9.91412358e-01 -1.30350810e-01  1.04977240e-02  4.91170889e+00]
 [ 1.30348613e-01  9.91467819e-01  8.96116664e-04  6.81613272e-02]
 [-1.05249651e-02  4.79942637e-04  9.99944496e-01 -5.26432816e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 4.947702638
Centerline is valid?  [True, True]
Translation: X:4.97, Y:0.07, Z:-0.05
[[ 9.91457108e-01 -1.30009998e-01  1.04977415e-02  4.97369860e+00]
 [ 1.30007784e-01  9.91512568e-01  8.95912133e-04  7.18047104e-02]
 [-1.05251202e-02  4.76529659e-04  9.99944496e-01 -5.32972401e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.007702638
Centerline is valid?  [True, True]
Translation: X:5.03, Y:0.08, Z:-0.05
[[ 9.91566169e-01 -1.29175564e-01  1.04978862e-02  5.03397032e+00]
 [ 1.29173322e-01  9.91621628e-01  8.94213568e-04  7.64650609e-02]
 [-1.05254415e-02  4.69374905e-04  9.99944496e-01 -5.39333902e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.067702638
Centerline is valid?  [True, True]
Translation: X:5.09, Y:0.09, Z:-0.05
[[ 9.92664021e-01 -1.20448896e-01  1.04978963e-02  5.09445378e+00]
 [ 1.20446167e-01  9.92719458e-01  8.94095130e-04  8.66917934e-02]
 [-1.05291587e-02  3.76895300e-04  9.99944496e-01 -5.45774645e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.127702638
Centerline is valid?  [True, True]
Translation: X:5.16, Y:0.09, Z:-0.06
[[ 9.93606015e-01 -1.12413883e-01  1.04979058e-02  5.15506794e+00]
 [ 1.12410707e-01  9.93661428e-01  8.93983152e-04  9.48502892e-02]
 [-1.05318602e-02  2.91809980e-04  9.99944496e-01 -5.52210638e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.187702638
Centerline is valid?  [True, True]
Translation: X:5.22, Y:0.10, Z:-0.06
[[ 9.93716738e-01 -1.11430870e-01  1.04979157e-02  5.21726521e+00]
 [ 1.11427640e-01  9.93772148e-01  8.93867129e-04  1.02211273e-01]
 [-1.05321406e-02  2.81507244e-04  9.99944496e-01 -5.58805678e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.247702638
Centerline is valid?  [True, True]
Translation: X:5.28, Y:0.11, Z:-0.06
[[ 9.94439026e-01 -1.04789390e-01  1.04979929e-02  5.27804292e+00]
 [ 1.04785800e-01  9.94494414e-01  8.92959223e-04  1.09236734e-01]
 [-1.05337680e-02  2.12047088e-04  9.99944496e-01 -5.65244963e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.307702637999999
Centerline is valid?  [True, True]
Translation: X:5.34, Y:0.12, Z:-0.06
[[ 9.94825343e-01 -1.01056071e-01  1.04980106e-02  5.33953950e+00]
 [ 1.01052275e-01  9.94880717e-01  8.92750707e-04  1.18020068e-01]
 [-1.05344862e-02  1.72716833e-04  9.99944496e-01 -5.71778677e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.367702638
Centerline is valid?  [True, True]
Translation: X:5.40, Y:0.13, Z:-0.06
[[ 9.94820292e-01 -1.01105771e-01  1.04980502e-02  5.40038368e+00]
 [ 1.01101983e-01  9.94875667e-01  8.92285066e-04  1.25828930e-01]
 [-1.05344699e-02  1.73710401e-04  9.99944496e-01 -5.78233962e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.4277026379999995
Centerline is valid?  [True, True]
Translation: X:5.46, Y:0.13, Z:-0.06
[[ 9.94624605e-01 -1.03013041e-01  1.04980704e-02  5.46126263e+00]
 [ 1.03009361e-01  9.94679987e-01  8.92047597e-04  1.32672308e-01]
 [-1.05341131e-02  1.94147038e-04  9.99944496e-01 -5.84685352e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.487702638
Centerline is valid?  [True, True]
Translation: X:5.52, Y:0.14, Z:-0.06
[[ 9.94398867e-01 -1.05169781e-01  1.04981011e-02  5.52214537e+00]
 [ 1.05166226e-01  9.94454257e-01  8.91686755e-04  1.39042478e-01]
 [-1.05336598e-02  2.17353364e-04  9.99944496e-01 -5.91132320e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.547702638
Centerline is valid?  [True, True]
Translation: X:5.58, Y:0.15, Z:-0.06
[[ 9.94275398e-01 -1.06330721e-01  1.04981216e-02  5.58367425e+00]
 [ 1.06327232e-01  9.94330793e-01  8.91444551e-04  1.47539492e-01]
 [-1.05333935e-02  2.29894831e-04  9.99944496e-01 -5.97666646e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.607702638
Centerline is valid?  [True, True]
Translation: X:5.64, Y:0.16, Z:-0.06
[[ 9.94178212e-01 -1.07235588e-01  1.04981623e-02  5.64464906e+00]
 [ 1.07232155e-01  9.94233610e-01  8.90965437e-04  1.56328003e-01]
 [-1.05331690e-02  2.39962145e-04  9.99944496e-01 -6.04144233e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.667702638
Centerline is valid?  [True, True]
Translation: X:5.71, Y:0.17, Z:-0.06
[[ 9.94386411e-01 -1.05287472e-01  1.04983029e-02  5.70572482e+00]
 [ 1.05283948e-01  9.94441803e-01  8.89305399e-04  1.66989258e-01]
 [-1.05335840e-02  2.20989575e-04  9.99944496e-01 -6.10643266e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.727702638
Centerline is valid?  [True, True]
Translation: X:5.77, Y:0.18, Z:-0.06
[[ 9.94634093e-01 -1.02921359e-01  1.04983482e-02  5.76698896e+00]
 [ 1.02917709e-01  9.94689477e-01  8.88770280e-04  1.76096541e-01]
 [-1.05340699e-02  1.96464721e-04  9.99944496e-01 -6.17153665e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.787702638
Centerline is valid?  [True, True]
Translation: X:5.83, Y:0.18, Z:-0.06
[[ 9.94887565e-01 -1.00441614e-01  1.04983789e-02  5.82763712e+00]
 [ 1.00437830e-01  9.94942940e-01  8.88407621e-04  1.84853754e-01]
 [-1.05345211e-02  1.70568697e-04  9.99944496e-01 -6.23597102e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.8477026379999995
Centerline is valid?  [True, True]
Translation: X:5.89, Y:0.20, Z:-0.06
[[ 9.95064739e-01 -9.86708951e-02  1.04985209e-02  5.88859679e+00]
 [ 9.86670300e-02  9.95120109e-01  8.86726519e-04  1.96947187e-01]
 [-1.05347833e-02  1.53507583e-04  9.99944496e-01 -6.30096183e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.907702638
Centerline is valid?  [True, True]
Translation: X:5.95, Y:0.21, Z:-0.06
[[ 9.95192254e-01 -9.73763744e-02  1.04985650e-02  5.94988379e+00]
 [ 9.73724428e-02  9.95247618e-01  8.86204388e-04  2.05497735e-01]
 [-1.05349671e-02  1.40327174e-04  9.99944496e-01 -6.36603937e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 5.967702638
Centerline is valid?  [True, True]
Translation: X:6.01, Y:0.22, Z:-0.06
[[ 9.95463086e-01 -9.45675481e-02  1.04986948e-02  6.01113488e+00]
 [ 9.45634766e-02  9.95518441e-01  8.84663677e-04  2.15075067e-01]
 [-1.05353047e-02  1.12143045e-04  9.99944496e-01 -6.43111755e-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 6.027702638
Centerline is valid?  [True, True]
Translation: X:6.07, Y:0.23, Z:-0.06
[[ 9.95784179e-01 -9.11243361e-02  1.04987334e-02  6.07004148e+00]
 [ 9.11200780e-02  9.95839520e-01  8.84205047e-04  2.30751983e-01]
 [-1.05356262e-02  7.61680104e-05  9.99944496e-01 -6.49432817e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.087702638
Centerline is valid?  [True, True]
Translation: X:6.13, Y:0.24, Z:-0.07
[[ 9.95642354e-01 -9.26611048e-02  1.04987316e-02  6.13031855e+00]
 [ 9.26569319e-02  9.95697701e-01  8.84226579e-04  2.37567142e-01]
 [-1.05354963e-02  9.24068263e-05  9.99944496e-01 -6.55821874e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.147702638
Centerline is valid?  [True, True]
Translation: X:6.19, Y:0.25, Z:-0.07
[[ 9.95331057e-01 -9.59471851e-02  1.04987505e-02  6.19136830e+00]
 [ 9.59431973e-02  9.95386418e-01  8.84001869e-04  2.47906341e-01]
 [-1.05351312e-02  1.27409177e-04  9.99944496e-01 -6.62321913e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.207702638
Centerline is valid?  [True, True]
Translation: X:6.25, Y:0.26, Z:-0.07
[[ 9.95234330e-01 -9.69453700e-02  1.04987796e-02  6.25276411e+00]
 [ 9.69414414e-02  9.95289695e-01  8.83656691e-04  2.58882966e-01]
 [-1.05349935e-02  1.38321350e-04  9.99944496e-01 -6.68863250e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.267702638
Centerline is valid?  [True, True]
Translation: X:6.31, Y:0.27, Z:-0.07
[[ 9.95079009e-01 -9.85268559e-02  1.04988182e-02  6.31442435e+00]
 [ 9.85230200e-02  9.95134380e-01  8.83197492e-04  2.68225488e-01]
 [-1.05347536e-02  1.55523991e-04  9.99944496e-01 -6.75417260e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.327702638
Centerline is valid?  [True, True]
Translation: X:6.38, Y:0.28, Z:-0.07
[[ 9.95005891e-01 -9.92625266e-02  1.04989529e-02  6.37648415e+00]
 [ 9.92587487e-02  9.95061266e-01  8.81593854e-04  2.79462894e-01]
 [-1.05346106e-02  1.64921845e-04  9.99944496e-01 -6.82023655e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.3877026379999995
Centerline is valid?  [True, True]
Translation: X:6.44, Y:0.29, Z:-0.07
[[ 9.95016939e-01 -9.91517054e-02  1.04990219e-02  6.43614624e+00]
 [ 9.91479300e-02  9.95072315e-01  8.80770964e-04  2.87938326e-01]
 [-1.05346160e-02  1.64574258e-04  9.99944496e-01 -6.88358094e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.447702638
Centerline is valid?  [True, True]
Translation: X:6.50, Y:0.30, Z:-0.07
[[ 9.95242160e-01 -9.68649193e-02  1.04990219e-02  6.49642305e+00]
 [ 9.68610166e-02  9.95297527e-01  8.80770964e-04  2.99843324e-01]
 [-1.05349663e-02  1.40365536e-04  9.99944496e-01 -6.94791782e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.507702638
Centerline is valid?  [True, True]
Translation: X:6.56, Y:0.31, Z:-0.07
[[ 9.95587106e-01 -9.32528039e-02  1.04990281e-02  6.55800621e+00]
 [ 9.32487010e-02  9.95642458e-01  8.80697030e-04  3.10235440e-01]
 [-1.05354056e-02  1.02210125e-04  9.99944496e-01 -7.01348891e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.567702638
Centerline is valid?  [True, True]
Translation: X:6.62, Y:0.32, Z:-0.07
[[ 9.96039509e-01 -8.82896716e-02  1.04990768e-02  6.61792042e+00]
 [ 8.82852991e-02  9.96094841e-01  8.80115486e-04  3.20547642e-01]
 [-1.05357814e-02  5.02843436e-05  9.99944496e-01 -7.07727174e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.627702638
Centerline is valid?  [True, True]
Translation: X:6.68, Y:0.33, Z:-0.07
[[ 9.96584558e-01 -8.19084094e-02  1.04990964e-02  6.67973451e+00]
 [ 8.19036851e-02  9.96639861e-01  8.79882191e-04  3.31714322e-01]
 [-1.05358877e-02 -1.69623202e-05  9.99944496e-01 -7.14314390e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.687702638
Centerline is valid?  [True, True]
Translation: X:6.74, Y:0.34, Z:-0.07
[[ 9.96902719e-01 -7.79405818e-02  1.04992332e-02  6.74056667e+00]
 [ 7.79356545e-02  9.96958004e-01  8.78246705e-04  3.40761084e-01]
 [-1.05357456e-02 -5.72619168e-05  9.99944496e-01 -7.20771734e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.747702638
Centerline is valid?  [True, True]
Translation: X:6.80, Y:0.35, Z:-0.07
[[ 9.97451927e-01 -7.05650033e-02  1.04992527e-02  6.80094325e+00]
 [ 7.05596698e-02  9.97507174e-01  8.78013243e-04  3.52104536e-01]
 [-1.05350369e-02 -1.34952196e-04  9.99944496e-01 -7.27209431e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.807702637999999
Centerline is valid?  [True, True]
Translation: X:6.86, Y:0.36, Z:-0.07
[[ 9.97437263e-01 -7.07719746e-02  1.04992628e-02  6.86131509e+00]
 [ 7.07666538e-02  9.97492511e-01  8.77892606e-04  3.56409117e-01]
 [-1.05350662e-02 -1.32645101e-04  9.99944496e-01 -7.33585468e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.867702638
Centerline is valid?  [True, True]
Translation: X:6.92, Y:0.36, Z:-0.07
[[ 9.97527132e-01 -6.94937786e-02  1.04992730e-02  6.92221475e+00]
 [ 6.94883883e-02  9.97582374e-01  8.77770196e-04  3.64454629e-01]
 [-1.05348893e-02 -1.46022025e-04  9.99944496e-01 -7.40049756e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.9277026379999995
Centerline is valid?  [True, True]
Translation: X:6.98, Y:0.37, Z:-0.07
[[ 9.97495851e-01 -6.99413362e-02  1.04994060e-02  6.98372891e+00]
 [ 6.99359874e-02  9.97551096e-01  8.76177395e-04  3.71394033e-01]
 [-1.05349749e-02 -1.39696992e-04  9.99944496e-01 -7.46560210e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 6.987702638
Centerline is valid?  [True, True]
Translation: X:7.05, Y:0.38, Z:-0.08
[[ 9.97311504e-01 -7.25225760e-02  1.04995401e-02  7.04520712e+00]
 [ 7.25173872e-02  9.97366765e-01  8.74566900e-04  3.75017998e-01]
 [-1.05353182e-02 -1.10816414e-04  9.99944496e-01 -7.53037731e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.047702638
Centerline is valid?  [True, True]
Translation: X:7.11, Y:0.38, Z:-0.08
[[ 9.97120357e-01 -7.51049334e-02  1.04996177e-02  7.10603851e+00]
 [ 7.50998976e-02  9.97175633e-01  8.73634213e-04  3.80550797e-01]
 [-1.05355772e-02 -8.25982439e-05  9.99944496e-01 -7.59468023e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.107702638
Centerline is valid?  [True, True]
Translation: X:7.17, Y:0.38, Z:-0.08
[[ 9.96930106e-01 -7.75894341e-02  1.04996478e-02  7.16809076e+00]
 [ 7.75845398e-02  9.96985394e-01  8.73272343e-04  3.83704513e-01]
 [-1.05357522e-02 -5.59811464e-05  9.99944496e-01 -7.66009071e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.167702638
Centerline is valid?  [True, True]
Translation: X:7.23, Y:0.39, Z:-0.08
[[ 9.96844969e-01 -7.86756748e-02  1.04997884e-02  7.22813427e+00]
 [ 7.86708585e-02  9.96900264e-01  8.71578700e-04  3.90306152e-01]
 [-1.05358139e-02 -4.28014746e-05  9.99944496e-01 -7.72361508e-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 7.227702637999999
Centerline is valid?  [True, True]
Translation: X:7.29, Y:0.40, Z:-0.08
[[ 9.96874582e-01 -7.82995609e-02  1.04998076e-02  7.28931690e+00]
 [ 7.82947262e-02  9.96929875e-01  8.71347429e-04  3.97835112e-01]
 [-1.05357980e-02 -4.65445431e-05  9.99944496e-01 -7.78850174e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.287702638
Centerline is valid?  [True, True]
Translation: X:7.35, Y:0.40, Z:-0.08
[[ 9.96898885e-01 -7.79895271e-02  1.04998370e-02  7.34992359e+00]
 [ 7.79846790e-02  9.96954177e-01  8.70993273e-04  4.03329110e-01]
 [-1.05357847e-02 -4.94658069e-05  9.99944496e-01 -7.85259902e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.3477026379999995
Centerline is valid?  [True, True]
Translation: X:7.41, Y:0.41, Z:-0.08
[[ 9.96597717e-01 -8.17480473e-02  1.04998475e-02  7.40924155e+00]
 [ 8.17434091e-02  9.96653027e-01  8.70866880e-04  4.09243376e-01]
 [-1.05358964e-02 -9.61061964e-06  9.99944496e-01 -7.91539307e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.407702638
Centerline is valid?  [True, True]
Translation: X:7.47, Y:0.41, Z:-0.08
[[ 9.96309516e-01 -8.51886258e-02  1.04998475e-02  7.46868787e+00]
 [ 8.51841786e-02  9.96364841e-01  8.70866880e-04  4.10463285e-01]
 [-1.05358668e-02  2.67679204e-05  9.99944496e-01 -7.97792051e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.467702638
Centerline is valid?  [True, True]
Translation: X:7.53, Y:0.41, Z:-0.08
[[ 9.95731827e-01 -9.16945008e-02  1.04998375e-02  7.53122672e+00]
 [ 9.16904138e-02  9.95787181e-01  8.70987116e-04  4.13014993e-01]
 [-1.05354683e-02  9.54648505e-05  9.99944496e-01 -8.04381824e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.527702638
Centerline is valid?  [True, True]
Translation: X:7.59, Y:0.42, Z:-0.08
[[ 9.95648378e-01 -9.25962171e-02  1.04998770e-02  7.59199197e+00]
 [ 9.25921852e-02  9.95703736e-01  8.70510671e-04  4.17322691e-01]
 [-1.05353727e-02  1.05484017e-04  9.99944496e-01 -8.10797175e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.587702638
Centerline is valid?  [True, True]
Translation: X:7.65, Y:0.42, Z:-0.08
[[ 9.95482397e-01 -9.43639178e-02  1.04998870e-02  7.65399938e+00]
 [ 9.43599855e-02  9.95537762e-01  8.70389527e-04  4.24470767e-01]
 [-1.05351674e-02  1.24311734e-04  9.99944496e-01 -8.17369759e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.647702638
Centerline is valid?  [True, True]
Translation: X:7.72, Y:0.43, Z:-0.08
[[ 9.95585709e-01 -9.32676125e-02  1.04999371e-02  7.71593006e+00]
 [ 9.32636255e-02  9.95641070e-01  8.69785604e-04  4.26309759e-01]
 [-1.05352914e-02  1.13316080e-04  9.99944496e-01 -8.23885266e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.707702638
Centerline is valid?  [True, True]
Translation: X:7.78, Y:0.43, Z:-0.08
[[ 9.95382295e-01 -9.54140262e-02  1.04999875e-02  7.77662347e+00]
 [ 9.54101651e-02  9.95437665e-01  8.69175783e-04  4.31995741e-01]
 [-1.05350146e-02  1.36643358e-04  9.99944496e-01 -8.30304297e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.767702637999999
Centerline is valid?  [True, True]
Translation: X:7.84, Y:0.44, Z:-0.08
[[ 9.95515499e-01 -9.40140352e-02  1.05001184e-02  7.83738071e+00]
 [ 9.40101129e-02  9.95570864e-01  8.67591349e-04  4.39089854e-01]
 [-1.05351778e-02  1.23416685e-04  9.99944496e-01 -8.36736560e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.827702638
Centerline is valid?  [True, True]
Translation: X:7.90, Y:0.44, Z:-0.08
[[ 9.95625305e-01 -9.28439529e-02  1.05001381e-02  7.89870329e+00]
 [ 9.28399681e-02  9.95680666e-01  8.67353450e-04  4.41551709e-01]
 [-1.05353130e-02  1.11273443e-04  9.99944496e-01 -8.43195837e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.8877026379999995
Centerline is valid?  [True, True]
Translation: X:7.96, Y:0.45, Z:-0.08
[[ 9.95394076e-01 -9.52910290e-02  1.05001585e-02  7.95883383e+00]
 [ 9.52871829e-02  9.95449447e-01  8.67106324e-04  4.45744152e-01]
 [-1.05350044e-02  1.37418025e-04  9.99944496e-01 -8.49544907e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 7.947702638
Centerline is valid?  [True, True]
Translation: X:8.02, Y:0.45, Z:-0.09
[[ 9.95132665e-01 -9.79832943e-02  1.05001773e-02  8.01959894e+00]
 [ 9.79796003e-02  9.95188046e-01  8.66878400e-04  4.51529230e-01]
 [-1.05345906e-02  1.66144166e-04  9.99944496e-01 -8.55974534e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.007702638
Centerline is valid?  [True, True]
Translation: X:8.08, Y:0.45, Z:-0.09
[[ 9.94996063e-01 -9.93608443e-02  1.05003151e-02  8.08222145e+00]
 [ 9.93572447e-02  9.95051451e-01  8.65206261e-04  4.53790630e-01]
 [-1.05343214e-02  1.82405553e-04  9.99944496e-01 -8.62560301e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.067702637999998
Centerline is valid?  [True, True]
Translation: X:8.14, Y:0.46, Z:-0.09
[[ 9.94785278e-01 -1.01449451e-01  1.05004525e-02  8.14326144e+00]
 [ 1.01445985e-01  9.94840674e-01  8.63535794e-04  4.59311451e-01]
 [-1.05338825e-02  2.06196049e-04  9.99944496e-01 -8.69008143e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.127702637999999
Centerline is valid?  [True, True]
Translation: X:8.20, Y:0.47, Z:-0.09
[[ 9.94591342e-01 -1.03333449e-01  1.05004720e-02  8.20398179e+00]
 [ 1.03330090e-01  9.94646745e-01  8.63298680e-04  4.66690352e-01]
 [-1.05334679e-02  2.26385324e-04  9.99944496e-01 -8.75446753e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.187702638
Centerline is valid?  [True, True]
Translation: X:8.27, Y:0.47, Z:-0.09
[[ 9.94744958e-01 -1.01844030e-01  1.05005983e-02  8.26604090e+00]
 [ 1.01840605e-01  9.94800356e-01  8.61759932e-04  4.73661304e-01]
 [-1.05337640e-02  2.12155934e-04  9.99944496e-01 -8.82014822e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.247702637999998
Centerline is valid?  [True, True]
Translation: X:8.33, Y:0.48, Z:-0.09
[[ 9.95030192e-01 -9.90184374e-02  1.05007338e-02  8.32708843e+00]
 [ 9.90148725e-02  9.95085582e-01  8.60104985e-04  4.78887611e-01]
 [-1.05342951e-02  1.83898391e-04  9.99944496e-01 -8.88460919e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.307702637999999
Centerline is valid?  [True, True]
Translation: X:8.39, Y:0.49, Z:-0.09
[[ 9.95065074e-01 -9.86672843e-02  1.05007635e-02  8.38896694e+00]
 [ 9.86637038e-02  9.95120462e-01  8.59742660e-04  4.86321650e-01]
 [-1.05343531e-02  1.80544323e-04  9.99944496e-01 -8.95020799e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.367702637999999
Centerline is valid?  [True, True]
Translation: X:8.45, Y:0.50, Z:-0.09
[[ 9.95506706e-01 -9.41070185e-02  1.05008031e-02  8.44951642e+00]
 [ 9.41031893e-02  9.95562078e-01  8.59258327e-04  4.95855626e-01]
 [-1.05350636e-02  1.32761636e-04  9.99944496e-01 -9.01458422e-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 8.427702638
Centerline is valid?  [True, True]
Translation: X:8.51, Y:0.50, Z:-0.09
[[ 9.95872790e-01 -9.01505271e-02  1.05009284e-02  8.51109826e+00]
 [ 9.01464940e-02  9.95928147e-01  8.57724814e-04  5.03750466e-01]
 [-1.05354945e-02  9.24370735e-05  9.99944496e-01 -9.07984113e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.487702637999998
Centerline is valid?  [True, True]
Translation: X:8.57, Y:0.51, Z:-0.09
[[ 9.95712872e-01 -9.18999745e-02  1.05009714e-02  8.57236103e+00]
 [ 9.18960443e-02  9.95768237e-01  8.57197263e-04  5.11976769e-01]
 [-1.05353102e-02  1.11475386e-04  9.99944496e-01 -9.14485046e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.547702637999999
Centerline is valid?  [True, True]
Translation: X:8.63, Y:0.52, Z:-0.09
[[ 9.95615625e-01 -9.29475913e-02  1.05011011e-02  8.63394900e+00]
 [ 9.29437361e-02  9.95670995e-01  8.55606383e-04  5.18361641e-01]
 [-1.05351683e-02  1.24156481e-04  9.99944496e-01 -9.20997966e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.607702638
Centerline is valid?  [True, True]
Translation: X:8.69, Y:0.53, Z:-0.09
[[ 9.95456857e-01 -9.46328314e-02  1.05011434e-02  8.69310756e+00]
 [ 9.46290755e-02  9.95512233e-01  8.55085798e-04  5.29164734e-01]
 [-1.05349360e-02  1.42512474e-04  9.99944496e-01 -9.27299905e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.667702638
Centerline is valid?  [True, True]
Translation: X:8.75, Y:0.54, Z:-0.09
[[ 9.95374523e-01 -9.54949441e-02  1.05011434e-02  8.75360694e+00]
 [ 9.54912361e-02  9.95429903e-01  8.55085798e-04  5.39507697e-01]
 [-1.05348086e-02  1.51636549e-04  9.99944496e-01 -9.33741831e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.727702637999998
Centerline is valid?  [True, True]
Translation: X:8.81, Y:0.55, Z:-0.09
[[ 9.95448006e-01 -9.47258834e-02  1.05011722e-02  8.81424173e+00]
 [ 9.47221363e-02  9.95503383e-01  8.54732277e-04  5.46090478e-01]
 [-1.05349177e-02  1.43851925e-04  9.99944496e-01 -9.40163663e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.787702637999999
Centerline is valid?  [True, True]
Translation: X:8.88, Y:0.56, Z:-0.09
[[ 9.95551796e-01 -9.36287554e-02  1.05012964e-02  8.87608363e+00]
 [ 9.36249635e-02  9.95607171e-01  8.53203956e-04  5.57725595e-01]
 [-1.05350504e-02  1.33774760e-04  9.99944496e-01 -9.46748170e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.847702638
Centerline is valid?  [True, True]
Translation: X:8.94, Y:0.57, Z:-0.10
[[ 9.95712085e-01 -9.19084576e-02  1.05014326e-02  8.93733910e+00]
 [ 9.19045876e-02  9.95767454e-01  8.51523856e-04  5.66349240e-01]
 [-1.05352471e-02  1.17257242e-04  9.99944496e-01 -9.53244296e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.907702637999998
Centerline is valid?  [True, True]
Translation: X:9.00, Y:0.57, Z:-0.10
[[ 9.95596624e-01 -9.31508453e-02  1.05015034e-02  8.99834935e+00]
 [ 9.31470537e-02  9.95651999e-01  8.50649651e-04  5.74600494e-01]
 [-1.05350816e-02  1.31280184e-04  9.99944496e-01 -9.59716411e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 8.967702637999999
Centerline is valid?  [True, True]
Translation: X:9.06, Y:0.58, Z:-0.10
[[ 9.95752034e-01 -9.14746059e-02  1.05015801e-02  9.05992782e+00]
 [ 9.14707310e-02  9.95807403e-01  8.49701572e-04  5.83896481e-01]
 [-1.05352774e-02  1.14495144e-04  9.99944496e-01 -9.66256558e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.027702638
Centerline is valid?  [True, True]
Translation: X:9.12, Y:0.59, Z:-0.10
[[ 9.95886408e-01 -8.99998672e-02  1.05017127e-02  9.12034303e+00]
 [ 8.99959277e-02  9.95941772e-01  8.48060583e-04  5.92266156e-01]
 [-1.05354197e-02  1.00539366e-04  9.99944496e-01 -9.72662216e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.087702638
Centerline is valid?  [True, True]
Translation: X:9.18, Y:0.60, Z:-0.10
[[ 9.95912009e-01 -8.97161364e-02  1.05017222e-02  9.18039563e+00]
 [ 8.97121823e-02  9.95967372e-01  8.47942641e-04  5.99172399e-01]
 [-1.05354468e-02  9.76561569e-05  9.99944496e-01 -9.79026943e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.147702637999998
Centerline is valid?  [True, True]
Translation: X:9.24, Y:0.61, Z:-0.10
[[ 9.95763803e-01 -9.13463883e-02  1.05017218e-02  9.24104252e+00]
 [ 9.13425249e-02  9.95819172e-01  8.47946876e-04  6.07173656e-01]
 [-1.05352728e-02  1.14898982e-04  9.99944496e-01 -9.85464141e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.207702637999999
Centerline is valid?  [True, True]
Translation: X:9.30, Y:0.61, Z:-0.10
[[ 9.95301838e-01 -9.62494934e-02  1.05017459e-02  9.30168679e+00]
 [ 9.62459058e-02  9.95357226e-01  8.47648247e-04  6.10701566e-01]
 [-1.05345744e-02  1.67084194e-04  9.99944496e-01 -9.91861206e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.267702638
Centerline is valid?  [True, True]
Translation: X:9.36, Y:0.61, Z:-0.10
[[ 9.94945807e-01 -9.98626768e-02  1.05017650e-02  9.36253012e+00]
 [ 9.98592929e-02  9.95001208e-01  8.47411653e-04  6.14737863e-01]
 [-1.05338937e-02  2.05570160e-04  9.99944496e-01 -9.98283886e-02]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.327702637999998
Centerline is valid?  [True, True]
Translation: X:9.42, Y:0.62, Z:-0.10
[[ 9.94780086e-01 -1.01500209e-01  1.05017747e-02  9.42268170e+00]
 [ 1.01496918e-01  9.94835493e-01  8.47291474e-04  6.16837930e-01]
 [-1.05335385e-02  2.23029079e-04  9.99944496e-01 -1.00461825e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.387702637999999
Centerline is valid?  [True, True]
Translation: X:9.48, Y:0.62, Z:-0.10
[[ 9.94896810e-01 -1.00349638e-01  1.05017941e-02  9.48461422e+00]
 [ 1.00346285e-01  9.94952213e-01  8.47051121e-04  6.23617319e-01]
 [-1.05337846e-02  2.11087568e-04  9.99944496e-01 -1.01117855e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.447702637999999
Centerline is valid?  [True, True]
Translation: X:9.55, Y:0.63, Z:-0.10
[[ 9.95439241e-01 -9.48178598e-02  1.05019290e-02  9.54715321e+00]
 [ 9.48142165e-02  9.95494626e-01  8.45375814e-04  6.29480106e-01]
 [-1.05347706e-02  1.54211909e-04  9.99944496e-01 -1.01778566e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.507702638
Centerline is valid?  [True, True]
Translation: X:9.61, Y:0.63, Z:-0.10
[[ 9.95885523e-01 -9.00096164e-02  1.05020835e-02  9.60932925e+00]
 [ 9.00057260e-02  9.95940891e-01  8.43452230e-04  6.34937367e-01]
 [-1.05353732e-02  1.05265782e-04  9.99944496e-01 -1.02434963e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.567702637999998
Centerline is valid?  [True, True]
Translation: X:9.67, Y:0.64, Z:-0.10
[[ 9.96422442e-01 -8.38571444e-02  1.05022191e-02  9.67171857e+00]
 [ 8.38529299e-02  9.96477786e-01  8.41760432e-04  6.40627504e-01]
 [-1.05358156e-02  4.18928537e-05  9.99944496e-01 -1.03093942e-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 9.627702637999999
Centerline is valid?  [True, True]
Translation: X:9.73, Y:0.65, Z:-0.10
[[ 9.96672630e-01 -8.08292733e-02  1.05022674e-02  9.73272874e+00]
 [ 8.08248971e-02  9.96727961e-01  8.41156579e-04  6.47308795e-01]
 [-1.05358937e-02  1.04869445e-05  9.99944496e-01 -1.03739959e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.687702638
Centerline is valid?  [True, True]
Translation: X:9.79, Y:0.65, Z:-0.10
[[ 9.96691346e-01 -8.05981569e-02  1.05022809e-02  9.79422485e+00]
 [ 8.05937696e-02  9.96746676e-01  8.40988772e-04  6.52485573e-01]
 [-1.05358957e-02  8.21217377e-06  9.99944496e-01 -1.04390091e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.747702637999998
Centerline is valid?  [True, True]
Translation: X:9.85, Y:0.66, Z:-0.11
[[ 9.96650206e-01 -8.11052794e-02  1.05024167e-02  9.85377825e+00]
 [ 8.11009382e-02  9.96705540e-01  8.39288720e-04  6.55441497e-01]
 [-1.05358877e-02  1.52785736e-05  9.99944496e-01 -1.05016978e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.807702637999999
Centerline is valid?  [True, True]
Translation: X:9.92, Y:0.66, Z:-0.11
[[ 9.96341582e-01 -8.48124471e-02  1.05024167e-02  9.91618113e+00]
 [ 8.48083118e-02  9.96396932e-01  8.39288720e-04  6.58391943e-01]
 [-1.05357579e-02  5.44739810e-05  9.99944496e-01 -1.05674872e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.867702637999999
Centerline is valid?  [True, True]
Translation: X:9.98, Y:0.66, Z:-0.11
[[ 9.96268299e-01 -8.56689822e-02  1.05024639e-02  9.97724163e+00]
 [ 8.56649007e-02  9.96323653e-01  8.38698341e-04  6.64797954e-01]
 [-1.05357036e-02  6.41239550e-05  9.99944496e-01 -1.06321192e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.927702638
Centerline is valid?  [True, True]
Translation: X:10.04, Y:0.67, Z:-0.11
[[ 9.96375388e-01 -8.44143415e-02  1.05025861e-02  1.00394765e+01]
 [ 8.44102064e-02  9.96430738e-01  8.37164789e-04  6.71813461e-01]
 [-1.05357683e-02  5.23950696e-05  9.99944496e-01 -1.06979755e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 9.987702637999998
Centerline is valid?  [True, True]
Translation: X:10.10, Y:0.68, Z:-0.11
[[ 9.96297188e-01 -8.53323244e-02  1.05027118e-02  1.01012300e+01]
 [ 8.53282570e-02  9.96352543e-01  8.35585585e-04  6.75151479e-01]
 [-1.05357060e-02  6.36865179e-05  9.99944496e-01 -1.07630154e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.047702637999999
Centerline is valid?  [True, True]
Translation: X:10.16, Y:0.68, Z:-0.11
[[ 9.96349466e-01 -8.47197338e-02  1.05027575e-02  1.01630149e+01]
 [ 8.47156385e-02  9.96404819e-01  8.35009835e-04  6.81243554e-01]
 [-1.05357400e-02  5.77862065e-05  9.99944496e-01 -1.08283823e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.107702638
Centerline is valid?  [True, True]
Translation: X:10.22, Y:0.69, Z:-0.11
[[ 9.96390119e-01 -8.42402677e-02  1.05028020e-02  1.02248208e+01]
 [ 8.42361516e-02  9.96445470e-01  8.34450423e-04  6.89134331e-01]
 [-1.05357638e-02  5.32774637e-05  9.99944496e-01 -1.08939222e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.167702637999998
Centerline is valid?  [True, True]
Translation: X:10.28, Y:0.69, Z:-0.11
[[ 9.96304260e-01 -8.52496864e-02  1.05029362e-02  1.02845457e+01]
 [ 8.52456443e-02  9.96359617e-01  8.32757021e-04  6.92387377e-01]
 [-1.05356938e-02  6.56501982e-05  9.99944496e-01 -1.09568170e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.227702637999998
Centerline is valid?  [True, True]
Translation: X:10.34, Y:0.70, Z:-0.11
[[ 9.96426199e-01 -8.38123918e-02  1.05029694e-02  1.03441513e+01]
 [ 8.38082742e-02  9.96481550e-01  8.32338468e-04  6.96406862e-01]
 [-1.05357755e-02  5.08718835e-05  9.99944496e-01 -1.10197320e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.287702637999999
Centerline is valid?  [True, True]
Translation: X:10.40, Y:0.71, Z:-0.11
[[ 9.96854915e-01 -7.85491367e-02  1.05029670e-02  1.04046296e+01]
 [ 7.85447265e-02  9.96910243e-01  8.32368648e-04  7.05634957e-01]
 [-1.05358972e-02 -4.79810592e-06  9.99944496e-01 -1.10840258e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.347702638
Centerline is valid?  [True, True]
Translation: X:10.47, Y:0.71, Z:-0.11
[[ 9.97071202e-01 -7.57542403e-02  1.05029855e-02  1.04655540e+01]
 [ 7.57496775e-02  9.97126519e-01  8.32135118e-04  7.12283469e-01]
 [-1.05358431e-02 -3.41001967e-05  9.99944496e-01 -1.11485564e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.407702637999998
Centerline is valid?  [True, True]
Translation: X:10.53, Y:0.72, Z:-0.11
[[ 9.96777297e-01 -7.95280238e-02  1.05030047e-02  1.05254705e+01]
 [ 7.95236729e-02  9.96832631e-01  8.31893272e-04  7.17577624e-01]
 [-1.05358966e-02  6.02518112e-06  9.99944496e-01 -1.12119151e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.467702637999999
Centerline is valid?  [True, True]
Translation: X:10.58, Y:0.72, Z:-0.11
[[ 9.96561640e-01 -8.21862783e-02  1.05030047e-02  1.05844198e+01]
 [ 8.21820750e-02  9.96616985e-01  8.31893272e-04  7.24884828e-01]
 [-1.05358431e-02  3.41257947e-05  9.99944496e-01 -1.12744409e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.527702638
Centerline is valid?  [True, True]
Translation: X:10.65, Y:0.73, Z:-0.11
[[ 9.96508440e-01 -8.28288329e-02  1.05029958e-02  1.06461713e+01]
 [ 8.28246642e-02  9.96563788e-01  8.32005219e-04  7.33084004e-01]
 [-1.05358193e-02  4.08068770e-05  9.99944496e-01 -1.13399916e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.587702637999998
Centerline is valid?  [True, True]
Translation: X:10.71, Y:0.74, Z:-0.11
[[ 9.96422894e-01 -8.38516712e-02  1.05030308e-02  1.07076703e+01]
 [ 8.38475640e-02  9.96478246e-01  8.31562960e-04  7.41588345e-01]
 [-1.05357697e-02  5.20651779e-05  9.99944496e-01 -1.14052662e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.647702637999998
Centerline is valid?  [True, True]
Translation: X:10.77, Y:0.75, Z:-0.11
[[ 9.96125395e-01 -8.73148399e-02  1.05031550e-02  1.07680635e+01]
 [ 8.73109416e-02  9.96180762e-01  8.29991639e-04  7.48817519e-01]
 [-1.05355115e-02  9.02646035e-05  9.99944496e-01 -1.14691989e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.707702637999999
Centerline is valid?  [True, True]
Translation: X:10.83, Y:0.75, Z:-0.12
[[ 9.95843954e-01 -9.04682463e-02  1.05031645e-02  1.08293815e+01]
 [ 9.04645246e-02  9.95899333e-01  8.29870810e-04  7.54383847e-01]
 [-1.05351715e-02  1.23741958e-04  9.99944496e-01 -1.15340599e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.767702638
Centerline is valid?  [True, True]
Translation: X:10.89, Y:0.76, Z:-0.12
[[ 9.95536810e-01 -9.37877550e-02  1.05031926e-02  1.08896627e+01]
 [ 9.37842217e-02  9.95592201e-01  8.29515699e-04  7.60134937e-01]
 [-1.05346950e-02  1.59220330e-04  9.99944496e-01 -1.15978316e-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 10.827702637999998
Centerline is valid?  [True, True]
Translation: X:10.95, Y:0.77, Z:-0.12
[[ 9.95480170e-01 -9.43870480e-02  1.05032019e-02  1.09517567e+01]
 [ 9.43835493e-02  9.95535563e-01  8.29397608e-04  7.67241394e-01]
 [-1.05345954e-02  1.65680604e-04  9.99944496e-01 -1.16636355e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.887702637999999
Centerline is valid?  [True, True]
Translation: X:11.01, Y:0.77, Z:-0.12
[[ 9.95605363e-01 -9.30571892e-02  1.05033316e-02  1.10136963e+01]
 [ 9.30536338e-02  9.95660754e-01  8.27751690e-04  7.73462608e-01]
 [-1.05347833e-02  1.53259153e-04  9.99944496e-01 -1.17291027e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 10.947702637999999
Centerline is valid?  [True, True]
Translation: X:11.08, Y:0.78, Z:-0.12
[[ 9.96061772e-01 -8.80376284e-02  1.05034629e-02  1.10750631e+01]
 [ 8.80338115e-02  9.96117145e-01  8.26081952e-04  7.80202276e-01]
 [-1.05354058e-02  1.01831224e-04  9.99944496e-01 -1.17940090e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.007702638
Centerline is valid?  [True, True]
Translation: X:11.14, Y:0.79, Z:-0.12
[[ 9.96301515e-01 -8.52816923e-02  1.05034904e-02  1.11367271e+01]
 [ 8.52777260e-02  9.96356878e-01  8.25732523e-04  7.87777729e-01]
 [-1.05356448e-02  7.30352132e-05  9.99944496e-01 -1.18593838e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.067702637999998
Centerline is valid?  [True, True]
Translation: X:11.20, Y:0.80, Z:-0.12
[[ 9.96519237e-01 -8.26987572e-02  1.05036372e-02  1.11981856e+01]
 [ 8.26946671e-02  9.96574590e-01  8.23861321e-04  7.96069308e-01]
 [-1.05357902e-02  4.76011257e-05  9.99944496e-01 -1.19244997e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.127702637999999
Centerline is valid?  [True, True]
Translation: X:11.26, Y:0.80, Z:-0.12
[[ 9.96462749e-01 -8.33766282e-02  1.05036646e-02  1.12597884e+01]
 [ 8.33725794e-02  9.96518106e-01  8.23511316e-04  8.02069430e-01]
 [-1.05357536e-02  5.51192629e-05  9.99944496e-01 -1.19896795e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.187702638
Centerline is valid?  [True, True]
Translation: X:11.32, Y:0.81, Z:-0.12
[[ 9.96283589e-01 -8.54908253e-02  1.05037891e-02  1.13221680e+01]
 [ 8.54869108e-02  9.96338955e-01  8.21920419e-04  8.08956803e-01]
 [-1.05356009e-02  7.90706581e-05  9.99944496e-01 -1.20556648e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.247702637999998
Centerline is valid?  [True, True]
Translation: X:11.38, Y:0.82, Z:-0.12
[[ 9.96166077e-01 -8.68493831e-02  1.05038852e-02  1.13823077e+01]
 [ 8.68455570e-02  9.96221449e-01  8.20690123e-04  8.17291533e-01]
 [-1.05354722e-02  9.46721039e-05  9.99944496e-01 -1.21194398e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.307702637999999
Centerline is valid?  [True, True]
Translation: X:11.44, Y:0.83, Z:-0.12
[[ 9.96105400e-01 -8.75425620e-02  1.05039376e-02  1.14427538e+01]
 [ 8.75387816e-02  9.96160775e-01  8.20019900e-04  8.27459731e-01]
 [-1.05353972e-02  1.02675646e-04  9.99944496e-01 -1.21837240e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.367702637999999
Centerline is valid?  [True, True]
Translation: X:11.50, Y:0.84, Z:-0.12
[[ 9.95770935e-01 -9.12683565e-02  1.05039461e-02  1.15032206e+01]
 [ 9.12647843e-02  9.95826324e-01  8.19910269e-04  8.36254982e-01]
 [-1.05349379e-02  1.42197563e-04  9.99944496e-01 -1.22479552e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.427702638
Centerline is valid?  [True, True]
Translation: X:11.56, Y:0.84, Z:-0.12
[[ 9.95663523e-01 -9.24327622e-02  1.05039551e-02  1.15640317e+01]
 [ 9.24292560e-02  9.95718916e-01  8.19795358e-04  8.42406560e-01]
 [-1.05347627e-02  1.54632419e-04  9.99944496e-01 -1.23123309e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.487702637999998
Centerline is valid?  [True, True]
Translation: X:11.63, Y:0.85, Z:-0.12
[[ 9.95825100e-01 -9.06754330e-02  1.05040696e-02  1.16256164e+01]
 [ 9.06718446e-02  9.95880488e-01  8.18325897e-04  8.52209220e-01]
 [-1.05350000e-02  1.37513896e-04  9.99944496e-01 -1.23777249e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.547702637999999
Centerline is valid?  [True, True]
Translation: X:11.69, Y:0.86, Z:-0.12
[[ 9.95995255e-01 -8.87868994e-02  1.05041938e-02  1.16860655e+01]
 [ 8.87832228e-02  9.96050637e-01  8.16727676e-04  8.59673882e-01]
 [-1.05352237e-02  1.19139291e-04  9.99944496e-01 -1.24417244e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.607702638
Centerline is valid?  [True, True]
Translation: X:11.75, Y:0.86, Z:-0.13
[[ 9.96069430e-01 -8.79508547e-02  1.05042028e-02  1.17481789e+01]
 [ 8.79471328e-02  9.96124809e-01  8.16612530e-04  8.64915392e-01]
 [-1.05353188e-02  1.10411741e-04  9.99944496e-01 -1.25073933e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.667702637999998
Centerline is valid?  [True, True]
Translation: X:11.81, Y:0.87, Z:-0.13
[[ 9.95391100e-01 -9.53216557e-02  1.05042478e-02  1.18083805e+01]
 [ 9.53183500e-02  9.95446506e-01  8.16033338e-04  8.66768454e-01]
 [-1.05342024e-02  1.88975244e-04  9.99944496e-01 -1.25707450e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.727702637999998
Centerline is valid?  [True, True]
Translation: X:11.87, Y:0.87, Z:-0.13
[[ 9.94648701e-01 -1.02779476e-01  1.05042879e-02  1.18688774e+01]
 [ 1.02776591e-01  9.94704130e-01  8.15516161e-04  8.70359298e-01]
 [-1.05324769e-02  2.68442817e-04  9.99944496e-01 -1.26345532e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.787702637999999
Centerline is valid?  [True, True]
Translation: X:11.93, Y:0.88, Z:-0.13
[[ 9.94581918e-01 -1.03423729e-01  1.05042928e-02  1.19307735e+01]
 [ 1.03420881e-01  9.94637349e-01  8.15453183e-04  8.75429036e-01]
 [-1.05322992e-02  2.75328225e-04  9.99944496e-01 -1.26999835e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.847702638
Centerline is valid?  [True, True]
Translation: X:11.99, Y:0.88, Z:-0.13
[[ 9.94789635e-01 -1.01406306e-01  1.05044164e-02  1.19927704e+01]
 [ 1.01403362e-01  9.94845061e-01  8.13858236e-04  8.77395227e-01]
 [-1.05327971e-02  2.55565396e-04  9.99944496e-01 -1.27651610e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.907702637999998
Centerline is valid?  [True, True]
Translation: X:12.05, Y:0.88, Z:-0.13
[[ 9.94976502e-01 -9.95561026e-02  1.05044429e-02  1.20544432e+01]
 [ 9.95530593e-02  9.95031922e-01  8.13516046e-04  8.82363566e-01]
 [-1.05332465e-02  2.36320077e-04  9.99944496e-01 -1.28303290e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 11.967702637999999
Centerline is valid?  [True, True]
Translation: X:12.12, Y:0.89, Z:-0.13
[[ 9.95050230e-01 -9.88164696e-02  1.05044864e-02  1.21155518e+01]
 [ 9.88133910e-02  9.95105649e-01  8.12953430e-04  8.85203827e-01]
 [-1.05334070e-02  2.29054427e-04  9.99944496e-01 -1.28947162e-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 12.027702638
Centerline is valid?  [True, True]
Translation: X:12.18, Y:0.89, Z:-0.13
[[ 9.95071304e-01 -9.86040243e-02  1.05045993e-02  1.21778026e+01]
 [ 9.86009492e-02  9.95126723e-01  8.11492118e-04  8.89687844e-01]
 [-1.05334239e-02  2.28270945e-04  9.99944496e-01 -1.29603755e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.087702637999998
Centerline is valid?  [True, True]
Translation: X:12.24, Y:0.90, Z:-0.13
[[ 9.95546127e-01 -9.36886346e-02  1.05046619e-02  1.22388029e+01]
 [ 9.36852945e-02  9.95601531e-01  8.10681769e-04  8.95119732e-01]
 [-1.05344091e-02  1.77061245e-04  9.99944496e-01 -1.30248425e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.147702637999998
Centerline is valid?  [True, True]
Translation: X:12.30, Y:0.90, Z:-0.13
[[ 9.96362721e-01 -8.45634691e-02  1.05046738e-02  1.22990415e+01]
 [ 8.45596231e-02  9.96418092e-01  8.10527118e-04  9.01428844e-01]
 [-1.05355880e-02  8.06922523e-05  9.99944496e-01 -1.30886255e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.207702637999999
Centerline is valid?  [True, True]
Translation: X:12.36, Y:0.91, Z:-0.13
[[ 9.97098915e-01 -7.53883592e-02  1.05046738e-02  1.23612443e+01]
 [ 7.53840037e-02  9.97154248e-01  8.10527118e-04  9.09636280e-01]
 [-1.05358844e-02 -1.62913427e-05  9.99944496e-01 -1.31546365e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.267702638
Centerline is valid?  [True, True]
Translation: X:12.42, Y:0.92, Z:-0.13
[[ 9.97355353e-01 -7.19162630e-02  1.05047985e-02  1.24236362e+01]
 [ 7.19117319e-02  9.97410672e-01  8.08908192e-04  9.15462325e-01]
 [-1.05357717e-02 -5.13506645e-05  9.99944496e-01 -1.32205408e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.327702637999998
Centerline is valid?  [True, True]
Translation: X:12.48, Y:0.92, Z:-0.13
[[ 9.97535782e-01 -6.93686737e-02  1.05048433e-02  1.24844533e+01]
 [ 6.93640074e-02  9.97591089e-01  8.08325683e-04  9.21694963e-01]
 [-1.05356105e-02 -7.76757648e-05  9.99944496e-01 -1.32848952e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.387702637999999
Centerline is valid?  [True, True]
Translation: X:12.54, Y:0.93, Z:-0.13
[[ 9.97554129e-01 -6.91043270e-02  1.05048500e-02  1.25442654e+01]
 [ 6.90996471e-02  9.97609435e-01  8.08238426e-04  9.27202481e-01]
 [-1.05355902e-02 -8.03801514e-05  9.99944496e-01 -1.33481695e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.447702637999999
Centerline is valid?  [True, True]
Translation: X:12.61, Y:0.93, Z:-0.13
[[ 9.97489267e-01 -7.00343529e-02  1.05048500e-02  1.26062974e+01]
 [ 7.00297245e-02  9.97544578e-01  8.08238426e-04  9.32236622e-01]
 [-1.05356606e-02 -7.05574039e-05  9.99944496e-01 -1.34137437e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.507702638
Centerline is valid?  [True, True]
Translation: X:12.67, Y:0.94, Z:-0.13
[[ 9.97559578e-01 -6.90256202e-02  1.05048948e-02  1.26678371e+01]
 [ 6.90209420e-02  9.97614884e-01  8.07656218e-04  9.40584896e-01]
 [-1.05355883e-02 -8.06274640e-05  9.99944496e-01 -1.34790279e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.567702637999998
Centerline is valid?  [True, True]
Translation: X:12.73, Y:0.95, Z:-0.14
[[ 9.97693337e-01 -6.70645128e-02  1.05050215e-02  1.27292245e+01]
 [ 6.70597433e-02  9.97748636e-01  8.06003673e-04  9.47565214e-01]
 [-1.05354252e-02 -9.96804464e-05  9.99944496e-01 -1.35439662e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.627702637999999
Centerline is valid?  [True, True]
Translation: X:12.79, Y:0.95, Z:-0.14
[[ 9.97712638e-01 -6.67767533e-02  1.05051368e-02  1.27915786e+01]
 [ 6.67719837e-02  9.97767936e-01  8.04498310e-04  9.53113685e-01]
 [-1.05354105e-02 -1.01209305e-04  9.99944496e-01 -1.36098145e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.687702638
Centerline is valid?  [True, True]
Translation: X:12.85, Y:0.96, Z:-0.14
[[ 9.97704079e-01 -6.69044899e-02  1.05052601e-02  1.28519938e+01]
 [ 6.68997443e-02  9.97759380e-01  8.02885643e-04  9.59458501e-01]
 [-1.05354384e-02 -9.82430677e-05  9.99944496e-01 -1.36736821e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.747702637999998
Centerline is valid?  [True, True]
Translation: X:12.91, Y:0.97, Z:-0.14
[[ 9.98030552e-01 -6.18437995e-02  1.05053210e-02  1.29134894e+01]
 [ 6.18387819e-02  9.98085829e-01  8.02088166e-04  9.70287547e-01]
 [-1.05348162e-02 -1.50872242e-04  9.99944496e-01 -1.37391012e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.807702637999999
Centerline is valid?  [True, True]
Translation: X:12.97, Y:0.98, Z:-0.14
[[ 9.98494552e-01 -5.38355330e-02  1.05054425e-02  1.29726666e+01]
 [ 5.38300890e-02  9.98549789e-01  8.00493727e-04  9.79782024e-01]
 [-1.05333024e-02 -2.33779723e-04  9.99944496e-01 -1.38019199e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.867702637999999
Centerline is valid?  [True, True]
Translation: X:13.03, Y:0.98, Z:-0.14
[[ 9.98710896e-01 -4.96606671e-02  1.05054383e-02  1.30328964e+01]
 [ 4.96549916e-02  9.98766109e-01  8.00548631e-04  9.83566686e-01]
 [-1.05322315e-02 -2.77869191e-04  9.99944496e-01 -1.38655044e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.927702638
Centerline is valid?  [True, True]
Translation: X:13.09, Y:0.99, Z:-0.14
[[ 9.98836355e-01 -4.70698654e-02  1.05054551e-02  1.30948887e+01]
 [ 4.70640490e-02  9.98891553e-01  8.00327199e-04  9.90774475e-01]
 [-1.05314817e-02 -3.04966646e-04  9.99944496e-01 -1.39311947e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 12.987702637999998
Centerline is valid?  [True, True]
Translation: X:13.16, Y:1.00, Z:-0.14
[[ 9.98864513e-01 -4.64684553e-02  1.05055780e-02  1.31571040e+01]
 [ 4.64626226e-02  9.98919710e-01  7.98711777e-04  9.97488837e-01]
 [-1.05313438e-02 -3.09688146e-04  9.99944496e-01 -1.39969797e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.047702637999999
Centerline is valid?  [True, True]
Translation: X:13.22, Y:1.00, Z:-0.14
[[ 9.98944267e-01 -4.47211512e-02  1.05057018e-02  1.32188955e+01]
 [ 4.47152391e-02  9.98999455e-01  7.97080134e-04  1.00152671e+00]
 [-1.05308367e-02 -3.26473664e-04  9.99944496e-01 -1.40621044e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.107702638
Centerline is valid?  [True, True]
Translation: X:13.28, Y:1.01, Z:-0.14
[[ 9.99012705e-01 -4.31652988e-02  1.05058140e-02  1.32809770e+01]
 [ 4.31593164e-02  9.99067886e-01  7.95598055e-04  1.00785441e+00]
 [-1.05303636e-02 -3.41388815e-04  9.99944496e-01 -1.41277268e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.167702637999998
Centerline is valid?  [True, True]
Translation: X:13.34, Y:1.01, Z:-0.14
[[ 9.99083056e-01 -4.15051019e-02  1.05059355e-02  1.33430215e+01]
 [ 4.14990447e-02  9.99138228e-01  7.93989774e-04  1.01169097e+00]
 [-1.05298364e-02 -3.57275441e-04  9.99944496e-01 -1.41931029e-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 13.227702637999998
Centerline is valid?  [True, True]
Translation: X:13.40, Y:1.01, Z:-0.14
[[ 9.99163916e-01 -3.95106429e-02  1.05060573e-02  1.34044558e+01]
 [ 3.95044925e-02  9.99219079e-01  7.92375857e-04  1.01498384e+00]
 [-1.05291601e-02 -3.76676904e-04  9.99944496e-01 -1.42577948e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.287702637999999
Centerline is valid?  [True, True]
Translation: X:13.47, Y:1.02, Z:-0.14
[[ 9.99126803e-01 -4.04382852e-02  1.05060745e-02  1.34671962e+01]
 [ 4.04321884e-02  9.99181971e-01  7.92147685e-04  1.01951871e+00]
 [-1.05295133e-02 -3.66672401e-04  9.99944496e-01 -1.43240570e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.347702638
Centerline is valid?  [True, True]
Translation: X:13.53, Y:1.02, Z:-0.14
[[ 9.99085493e-01 -4.14463209e-02  1.05062136e-02  1.35273435e+01]
 [ 4.14402992e-02  9.99140669e-01  7.90297479e-04  1.02220991e+00]
 [-1.05299403e-02 -3.54194110e-04  9.99944496e-01 -1.43873326e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.407702637999998
Centerline is valid?  [True, True]
Translation: X:13.59, Y:1.03, Z:-0.14
[[ 9.98995129e-01 -4.35700704e-02  1.05062136e-02  1.35884881e+01]
 [ 4.35641660e-02  9.99050318e-01  7.90297479e-04  1.02649030e+00]
 [-1.05306694e-02 -3.31808897e-04  9.99944496e-01 -1.44519144e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.467702637999999
Centerline is valid?  [True, True]
Translation: X:13.65, Y:1.03, Z:-0.15
[[ 9.99007185e-01 -4.32927725e-02  1.05062310e-02  1.36512032e+01]
 [ 4.32868552e-02  9.99062372e-01  7.90066261e-04  1.02952543e+00]
 [-1.05305843e-02 -3.34500169e-04  9.99944496e-01 -1.45180312e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.527702638
Centerline is valid?  [True, True]
Translation: X:13.71, Y:1.03, Z:-0.15
[[ 9.99016894e-01 -4.30681183e-02  1.05062745e-02  1.37129657e+01]
 [ 4.30621947e-02  9.99072082e-01  7.89488082e-04  1.03394188e+00]
 [-1.05305273e-02 -3.36288694e-04  9.99944496e-01 -1.45832317e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.587702637999998
Centerline is valid?  [True, True]
Translation: X:13.77, Y:1.04, Z:-0.15
[[ 9.98927802e-01 -4.50872743e-02  1.05063964e-02  1.37743028e+01]
 [ 4.50814793e-02  9.98983003e-01  7.87862534e-04  1.03739822e+00]
 [-1.05312340e-02 -3.13373898e-04  9.99944496e-01 -1.46478350e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.647702637999998
Centerline is valid?  [True, True]
Translation: X:13.84, Y:1.04, Z:-0.15
[[ 9.98779441e-01 -4.82622153e-02  1.05065085e-02  1.38355851e+01]
 [ 4.82566116e-02  9.98834662e-01  7.86364598e-04  1.04135064e+00]
 [-1.05322166e-02 -2.78396295e-04  9.99944496e-01 -1.47124292e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.707702637999999
Centerline is valid?  [True, True]
Translation: X:13.90, Y:1.04, Z:-0.15
[[ 9.98732647e-01 -4.92210641e-02  1.05065258e-02  1.38980376e+01]
 [ 4.92155158e-02  9.98787873e-01  7.86133298e-04  1.04457084e+00]
 [-1.05324849e-02 -2.68052903e-04  9.99944496e-01 -1.47782854e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.767702638
Centerline is valid?  [True, True]
Translation: X:13.96, Y:1.05, Z:-0.15
[[ 9.98738527e-01 -4.91015708e-02  1.05066458e-02  1.39600206e+01]
 [ 4.90960328e-02  9.98793755e-01  7.84525805e-04  1.04870791e+00]
 [-1.05324937e-02 -2.67701519e-04  9.99944496e-01 -1.48436231e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.827702637999998
Centerline is valid?  [True, True]
Translation: X:14.02, Y:1.05, Z:-0.15
[[ 9.98715726e-01 -4.95631687e-02  1.05066889e-02  1.40219525e+01]
 [ 4.95576623e-02  9.98770956e-01  7.83948720e-04  1.05152696e+00]
 [-1.05326307e-02 -2.62254976e-04  9.99944496e-01 -1.49088768e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.887702637999999
Centerline is valid?  [True, True]
Translation: X:14.08, Y:1.05, Z:-0.15
[[ 9.98466388e-01 -5.43551129e-02  1.05068114e-02  1.40837808e+01]
 [ 5.43498889e-02  9.98521646e-01  7.82302724e-04  1.05497989e+00]
 [-1.05338008e-02 -2.10058940e-04  9.99944496e-01 -1.49739961e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 13.947702637999999
Centerline is valid?  [True, True]
Translation: X:14.15, Y:1.06, Z:-0.15
[[ 9.98448522e-01 -5.46823095e-02  1.05068484e-02  1.41473588e+01]
 [ 5.46771088e-02  9.98503782e-01  7.81805580e-04  1.05577643e+00]
 [-1.05338788e-02 -2.06108531e-04  9.99944496e-01 -1.50408275e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.007702637999998
Centerline is valid?  [True, True]
Translation: X:14.21, Y:1.06, Z:-0.15
[[ 9.98411121e-01 -5.53609688e-02  1.05069861e-02  1.42091292e+01]
 [ 5.53558252e-02  9.98466386e-01  7.79950846e-04  1.06017048e+00]
 [-1.05340513e-02 -1.97088712e-04  9.99944496e-01 -1.51059457e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.067702637999998
Centerline is valid?  [True, True]
Translation: X:14.27, Y:1.06, Z:-0.15
[[ 9.98419157e-01 -5.52158502e-02  1.05070212e-02  1.42699772e+01]
 [ 5.52107036e-02  9.98474422e-01  7.79477466e-04  1.06468340e+00]
 [-1.05340315e-02 -1.98145199e-04  9.99944496e-01 -1.51702010e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.127702637999999
Centerline is valid?  [True, True]
Translation: X:14.33, Y:1.07, Z:-0.15
[[ 9.98351458e-01 -5.64266701e-02  1.05070300e-02  1.43323717e+01]
 [ 5.64215918e-02  9.98406729e-01  7.79358617e-04  1.06838740e+00]
 [-1.05342661e-02 -1.85250451e-04  9.99944496e-01 -1.52360432e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.187702638
Centerline is valid?  [True, True]
Translation: X:14.39, Y:1.07, Z:-0.15
[[ 9.98279523e-01 -5.76853035e-02  1.05071578e-02  1.43934868e+01]
 [ 5.76803130e-02  9.98334802e-01  7.77632691e-04  1.07303928e+00]
 [-1.05345193e-02 -1.70238642e-04  9.99944496e-01 -1.53005023e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.247702637999998
Centerline is valid?  [True, True]
Translation: X:14.45, Y:1.08, Z:-0.15
[[ 9.98370457e-01 -5.60894853e-02  1.05071839e-02  1.44542457e+01]
 [ 5.60844101e-02  9.98425728e-01  7.77279549e-04  1.07628387e+00]
 [-1.05342400e-02 -1.86723727e-04  9.99944496e-01 -1.53645738e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.307702637999999
Centerline is valid?  [True, True]
Translation: X:14.52, Y:1.08, Z:-0.15
[[ 9.98415997e-01 -5.52729258e-02  1.05072014e-02  1.45157062e+01]
 [ 5.52678080e-02  9.98471264e-01  7.77043558e-04  1.08023116e+00]
 [-1.05340881e-02 -1.95102731e-04  9.99944496e-01 -1.54294454e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.367702637999999
Centerline is valid?  [True, True]
Translation: X:14.58, Y:1.08, Z:-0.15
[[ 9.98569071e-01 -5.24348116e-02  1.05072184e-02  1.45776437e+01]
 [ 5.24295391e-02  9.98624324e-01  7.76812932e-04  1.08289068e+00]
 [-1.05334959e-02 -2.24812750e-04  9.99944496e-01 -1.54947186e-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 14.427702637999998
Centerline is valid?  [True, True]
Translation: X:14.64, Y:1.08, Z:-0.16
[[ 9.98554411e-01 -5.27132534e-02  1.05072435e-02  1.46376993e+01]
 [ 5.27079999e-02  9.98609665e-01  7.76473273e-04  1.08449821e+00]
 [-1.05335654e-02 -2.21535021e-04  9.99944496e-01 -1.55579252e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.487702637999998
Centerline is valid?  [True, True]
Translation: X:14.70, Y:1.09, Z:-0.16
[[ 9.98513207e-01 -5.34880647e-02  1.05072637e-02  1.47000595e+01]
 [ 5.34828569e-02  9.98568466e-01  7.76199869e-04  1.08946751e+00]
 [-1.05337396e-02 -2.13087338e-04  9.99944496e-01 -1.56238191e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.547702637999999
Centerline is valid?  [True, True]
Translation: X:14.76, Y:1.09, Z:-0.16
[[ 9.98530944e-01 -5.31558984e-02  1.05073829e-02  1.47610072e+01]
 [ 5.31506892e-02  9.98586203e-01  7.74582587e-04  1.09334032e+00]
 [-1.05337013e-02 -2.14970037e-04  9.99944496e-01 -1.56880506e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.607702638
Centerline is valid?  [True, True]
Translation: X:14.82, Y:1.09, Z:-0.16
[[ 9.98565410e-01 -5.25044501e-02  1.05073914e-02  1.48225776e+01]
 [ 5.24992062e-02  9.98620665e-01  7.74467145e-04  1.09300580e+00]
 [-1.05335612e-02 -2.21726393e-04  9.99944496e-01 -1.57527147e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.667702637999998
Centerline is valid?  [True, True]
Translation: X:14.88, Y:1.10, Z:-0.16
[[ 9.98586235e-01 -5.21068580e-02  1.05074084e-02  1.48836638e+01]
 [ 5.21015944e-02  9.98641489e-01  7.74236437e-04  1.09572276e+00]
 [-1.05334770e-02 -2.25689116e-04  9.99944496e-01 -1.58170985e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.727702637999998
Centerline is valid?  [True, True]
Translation: X:14.95, Y:1.10, Z:-0.16
[[ 9.98470707e-01 -5.42755855e-02  1.05075280e-02  1.49451045e+01]
 [ 5.42704591e-02  9.98525974e-01  7.72610942e-04  1.09649779e+00]
 [-1.05339735e-02 -2.01181027e-04  9.99944496e-01 -1.58816094e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.787702637999999
Centerline is valid?  [True, True]
Translation: X:15.01, Y:1.10, Z:-0.16
[[ 9.98324718e-01 -5.68977059e-02  1.05075453e-02  1.50058228e+01]
 [ 5.68927271e-02  9.98379998e-01  7.72375461e-04  1.09762922e+00]
 [-1.05344694e-02 -1.73278608e-04  9.99944496e-01 -1.59454843e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.847702638
Centerline is valid?  [True, True]
Translation: X:15.07, Y:1.10, Z:-0.16
[[ 9.98163161e-01 -5.96648657e-02  1.05075539e-02  1.50678145e+01]
 [ 5.96600414e-02  9.98218455e-01  7.72258246e-04  1.10024101e+00]
 [-1.05349109e-02 -1.43958632e-04  9.99944496e-01 -1.60108197e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.907702637999998
Centerline is valid?  [True, True]
Translation: X:15.13, Y:1.11, Z:-0.16
[[ 9.98163488e-01 -5.96593718e-02  1.05076744e-02  1.51299453e+01]
 [ 5.96545645e-02  9.98218783e-01  7.70614924e-04  1.10761588e+00]
 [-1.05349324e-02 -1.42368939e-04  9.99944496e-01 -1.60765654e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 14.967702637999999
Centerline is valid?  [True, True]
Translation: X:15.19, Y:1.11, Z:-0.16
[[ 9.98320875e-01 -5.69650448e-02  1.05077930e-02  1.51918553e+01]
 [ 5.69601054e-02  9.98376159e-01  7.68993947e-04  1.10892392e+00]
 [-1.05345358e-02 -1.69177712e-04  9.99944496e-01 -1.61416131e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.027702638
Centerline is valid?  [True, True]
Translation: X:15.25, Y:1.11, Z:-0.16
[[ 9.98469927e-01 -5.42898540e-02  1.05079112e-02  1.52540153e+01]
 [ 5.42847835e-02  9.98525199e-01  7.67376359e-04  1.11386196e+00]
 [-1.05340748e-02 -1.95782535e-04  9.99944496e-01 -1.62072034e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.087702637999998
Centerline is valid?  [True, True]
Translation: X:15.32, Y:1.12, Z:-0.16
[[ 9.98597830e-01 -5.18840614e-02  1.05080282e-02  1.53156508e+01]
 [ 5.18788745e-02  9.98653091e-01  7.65770440e-04  1.11593302e+00]
 [-1.05336061e-02 -2.19552023e-04  9.99944496e-01 -1.62720236e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.147702637999998
Centerline is valid?  [True, True]
Translation: X:15.38, Y:1.12, Z:-0.16
[[ 9.98713267e-01 -4.96124046e-02  1.05080448e-02  1.53787733e+01]
 [ 4.96070945e-02  9.98768517e-01  7.65542907e-04  1.11974169e+00]
 [-1.05330847e-02 -2.43284288e-04  9.99944496e-01 -1.63386329e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.207702637999999
Centerline is valid?  [True, True]
Translation: X:15.44, Y:1.12, Z:-0.16
[[ 9.98884560e-01 -4.60349108e-02  1.05081790e-02  1.54384706e+01]
 [ 4.60294222e-02  9.98939793e-01  7.63695462e-04  1.12415974e+00]
 [-1.05321948e-02 -2.79158197e-04  9.99944496e-01 -1.64015804e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.267702638
Centerline is valid?  [True, True]
Translation: X:15.50, Y:1.13, Z:-0.16
[[ 9.98956584e-01 -4.44445791e-02  1.05081874e-02  1.55011633e+01]
 [ 4.44390038e-02  9.99011808e-01  7.63579799e-04  1.12770521e+00]
 [-1.05317403e-02 -2.95809687e-04  9.99944496e-01 -1.64677257e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.327702637999998
Centerline is valid?  [True, True]
Translation: X:15.56, Y:1.13, Z:-0.17
[[ 9.98955900e-01 -4.44599390e-02  1.05082285e-02  1.55620051e+01]
 [ 4.44543706e-02  9.99011124e-01  7.63014636e-04  1.13091277e+00]
 [-1.05317607e-02 -2.95081290e-04  9.99944496e-01 -1.65318699e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.387702637999999
Centerline is valid?  [True, True]
Translation: X:15.62, Y:1.13, Z:-0.17
[[ 9.98801797e-01 -4.77969268e-02  1.05082851e-02  1.56240494e+01]
 [ 4.77915510e-02  9.98857040e-01  7.62234282e-04  1.13398230e+00]
 [-1.05327070e-02 -2.59113728e-04  9.99944496e-01 -1.65972530e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.447702637999999
Centerline is valid?  [True, True]
Translation: X:15.69, Y:1.14, Z:-0.17
[[ 9.98617425e-01 -5.15054717e-02  1.05083279e-02  1.56858450e+01]
 [ 5.15003073e-02  9.98672688e-01  7.61643065e-04  1.13843092e+00]
 [-1.05336089e-02 -2.19407919e-04  9.99944496e-01 -1.66624927e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.507702637999998
Centerline is valid?  [True, True]
Translation: X:15.75, Y:1.14, Z:-0.17
[[ 9.98541491e-01 -5.29572005e-02  1.05083538e-02  1.57465342e+01]
 [ 5.29521202e-02  9.98596762e-01  7.61286029e-04  1.14304424e+00]
 [-1.05339237e-02 -2.03736074e-04  9.99944496e-01 -1.67265979e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.567702637999998
Centerline is valid?  [True, True]
Translation: X:15.81, Y:1.15, Z:-0.17
[[ 9.98523640e-01 -5.32927309e-02  1.05083634e-02  1.58081590e+01]
 [ 5.32876706e-02  9.98578913e-01  7.61153156e-04  1.14643670e+00]
 [-1.05339941e-02 -2.00063211e-04  9.99944496e-01 -1.67916084e-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 15.627702637999999
Centerline is valid?  [True, True]
Translation: X:15.87, Y:1.15, Z:-0.17
[[ 9.98582239e-01 -5.21831816e-02  1.05084767e-02  1.58701543e+01]
 [ 5.21780763e-02  9.98637507e-01  7.59586480e-04  1.15390733e+00]
 [-1.05337966e-02 -2.10197470e-04  9.99944496e-01 -1.68572223e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.687702638
Centerline is valid?  [True, True]
Translation: X:15.93, Y:1.16, Z:-0.17
[[ 9.98755920e-01 -4.87460936e-02  1.05085990e-02  1.59308590e+01]
 [ 4.87408160e-02  9.98811173e-01  7.57890922e-04  1.16059062e+00]
 [-1.05330503e-02 -2.44750356e-04  9.99944496e-01 -1.69214106e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.747702637999998
Centerline is valid?  [True, True]
Translation: X:15.99, Y:1.16, Z:-0.17
[[ 9.98848327e-01 -4.68143822e-02  1.05087064e-02  1.59932460e+01]
 [ 4.68090135e-02  9.98903571e-01  7.56397854e-04  1.16357133e+00]
 [-1.05325947e-02 -2.63624550e-04  9.99944496e-01 -1.69870997e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.807702637999999
Centerline is valid?  [True, True]
Translation: X:16.06, Y:1.17, Z:-0.17
[[ 9.98950181e-01 -4.45881487e-02  1.05087396e-02  1.60553691e+01]
 [ 4.45826617e-02  9.99005413e-01  7.55936358e-04  1.16990055e+00]
 [-1.05319936e-02 -2.86635178e-04  9.99944496e-01 -1.70528343e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.867702637999999
Centerline is valid?  [True, True]
Translation: X:16.12, Y:1.17, Z:-0.17
[[ 9.98891595e-01 -4.58818716e-02  1.05087806e-02  1.61164997e+01]
 [ 4.58764622e-02  9.98946835e-01  7.55365536e-04  1.17213465e+00]
 [-1.05323708e-02 -2.72422608e-04  9.99944496e-01 -1.71172089e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.927702637999998
Centerline is valid?  [True, True]
Translation: X:16.18, Y:1.18, Z:-0.17
[[ 9.98868202e-01 -4.63883324e-02  1.05088955e-02  1.61773502e+01]
 [ 4.63829678e-02  9.98923447e-01  7.53764825e-04  1.17539998e+00]
 [-1.05325480e-02 -2.65477956e-04  9.99944496e-01 -1.71812981e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 15.987702637999998
Centerline is valid?  [True, True]
Translation: X:16.24, Y:1.18, Z:-0.17
[[ 9.98836956e-01 -4.70563390e-02  1.05089031e-02  1.62391294e+01]
 [ 4.70510125e-02  9.98892204e-01  7.53658836e-04  1.18223652e+00]
 [-1.05327258e-02 -2.58327768e-04  9.99944496e-01 -1.72467331e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.047702638
Centerline is valid?  [True, True]
Translation: X:16.30, Y:1.18, Z:-0.17
[[ 9.98922421e-01 -4.52057272e-02  1.05090263e-02  1.62991343e+01]
 [ 4.52003164e-02  9.98977660e-01  7.51936388e-04  1.18367494e+00]
 [-1.05322743e-02 -2.76114803e-04  9.99944496e-01 -1.73097880e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.107702638
Centerline is valid?  [True, True]
Translation: X:16.36, Y:1.19, Z:-0.17
[[ 9.98932312e-01 -4.49866270e-02  1.05090348e-02  1.63612699e+01]
 [ 4.49812053e-02  9.98987550e-01  7.51817722e-04  1.18895625e+00]
 [-1.05322167e-02 -2.78305963e-04  9.99944496e-01 -1.73754793e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.167702638
Centerline is valid?  [True, True]
Translation: X:16.42, Y:1.19, Z:-0.17
[[ 9.99032964e-01 -4.26930516e-02  1.05090778e-02  1.64232798e+01]
 [ 4.26875095e-02  9.99088190e-01  7.51216444e-04  1.19306133e+00]
 [-1.05315672e-02 -3.01883633e-04  9.99944496e-01 -1.74409176e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.227702638
Centerline is valid?  [True, True]
Translation: X:16.49, Y:1.20, Z:-0.18
[[ 9.99097650e-01 -4.11514471e-02  1.05091991e-02  1.64860145e+01]
 [ 4.11458376e-02  9.99152870e-01  7.49515800e-04  1.19602250e+00]
 [-1.05311401e-02 -3.16429677e-04  9.99944496e-01 -1.75069583e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.287702638
Centerline is valid?  [True, True]
Translation: X:16.55, Y:1.20, Z:-0.18
[[ 9.99140398e-01 -4.01001130e-02  1.05093363e-02  1.65467379e+01]
 [ 4.00944657e-02  9.99195614e-01  7.47586444e-04  1.19752941e+00]
 [-1.05308611e-02 -3.25577593e-04  9.99944496e-01 -1.75707615e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.347702638
Centerline is valid?  [True, True]
Translation: X:16.61, Y:1.20, Z:-0.18
[[ 9.99067860e-01 -4.18684150e-02  1.05093482e-02  1.66069260e+01]
 [ 4.18628672e-02  9.99123086e-01  7.47419132e-04  1.19949008e+00]
 [-1.05314257e-02 -3.06770984e-04  9.99944496e-01 -1.76341542e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.407702638
Centerline is valid?  [True, True]
Translation: X:16.67, Y:1.20, Z:-0.18
[[ 9.98972320e-01 -4.40891925e-02  1.05093482e-02  1.66682797e+01]
 [ 4.40837674e-02  9.99027559e-01  7.47419132e-04  1.20161126e+00]
 [-1.05320816e-02 -2.83359362e-04  9.99944496e-01 -1.76987951e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.467702638
Centerline is valid?  [True, True]
Translation: X:16.73, Y:1.21, Z:-0.18
[[ 9.98850277e-01 -4.67726024e-02  1.05093742e-02  1.67307042e+01]
 [ 4.67673296e-02  9.98905530e-01  7.47053844e-04  1.20533966e+00]
 [-1.05328136e-02 -2.54699573e-04  9.99944496e-01 -1.77646574e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.527702638
Centerline is valid?  [True, True]
Translation: X:16.79, Y:1.21, Z:-0.18
[[ 9.98704719e-01 -4.97838783e-02  1.05094948e-02  1.67904442e+01]
 [ 4.97787900e-02  9.98759989e-01  7.45352646e-04  1.20787452e+00]
 [-1.05335695e-02 -2.21237269e-04  9.99944496e-01 -1.78275210e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.587702638
Centerline is valid?  [True, True]
Translation: X:16.85, Y:1.21, Z:-0.18
[[ 9.98394889e-01 -5.56524598e-02  1.05094948e-02  1.68513953e+01]
 [ 5.56476965e-02  9.98450188e-01  7.45352646e-04  1.20859060e+00]
 [-1.05346878e-02 -1.59327094e-04  9.99944496e-01 -1.78916345e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.647702638000002
Centerline is valid?  [True, True]
Translation: X:16.91, Y:1.21, Z:-0.18
[[ 9.98023376e-01 -6.19587835e-02  1.05095034e-02  1.69136010e+01]
 [ 6.19543709e-02  9.98078705e-01  7.45232471e-04  1.21329304e+00]
 [-1.05354852e-02 -9.26497589e-05  9.99944496e-01 -1.79573557e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.707702638
Centerline is valid?  [True, True]
Translation: X:16.98, Y:1.22, Z:-0.18
[[ 9.97758477e-01 -6.60876059e-02  1.05095455e-02  1.69754562e+01]
 [ 6.60834285e-02  9.97813823e-01  7.44637765e-04  1.21686458e+00]
 [-1.05357811e-02 -4.84618441e-05  9.99944496e-01 -1.80225933e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.767702638
Centerline is valid?  [True, True]
Translation: X:17.04, Y:1.22, Z:-0.18
[[ 9.97641863e-01 -6.78252150e-02  1.05096639e-02  1.70371285e+01]
 [ 6.78211516e-02  9.97697218e-01  7.42962682e-04  1.22024252e+00]
 [-1.05358540e-02 -2.84331648e-05  9.99944496e-01 -1.80875536e-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 16.827702638
Centerline is valid?  [True, True]
Translation: X:17.10, Y:1.23, Z:-0.18
[[ 9.97471724e-01 -7.02830264e-02  1.05097730e-02  1.71003645e+01]
 [ 7.02791157e-02  9.97527090e-01  7.41415930e-04  1.22521219e+00]
 [-1.05358923e-02 -9.23871695e-07  9.99944496e-01 -1.81542841e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.887702638
Centerline is valid?  [True, True]
Translation: X:17.16, Y:1.23, Z:-0.18
[[ 9.97364062e-01 -7.17946335e-02  1.05099088e-02  1.71609036e+01]
 [ 7.17908271e-02  9.97419436e-01  7.39485849e-04  1.23162806e+00]
 [-1.05358784e-02  1.69784367e-05  9.99944496e-01 -1.82182619e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 16.947702638
Centerline is valid?  [True, True]
Translation: X:17.22, Y:1.23, Z:-0.18
[[ 9.97195222e-01 -7.41028405e-02  1.05099258e-02  1.72235833e+01]
 [ 7.40991647e-02  9.97250604e-01  7.39245018e-04  1.23478211e+00]
 [-1.05358100e-02  4.16051209e-05  9.99944496e-01 -1.82843588e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.007702638
Centerline is valid?  [True, True]
Translation: X:17.29, Y:1.24, Z:-0.18
[[ 9.97081431e-01 -7.56185139e-02  1.05099902e-02  1.72858872e+01]
 [ 7.56149320e-02  9.97136820e-01  7.38328451e-04  1.24207249e+00]
 [-1.05357295e-02  5.85386022e-05  9.99944496e-01 -1.83503219e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.067702638
Centerline is valid?  [True, True]
Translation: X:17.35, Y:1.25, Z:-0.18
[[ 9.96673313e-01 -8.08198284e-02  1.05101083e-02  1.73480476e+01]
 [ 8.08165533e-02  9.96728720e-01  7.36642547e-04  1.24560062e+00]
 [-1.05352621e-02  1.15198762e-04  9.99944496e-01 -1.84158058e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.127702638
Centerline is valid?  [True, True]
Translation: X:17.41, Y:1.25, Z:-0.18
[[ 9.96140420e-01 -8.71424051e-02  1.05102244e-02  1.74089005e+01]
 [ 8.71394992e-02  9.96195848e-01  7.34983249e-04  1.25109503e+00]
 [-1.05342901e-02  1.83709164e-04  9.99944496e-01 -1.84800618e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.187702638
Centerline is valid?  [True, True]
Translation: X:17.47, Y:1.26, Z:-0.19
[[ 9.96137595e-01 -8.71746924e-02  1.05102302e-02  1.74695333e+01]
 [ 8.71717891e-02  9.96193023e-01  7.34898927e-04  1.25724939e+00]
 [-1.05342826e-02  1.84135125e-04  9.99944496e-01 -1.85442385e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.247702638
Centerline is valid?  [True, True]
Translation: X:17.53, Y:1.26, Z:-0.19
[[ 9.96054533e-01 -8.81186648e-02  1.05103476e-02  1.75302596e+01]
 [ 8.81158319e-02  9.96109965e-01  7.33216419e-04  1.26058130e+00]
 [-1.05340721e-02  1.95804486e-04  9.99944496e-01 -1.86082008e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.307702638000002
Centerline is valid?  [True, True]
Translation: X:17.59, Y:1.27, Z:-0.19
[[ 9.96211176e-01 -8.63297437e-02  1.05103568e-02  1.75920526e+01]
 [ 8.63268125e-02  9.96266603e-01  7.33085381e-04  1.26690262e+00]
 [-1.05344045e-02  1.77017748e-04  9.99944496e-01 -1.86736058e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.367702638
Centerline is valid?  [True, True]
Translation: X:17.65, Y:1.27, Z:-0.19
[[ 9.96515328e-01 -8.27449831e-02  1.05103979e-02  1.76538797e+01]
 [ 8.27418588e-02  9.96570744e-01  7.32494555e-04  1.27205397e+00]
 [-1.05349653e-02  1.39707810e-04  9.99944496e-01 -1.87389304e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.427702638
Centerline is valid?  [True, True]
Translation: X:17.72, Y:1.28, Z:-0.19
[[ 9.96752937e-01 -7.98317744e-02  1.05105142e-02  1.77154750e+01]
 [ 7.98285058e-02  9.96808344e-01  7.30822487e-04  1.28153179e+00]
 [-1.05353111e-02  1.10589184e-04  9.99944496e-01 -1.88042557e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.487702638000002
Centerline is valid?  [True, True]
Translation: X:17.78, Y:1.29, Z:-0.19
[[ 9.96805351e-01 -7.91746076e-02  1.05106312e-02  1.77763060e+01]
 [ 7.91713202e-02  9.96860758e-01  7.29136499e-04  1.28920813e+00]
 [-1.05353648e-02  1.05333381e-04  9.99944496e-01 -1.88686437e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.547702638
Centerline is valid?  [True, True]
Translation: X:17.84, Y:1.29, Z:-0.19
[[ 9.96664962e-01 -8.09226814e-02  1.05106555e-02  1.78389761e+01]
 [ 8.09194949e-02  9.96720374e-01  7.28785160e-04  1.29155117e+00]
 [-1.05351598e-02  1.24162302e-04  9.99944496e-01 -1.89346649e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.607702638
Centerline is valid?  [True, True]
Translation: X:17.90, Y:1.30, Z:-0.19
[[ 9.96529969e-01 -8.25684382e-02  1.05106962e-02  1.78995303e+01]
 [ 8.25653494e-02  9.96585387e-01  7.28198350e-04  1.30003753e+00]
 [-1.05349324e-02  1.42147823e-04  9.99944496e-01 -1.89988940e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.667702638
Centerline is valid?  [True, True]
Translation: X:17.96, Y:1.31, Z:-0.19
[[ 9.96416141e-01 -8.39309092e-02  1.05107998e-02  1.79607828e+01]
 [ 8.39279119e-02  9.96471564e-01  7.26699997e-04  1.30619408e+00]
 [-1.05347057e-02  1.58053871e-04  9.99944496e-01 -1.90636253e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.727702638
Centerline is valid?  [True, True]
Translation: X:18.02, Y:1.31, Z:-0.19
[[ 9.96284779e-01 -8.54760829e-02  1.05108314e-02  1.80218152e+01]
 [ 8.54731765e-02  9.96340207e-01  7.26241721e-04  1.31376153e+00]
 [-1.05344403e-02  1.74850577e-04  9.99944496e-01 -1.91282977e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.787702638
Centerline is valid?  [True, True]
Translation: X:18.08, Y:1.32, Z:-0.19
[[ 9.96041040e-01 -8.82709949e-02  1.05108475e-02  1.80833492e+01]
 [ 8.82682464e-02  9.96096476e-01  7.26009640e-04  1.32136018e+00]
 [-1.05339037e-02  2.04638677e-04  9.99944496e-01 -1.91935147e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.847702638
Centerline is valid?  [True, True]
Translation: X:18.14, Y:1.33, Z:-0.19
[[ 9.95986645e-01 -8.88826387e-02  1.05108853e-02  1.81438988e+01]
 [ 8.88799300e-02  9.96042083e-01  7.25462068e-04  1.32857907e+00]
 [-1.05337650e-02  2.11656215e-04  9.99944496e-01 -1.92576476e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.907702638
Centerline is valid?  [True, True]
Translation: X:18.20, Y:1.33, Z:-0.19
[[ 9.95869029e-01 -9.01909034e-02  1.05108962e-02  1.82049716e+01]
 [ 9.01882692e-02  9.95924470e-01  7.25303498e-04  1.33398978e+00]
 [-1.05334745e-02  2.25652247e-04  9.99944496e-01 -1.93222258e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 17.967702638
Centerline is valid?  [True, True]
Translation: X:18.27, Y:1.34, Z:-0.19
[[ 9.95838009e-01 -9.05327503e-02  1.05109990e-02  1.82665497e+01]
 [ 9.05301509e-02  9.95893452e-01  7.23810121e-04  1.34026081e+00]
 [-1.05333636e-02  2.30764700e-04  9.99944496e-01 -1.93873056e-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 18.027702638
Centerline is valid?  [True, True]
Translation: X:18.33, Y:1.35, Z:-0.19
[[ 9.96067240e-01 -8.79748308e-02  1.05110303e-02  1.83282603e+01]
 [ 8.79720938e-02  9.96122677e-01  7.23355458e-04  1.34559789e+00]
 [-1.05339127e-02  2.04166671e-04  9.99944496e-01 -1.94525282e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.087702638
Centerline is valid?  [True, True]
Translation: X:18.39, Y:1.35, Z:-0.20
[[ 9.96304826e-01 -8.52420771e-02  1.05110631e-02  1.83886932e+01]
 [ 8.52391931e-02  9.96360255e-01  7.22879331e-04  1.34933088e+00]
 [-1.05344252e-02  1.75746369e-04  9.99944496e-01 -1.95162902e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.147702638000002
Centerline is valid?  [True, True]
Translation: X:18.45, Y:1.36, Z:-0.20
[[ 9.96604606e-01 -8.16625841e-02  1.05110711e-02  1.84512412e+01]
 [ 8.16595023e-02  9.96660024e-01  7.22761920e-04  1.35745049e+00]
 [-1.05349870e-02  1.38020980e-04  9.99944496e-01 -1.95826174e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.207702638
Centerline is valid?  [True, True]
Translation: X:18.51, Y:1.36, Z:-0.20
[[ 9.96797904e-01 -7.92682394e-02  1.05111967e-02  1.85135599e+01]
 [ 7.92650437e-02  9.96853316e-01  7.20930853e-04  1.36412665e+00]
 [-1.05352682e-02  1.14548106e-04  9.99944496e-01 -1.96484800e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.267702638
Centerline is valid?  [True, True]
Translation: X:18.57, Y:1.37, Z:-0.20
[[ 9.97098644e-01 -7.53910206e-02  1.05113071e-02  1.85743958e+01]
 [ 7.53876265e-02  9.97154044e-01  7.19317706e-04  1.36842387e+00]
 [-1.05356225e-02  7.51917856e-05  9.99944496e-01 -1.97126271e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.327702638
Centerline is valid?  [True, True]
Translation: X:18.64, Y:1.38, Z:-0.20
[[ 9.97176256e-01 -7.43574232e-02  1.05113164e-02  1.86357743e+01]
 [ 7.43539731e-02  9.97231653e-01  7.19182231e-04  1.37790393e+00]
 [-1.05356940e-02  6.44066919e-05  9.99944496e-01 -1.97778200e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.387702638
Centerline is valid?  [True, True]
Translation: X:18.70, Y:1.38, Z:-0.20
[[ 9.97163998e-01 -7.45216097e-02  1.05114177e-02  1.86972276e+01]
 [ 7.45181843e-02  9.97219397e-01  7.17698703e-04  1.38151176e+00]
 [-1.05356737e-02  6.76284515e-05  9.99944496e-01 -1.98425747e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.447702638
Centerline is valid?  [True, True]
Translation: X:18.76, Y:1.38, Z:-0.20
[[ 9.96654079e-01 -8.10564878e-02  1.05115248e-02  1.87598722e+01]
 [ 8.10534423e-02  9.96709500e-01  7.16126775e-04  1.38165620e+00]
 [-1.05349833e-02  1.38264595e-04  9.99944496e-01 -1.99083279e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.507702638
Centerline is valid?  [True, True]
Translation: X:18.82, Y:1.39, Z:-0.20
[[ 9.96596037e-01 -8.17670203e-02  1.05115555e-02  1.88215712e+01]
 [ 8.17640190e-02  9.96651460e-01  7.15674979e-04  1.38685542e+00]
 [-1.05348758e-02  1.46228179e-04  9.99944496e-01 -1.99735274e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.567702638
Centerline is valid?  [True, True]
Translation: X:18.88, Y:1.39, Z:-0.20
[[ 9.96491539e-01 -8.30308378e-02  1.05115942e-02  1.88823364e+01]
 [ 8.30279127e-02  9.96546965e-01  7.15106544e-04  1.39236293e+00]
 [-1.05346732e-02  1.60158106e-04  9.99944496e-01 -2.00377591e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.627702638
Centerline is valid?  [True, True]
Translation: X:18.94, Y:1.39, Z:-0.20
[[ 9.96175373e-01 -8.67417468e-02  1.05116945e-02  1.89436448e+01]
 [ 8.67390438e-02  9.96230811e-01  7.13629946e-04  1.39323026e+00]
 [-1.05339754e-02  2.00873748e-04  9.99944496e-01 -2.01021672e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.687702638
Centerline is valid?  [True, True]
Translation: X:19.01, Y:1.40, Z:-0.20
[[ 9.96133655e-01 -8.72195281e-02  1.05117098e-02  1.90053617e+01]
 [ 8.72168541e-02  9.96189094e-01  7.13403143e-04  1.39961611e+00]
 [-1.05338734e-02  2.06153384e-04  9.99944496e-01 -2.01674856e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.747702638
Centerline is valid?  [True, True]
Translation: X:19.07, Y:1.40, Z:-0.20
[[ 9.96234891e-01 -8.60554733e-02  1.05118105e-02  1.90670687e+01]
 [ 8.60527502e-02  9.96290328e-01  7.11916713e-04  1.40390442e+00]
 [-1.05340795e-02  1.95333936e-04  9.99944496e-01 -2.02325563e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.807702638
Centerline is valid?  [True, True]
Translation: X:19.13, Y:1.41, Z:-0.20
[[ 9.96144055e-01 -8.71006447e-02  1.05118335e-02  1.91299937e+01]
 [ 8.70979834e-02  9.96199496e-01  7.11577184e-04  1.40528057e+00]
 [-1.05338621e-02  2.06726117e-04  9.99944496e-01 -2.02987799e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.867702638
Centerline is valid?  [True, True]
Translation: X:19.19, Y:1.41, Z:-0.20
[[ 9.96181476e-01 -8.66715951e-02  1.05119544e-02  1.91913722e+01]
 [ 8.66689288e-02  9.96236916e-01  7.09787274e-04  1.41152454e+00]
 [-1.05339154e-02  2.03982889e-04  9.99944496e-01 -2.03636234e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.927702638
Centerline is valid?  [True, True]
Translation: X:19.25, Y:1.42, Z:-0.20
[[ 9.96325473e-01 -8.50002846e-02  1.05120594e-02  1.92533367e+01]
 [ 8.49975417e-02  9.96380909e-01  7.08227566e-04  1.41546055e+00]
 [-1.05342149e-02  1.87874046e-04  9.99944496e-01 -2.04289348e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 18.987702638000002
Centerline is valid?  [True, True]
Translation: X:19.31, Y:1.42, Z:-0.20
[[ 9.96476504e-01 -8.32110154e-02  1.05120986e-02  1.93148267e+01]
 [ 8.32081790e-02  9.96531935e-01  7.07646133e-04  1.42162044e+00]
 [-1.05345259e-02  1.69539837e-04  9.99944496e-01 -2.04939728e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.047702638
Centerline is valid?  [True, True]
Translation: X:19.38, Y:1.43, Z:-0.21
[[ 9.96445183e-01 -8.35852261e-02  1.05122003e-02  1.93757716e+01]
 [ 8.35824266e-02  9.96500617e-01  7.06132363e-04  1.42629914e+00]
 [-1.05344363e-02  1.75013015e-04  9.99944496e-01 -2.05582677e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.107702638
Centerline is valid?  [True, True]
Translation: X:19.44, Y:1.43, Z:-0.21
[[ 9.96377589e-01 -8.43871663e-02  1.05122160e-02  1.94369487e+01]
 [ 8.43844138e-02  9.96433025e-01  7.05898180e-04  1.43493164e+00]
 [-1.05342879e-02  1.83726057e-04  9.99944496e-01 -2.06231750e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.167702638
Centerline is valid?  [True, True]
Translation: X:19.50, Y:1.44, Z:-0.21
[[ 9.96641002e-01 -8.12170270e-02  1.05122313e-02  1.94980046e+01]
 [ 8.12141006e-02  9.96696429e-01  7.05669860e-04  1.43787925e+00]
 [-1.05348158e-02  1.50441895e-04  9.99944496e-01 -2.06875539e-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 19.227702638
Centerline is valid?  [True, True]
Translation: X:19.56, Y:1.44, Z:-0.21
[[ 9.96598390e-01 -8.17382540e-02  1.05122390e-02  1.95576968e+01]
 [ 8.17353578e-02  9.96653818e-01  7.05555990e-04  1.44233962e+00]
 [-1.05347340e-02  1.56065649e-04  9.99944496e-01 -2.07506140e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.287702638
Centerline is valid?  [True, True]
Translation: X:19.62, Y:1.45, Z:-0.21
[[ 9.96663800e-01 -8.09367747e-02  1.05122464e-02  1.96196122e+01]
 [ 8.09338351e-02  9.96719227e-01  7.05444591e-04  1.44929729e+00]
 [-1.05348545e-02  1.47705333e-04  9.99944496e-01 -2.08161877e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.347702638
Centerline is valid?  [True, True]
Translation: X:19.68, Y:1.45, Z:-0.21
[[ 9.96655181e-01 -8.10428302e-02  1.05123514e-02  1.96818180e+01]
 [ 8.10399130e-02  9.96710608e-01  7.03876801e-04  1.45268577e+00]
 [-1.05348163e-02  1.50397582e-04  9.99944496e-01 -2.08817123e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.407702638
Centerline is valid?  [True, True]
Translation: X:19.74, Y:1.46, Z:-0.21
[[ 9.96692923e-01 -8.05773210e-02  1.05124582e-02  1.97431464e+01]
 [ 8.05743948e-02  9.96748350e-01  7.02278651e-04  1.45770124e+00]
 [-1.05348631e-02  1.47078794e-04  9.99944496e-01 -2.09464269e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.467702638
Centerline is valid?  [True, True]
Translation: X:19.81, Y:1.46, Z:-0.21
[[ 9.96962526e-01 -7.71700018e-02  1.05124733e-02  1.98056289e+01]
 [ 7.71668886e-02  9.97017943e-01  7.02052357e-04  1.46461130e+00]
 [-1.05353019e-02  1.11294963e-04  9.99944496e-01 -2.10125843e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.527702638
Centerline is valid?  [True, True]
Translation: X:19.87, Y:1.47, Z:-0.21
[[ 9.97156629e-01 -7.46199832e-02  1.05125984e-02  1.98677791e+01]
 [ 7.46167481e-02  9.97212039e-01  7.00173459e-04  1.47224928e+00]
 [-1.05355366e-02  8.62333019e-05  9.99944496e-01 -2.10783260e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.587702638
Centerline is valid?  [True, True]
Translation: X:19.93, Y:1.48, Z:-0.21
[[ 9.97786409e-01 -6.56640301e-02  1.05127082e-02  1.99273451e+01]
 [ 6.56603150e-02  9.97841789e-01  6.98521123e-04  1.47775370e+00]
 [-1.05358873e-02 -6.70715040e-06  9.99944496e-01 -2.11412166e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.647702638000002
Centerline is valid?  [True, True]
Translation: X:19.99, Y:1.48, Z:-0.21
[[ 9.98012050e-01 -6.21404211e-02  1.05127082e-02  1.99889354e+01]
 [ 6.21365105e-02  9.98067416e-01  6.98521123e-04  1.48436526e+00]
 [-1.05357979e-02 -4.39094937e-05  9.99944496e-01 -2.12064301e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.707702638
Centerline is valid?  [True, True]
Translation: X:20.05, Y:1.49, Z:-0.21
[[ 9.98005920e-01 -6.22387684e-02  1.05128145e-02  2.00494782e+01]
 [ 6.22348801e-02  9.98061288e-01  6.96917148e-04  1.49460163e+00]
 [-1.05358085e-02 -4.12636861e-05  9.99944496e-01 -2.12706801e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.767702638
Centerline is valid?  [True, True]
Translation: X:20.11, Y:1.50, Z:-0.21
[[ 9.98097390e-01 -6.07542686e-02  1.05128220e-02  2.01091386e+01]
 [ 6.07502991e-02  9.98152752e-01  6.96804861e-04  1.49786119e+00]
 [-1.05357361e-02 -5.68220323e-05  9.99944496e-01 -2.13336224e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.827702638
Centerline is valid?  [True, True]
Translation: X:20.17, Y:1.50, Z:-0.21
[[ 9.97597700e-01 -6.84712343e-02  1.05128220e-02  2.01702842e+01]
 [ 6.84676931e-02  9.97653091e-01  6.96804861e-04  1.50379061e+00]
 [-1.05358604e-02  2.46577434e-05  9.99944496e-01 -2.13983205e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.887702638
Centerline is valid?  [True, True]
Translation: X:20.23, Y:1.51, Z:-0.21
[[ 9.97338181e-01 -7.21528492e-02  1.05128373e-02  2.02316133e+01]
 [ 7.21495149e-02  9.97393584e-01  6.96573396e-04  1.51033284e+00]
 [-1.05356963e-02  6.37768698e-05  9.99944496e-01 -2.14632374e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 19.947702638
Centerline is valid?  [True, True]
Translation: X:20.29, Y:1.51, Z:-0.22
[[ 9.97109427e-01 -7.52480640e-02  1.05128680e-02  2.02934180e+01]
 [ 7.52449065e-02  9.97164841e-01  6.96110775e-04  1.51458950e+00]
 [-1.05354433e-02  9.69411514e-05  9.99944496e-01 -2.15284783e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.007702638
Centerline is valid?  [True, True]
Translation: X:20.35, Y:1.52, Z:-0.22
[[ 9.97025866e-01 -7.63472356e-02  1.05129758e-02  2.03539927e+01]
 [ 7.63441564e-02  9.97081284e-01  6.94478232e-04  1.51854841e+00]
 [-1.05353129e-02  1.10191509e-04  9.99944496e-01 -2.15923206e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.067702638
Centerline is valid?  [True, True]
Translation: X:20.42, Y:1.52, Z:-0.22
[[ 9.97224990e-01 -7.37007288e-02  1.05129835e-02  2.04151715e+01]
 [ 7.36975038e-02  9.97280400e-01  6.94361922e-04  1.52262956e+00]
 [-1.05355674e-02  8.23455798e-05  9.99944496e-01 -2.16569163e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.127702638
Centerline is valid?  [True, True]
Translation: X:20.48, Y:1.53, Z:-0.22
[[ 9.97532268e-01 -6.94179286e-02  1.05130818e-02  2.04757071e+01]
 [ 6.94144814e-02  9.97587665e-01  6.92870354e-04  1.52934185e+00]
 [-1.05358183e-02  3.85995846e-05  9.99944496e-01 -2.17209184e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.187702638
Centerline is valid?  [True, True]
Translation: X:20.54, Y:1.53, Z:-0.22
[[ 9.98094330e-01 -6.08044689e-02  1.05130880e-02  2.05366586e+01]
 [ 6.08005447e-02  9.98149695e-01  6.92776567e-04  1.53324578e+00]
 [-1.05357595e-02 -5.22548892e-05  9.99944496e-01 -2.17852645e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.247702638
Centerline is valid?  [True, True]
Translation: X:20.60, Y:1.54, Z:-0.22
[[ 9.98249095e-01 -5.82084080e-02  1.05131412e-02  2.05972640e+01]
 [ 5.82043483e-02  9.98304450e-01  6.91968266e-04  1.53804799e+00]
 [-1.05355940e-02 -7.88461647e-05  9.99944496e-01 -2.18492570e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.307702638
Centerline is valid?  [True, True]
Translation: X:20.66, Y:1.54, Z:-0.22
[[ 9.98417064e-01 -5.52525133e-02  1.05131484e-02  2.06576448e+01]
 [ 5.52482909e-02  9.98472407e-01  6.91858719e-04  1.54183178e+00]
 [-1.05353155e-02 -1.09930071e-04  9.99944496e-01 -2.19129936e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.367702638
Centerline is valid?  [True, True]
Translation: X:20.72, Y:1.55, Z:-0.22
[[ 9.98541197e-01 -5.29617974e-02  1.05131484e-02  2.07188655e+01]
 [ 5.29574480e-02  9.98596530e-01  6.91858719e-04  1.54621435e+00]
 [-1.05350356e-02 -1.34099925e-04  9.99944496e-01 -2.19776626e-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 20.427702638
Centerline is valid?  [True, True]
Translation: X:20.78, Y:1.55, Z:-0.22
[[ 9.98656721e-01 -5.07368446e-02  1.05131633e-02  2.07790289e+01]
 [ 5.07323743e-02  9.98712045e-01  6.91631336e-04  1.55081670e+00]
 [-1.05347140e-02 -1.57344545e-04  9.99944496e-01 -2.20412186e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.487702638000002
Centerline is valid?  [True, True]
Translation: X:20.84, Y:1.56, Z:-0.22
[[ 9.98817924e-01 -4.74576466e-02  1.05131843e-02  2.08410169e+01]
 [ 4.74529981e-02  9.98873233e-01  6.91312311e-04  1.55609932e+00]
 [-1.05341465e-02 -1.91613012e-04  9.99944496e-01 -2.21067333e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.547702638
Centerline is valid?  [True, True]
Translation: X:20.90, Y:1.56, Z:-0.22
[[ 9.98768167e-01 -4.84934951e-02  1.05132883e-02  2.09021575e+01]
 [ 4.84889206e-02  9.98823482e-01  6.89728049e-04  1.55829049e+00]
 [-1.05343665e-02 -1.79100420e-04  9.99944496e-01 -2.21710513e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.607702638
Centerline is valid?  [True, True]
Translation: X:20.96, Y:1.56, Z:-0.22
[[ 9.98620369e-01 -5.14473538e-02  1.05132952e-02  2.09632396e+01]
 [ 5.14429441e-02  9.98675697e-01  6.89622413e-04  1.56202934e+00]
 [-1.05348516e-02 -1.47836132e-04  9.99944496e-01 -2.22355225e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.667702638
Centerline is valid?  [True, True]
Translation: X:21.03, Y:1.57, Z:-0.22
[[ 9.98348374e-01 -5.64800148e-02  1.05133949e-02  2.10254381e+01]
 [ 5.64759000e-02  9.98403726e-01  6.88098846e-04  1.56640616e+00]
 [-1.05354765e-02 -9.32089253e-05  9.99944496e-01 -2.23011082e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.727702638
Centerline is valid?  [True, True]
Translation: X:21.09, Y:1.57, Z:-0.22
[[ 9.98022669e-01 -6.19695115e-02  1.05134248e-02  2.10873659e+01]
 [ 6.19657060e-02  9.98078042e-01  6.87642092e-04  1.56841005e+00]
 [-1.05358313e-02 -3.48106074e-05  9.99944496e-01 -2.23663237e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.787702638
Centerline is valid?  [True, True]
Translation: X:21.15, Y:1.57, Z:-0.22
[[ 9.97830725e-01 -6.49869908e-02  1.05135293e-02  2.11489396e+01]
 [ 6.49833696e-02  9.97886111e-01  6.86040233e-04  1.57410598e+00]
 [-1.05358886e-02 -1.34746295e-06  9.99944496e-01 -2.24313376e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.847702638
Centerline is valid?  [True, True]
Translation: X:21.21, Y:1.58, Z:-0.22
[[ 9.97664616e-01 -6.74891054e-02  1.05135518e-02  2.12111134e+01]
 [ 6.74856267e-02  9.97720011e-01  6.85694769e-04  1.57820684e+00]
 [-1.05358580e-02  2.54202259e-05  9.99944496e-01 -2.24969641e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.907702638
Centerline is valid?  [True, True]
Translation: X:21.27, Y:1.58, Z:-0.23
[[ 9.97437878e-01 -7.07611643e-02  1.05136568e-02  2.12726982e+01]
 [ 7.07578844e-02  9.97493285e-01  6.84081262e-04  1.58028201e+00]
 [-1.05357085e-02  6.15955514e-05  9.99944496e-01 -2.25617405e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 20.967702638
Centerline is valid?  [True, True]
Translation: X:21.33, Y:1.59, Z:-0.23
[[ 9.97288678e-01 -7.28337328e-02  1.05137604e-02  2.13327005e+01]
 [ 7.28305849e-02  9.97344093e-01  6.82485116e-04  1.58814833e+00]
 [-1.05355448e-02  8.50886421e-05  9.99944496e-01 -2.26252501e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.027702638
Centerline is valid?  [True, True]
Translation: X:21.39, Y:1.59, Z:-0.23
[[ 9.97242584e-01 -7.34621656e-02  1.05137677e-02  2.13949726e+01]
 [ 7.34590537e-02  9.97298000e-01  6.82372417e-04  1.59283444e+00]
 [-1.05354881e-02  9.18405974e-05  9.99944496e-01 -2.26910367e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.087702638
Centerline is valid?  [True, True]
Translation: X:21.46, Y:1.60, Z:-0.23
[[ 9.97295706e-01 -7.27374418e-02  1.05137968e-02  2.14562317e+01]
 [ 7.27342944e-02  9.97351120e-01  6.81924820e-04  1.59879877e+00]
 [-1.05355485e-02  8.46328947e-05  9.99944496e-01 -2.27558210e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.147702638
Centerline is valid?  [True, True]
Translation: X:21.52, Y:1.61, Z:-0.23
[[ 9.97523579e-01 -6.95425713e-02  1.05138115e-02  2.15194048e+01]
 [ 6.95392488e-02  9.97578983e-01  6.81697694e-04  1.60555036e+00]
 [-1.05357644e-02  5.11130307e-05  9.99944496e-01 -2.28226873e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.207702638
Centerline is valid?  [True, True]
Translation: X:21.58, Y:1.61, Z:-0.23
[[ 9.97662775e-01 -6.75162559e-02  1.05139292e-02  2.15801606e+01]
 [ 6.75128400e-02  9.97718174e-01  6.79877581e-04  1.61239298e+00]
 [-1.05358410e-02  3.15366657e-05  9.99944496e-01 -2.28869007e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.267702638
Centerline is valid?  [True, True]
Translation: X:21.64, Y:1.62, Z:-0.23
[[ 9.98115252e-01 -6.04599014e-02  1.05140244e-02  2.16427544e+01]
 [ 6.04561094e-02  9.98170626e-01  6.78401874e-04  1.62238983e+00]
 [-1.05358064e-02 -4.14862472e-05  9.99944496e-01 -2.29532850e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.327702638
Centerline is valid?  [True, True]
Translation: X:21.70, Y:1.63, Z:-0.23
[[ 9.98198458e-01 -5.90702225e-02  1.05141420e-02  2.17029271e+01]
 [ 5.90663727e-02  9.98253828e-01  6.76573892e-04  1.62985267e+00]
 [-1.05357479e-02 -5.43227840e-05  9.99944496e-01 -2.30169240e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.387702638
Centerline is valid?  [True, True]
Translation: X:21.77, Y:1.64, Z:-0.23
[[ 9.98264002e-01 -5.79520065e-02  1.05141566e-02  2.17650336e+01]
 [ 5.79480970e-02  9.98319368e-01  6.76347203e-04  1.63501781e+00]
 [-1.05356819e-02 -6.58976968e-05  9.99944496e-01 -2.30825598e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.447702638
Centerline is valid?  [True, True]
Translation: X:21.83, Y:1.64, Z:-0.23
[[ 9.98403733e-01 -5.54926612e-02  1.05142594e-02  2.18260376e+01]
 [ 5.54886322e-02  9.98459091e-01  6.74745011e-04  1.64426557e+00]
 [-1.05355013e-02 -9.02460627e-05  9.99944496e-01 -2.31472089e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.507702638
Centerline is valid?  [True, True]
Translation: X:21.89, Y:1.65, Z:-0.23
[[ 9.98570243e-01 -5.24110503e-02  1.05143539e-02  2.18889482e+01]
 [ 5.24068661e-02  9.98625589e-01  6.73270474e-04  1.65262300e+00]
 [-1.05351896e-02 -1.21283526e-04  9.99944496e-01 -2.32138107e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.567702638
Centerline is valid?  [True, True]
Translation: X:21.95, Y:1.66, Z:-0.23
[[ 9.98642933e-01 -5.10072342e-02  1.05144697e-02  2.19509052e+01]
 [ 5.10029913e-02  9.98698275e-01  6.71456540e-04  1.65854885e+00]
 [-1.05350319e-02 -1.34275922e-04  9.99944496e-01 -2.32792193e-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 21.627702638
Centerline is valid?  [True, True]
Translation: X:22.01, Y:1.66, Z:-0.23
[[ 9.98564519e-01 -5.25199552e-02  1.05145060e-02  2.20122610e+01]
 [ 5.25158021e-02  9.98619868e-01  6.70887768e-04  1.66344366e+00]
 [-1.05352296e-02 -1.17747005e-04  9.99944496e-01 -2.33440207e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.687702638
Centerline is valid?  [True, True]
Translation: X:22.08, Y:1.67, Z:-0.23
[[ 9.98423262e-01 -5.51401450e-02  1.05145207e-02  2.20757433e+01]
 [ 5.51361396e-02  9.98478621e-01  6.70657561e-04  1.66630860e+00]
 [-1.05355043e-02 -8.98700302e-05  9.99944496e-01 -2.34109476e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.747702638
Centerline is valid?  [True, True]
Translation: X:22.14, Y:1.67, Z:-0.23
[[ 9.98259230e-01 -5.80340670e-02  1.05146358e-02  2.21372401e+01]
 [ 5.80302411e-02  9.98314602e-01  6.68847524e-04  1.67039791e+00]
 [-1.05357304e-02 -5.75163627e-05  9.99944496e-01 -2.34757491e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.807702638
Centerline is valid?  [True, True]
Translation: X:22.20, Y:1.67, Z:-0.24
[[ 9.98080024e-01 -6.10385637e-02  1.05147355e-02  2.21968919e+01]
 [ 6.10349210e-02  9.98135408e-01  6.67277035e-04  1.67419151e+00]
 [-1.05358594e-02 -2.42298298e-05  9.99944496e-01 -2.35386088e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.867702638
Centerline is valid?  [True, True]
Translation: X:22.26, Y:1.68, Z:-0.24
[[ 9.97972488e-01 -6.27722308e-02  1.05147424e-02  2.22582958e+01]
 [ 6.27686855e-02  9.98027879e-01  6.67168722e-04  1.67771206e+00]
 [-1.05358857e-02 -5.81947380e-06  9.99944496e-01 -2.36034037e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.927702638
Centerline is valid?  [True, True]
Translation: X:22.32, Y:1.68, Z:-0.24
[[ 9.97955736e-01 -6.30379928e-02  1.05147563e-02  2.23199247e+01]
 [ 6.30344645e-02  9.98011128e-01  6.66949618e-04  1.68082066e+00]
 [-1.05358869e-02 -2.79416733e-06  9.99944496e-01 -2.36683993e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 21.987702638000002
Centerline is valid?  [True, True]
Translation: X:22.38, Y:1.69, Z:-0.24
[[ 9.98148150e-01 -5.99141715e-02  1.05148506e-02  2.23820263e+01]
 [ 5.99104856e-02  9.98203532e-01  6.65458319e-04  1.68686225e+00]
 [-1.05358314e-02 -3.42761822e-05  9.99944496e-01 -2.37339909e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.047702638
Centerline is valid?  [True, True]
Translation: X:22.44, Y:1.69, Z:-0.24
[[ 9.98382548e-01 -5.58724029e-02  1.05148851e-02  2.24443326e+01]
 [ 5.58684985e-02  9.98437914e-01  6.64913429e-04  1.68948544e+00]
 [-1.05356102e-02 -7.63871211e-05  9.99944496e-01 -2.37996419e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.107702638
Centerline is valid?  [True, True]
Translation: X:22.51, Y:1.69, Z:-0.24
[[ 9.98418719e-01 -5.52222545e-02  1.05149128e-02  2.25061682e+01]
 [ 5.52183187e-02  9.98474084e-01  6.64475401e-04  1.68838573e+00]
 [-1.05355617e-02 -8.28088743e-05  9.99944496e-01 -2.38645588e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.167702638
Centerline is valid?  [True, True]
Translation: X:22.57, Y:1.69, Z:-0.24
[[ 9.98428817e-01 -5.50393768e-02  1.05149341e-02  2.25666606e+01]
 [ 5.50354344e-02  9.98484181e-01  6.64137440e-04  1.69155348e+00]
 [-1.05355491e-02 -8.43999922e-05  9.99944496e-01 -2.39283546e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.227702638
Centerline is valid?  [True, True]
Translation: X:22.63, Y:1.70, Z:-0.24
[[ 9.98552079e-01 -5.27558749e-02  1.05149412e-02  2.26282509e+01]
 [ 5.27518071e-02  9.98607433e-01  6.64025103e-04  1.69521858e+00]
 [-1.05353297e-02 -1.08381497e-04  9.99944496e-01 -2.39933551e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.287702638
Centerline is valid?  [True, True]
Translation: X:22.69, Y:1.70, Z:-0.24
[[ 9.98892920e-01 -4.58515958e-02  1.05150328e-02  2.26904004e+01]
 [ 4.58471607e-02  9.98948246e-01  6.62571844e-04  1.69990128e+00]
 [-1.05343535e-02 -1.79753926e-04  9.99944496e-01 -2.40589100e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.347702638
Centerline is valid?  [True, True]
Translation: X:22.75, Y:1.70, Z:-0.24
[[ 9.99111001e-01 -4.08245104e-02  1.05151329e-02  2.27505904e+01]
 [ 4.08198137e-02  9.99166305e-01  6.60978792e-04  1.69964940e+00]
 [-1.05333506e-02 -2.31165415e-04  9.99944496e-01 -2.41220675e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.407702638
Centerline is valid?  [True, True]
Translation: X:22.81, Y:1.70, Z:-0.24
[[ 9.99058859e-01 -4.20811911e-02  1.05151639e-02  2.28130998e+01]
 [ 4.20765692e-02  9.99114171e-01  6.60485051e-04  1.70251519e+00]
 [-1.05336433e-02 -2.17421419e-04  9.99944496e-01 -2.41879531e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.467702638
Centerline is valid?  [True, True]
Translation: X:22.87, Y:1.70, Z:-0.24
[[ 9.98887520e-01 -4.59690507e-02  1.05151993e-02  2.28738653e+01]
 [ 4.59646501e-02  9.98942849e-01  6.59920939e-04  1.70070850e+00]
 [-1.05344191e-02 -1.75859333e-04  9.99944496e-01 -2.42516913e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.527702638
Centerline is valid?  [True, True]
Translation: X:22.94, Y:1.70, Z:-0.24
[[ 9.98933631e-01 -4.49558742e-02  1.05152097e-02  2.29360901e+01]
 [ 4.49514191e-02  9.98988956e-01  6.59756332e-04  1.70499076e+00]
 [-1.05342382e-02 -1.86379192e-04  9.99944496e-01 -2.43173960e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.587702638
Centerline is valid?  [True, True]
Translation: X:23.00, Y:1.71, Z:-0.24
[[ 9.98954440e-01 -4.44910731e-02  1.05153093e-02  2.29993814e+01]
 [ 4.44866090e-02  9.99009764e-01  6.58164569e-04  1.70838472e+00]
 [-1.05341791e-02 -1.89685965e-04  9.99944496e-01 -2.43840576e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.647702638
Centerline is valid?  [True, True]
Translation: X:23.06, Y:1.71, Z:-0.24
[[ 9.98770143e-01 -4.84523270e-02  1.05154215e-02  2.30607865e+01]
 [ 4.84481013e-02  9.98825486e-01  6.56367420e-04  1.71264658e+00]
 [-1.05348735e-02 -1.46107977e-04  9.99944496e-01 -2.44487777e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.707702638
Centerline is valid?  [True, True]
Translation: X:23.12, Y:1.72, Z:-0.25
[[ 9.98680156e-01 -5.02729715e-02  1.05154561e-02  2.31233285e+01]
 [ 5.02688525e-02  9.98735507e-01  6.55811387e-04  1.71558377e+00]
 [-1.05351290e-02 -1.26345904e-04  9.99944496e-01 -2.45146984e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.767702638
Centerline is valid?  [True, True]
Translation: X:23.18, Y:1.72, Z:-0.25
[[ 9.98722243e-01 -4.94297944e-02  1.05155550e-02  2.31847715e+01]
 [ 4.94256455e-02  9.98777592e-01  6.54223305e-04  1.71926721e+00]
 [-1.05350388e-02 -1.33649276e-04  9.99944496e-01 -2.45794360e-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 22.827702638
Centerline is valid?  [True, True]
Translation: X:23.25, Y:1.72, Z:-0.25
[[ 9.98862635e-01 -4.65065477e-02  1.05155755e-02  2.32472512e+01]
 [ 4.65022403e-02  9.98917972e-01  6.53892222e-04  1.72417051e+00]
 [-1.05346077e-02 -1.64150687e-04  9.99944496e-01 -2.46454367e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.887702638
Centerline is valid?  [True, True]
Translation: X:23.31, Y:1.73, Z:-0.25
[[ 9.98836057e-01 -4.70739053e-02  1.05156111e-02  2.33106333e+01]
 [ 4.70696353e-02  9.98891397e-01  6.53320262e-04  1.72696288e+00]
 [-1.05347078e-02 -1.57593856e-04  9.99944496e-01 -2.47122305e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 22.947702638
Centerline is valid?  [True, True]
Translation: X:23.37, Y:1.73, Z:-0.25
[[ 9.98709055e-01 -4.96954937e-02  1.05157253e-02  2.33720508e+01]
 [ 4.96913884e-02  9.98764407e-01  6.51477267e-04  1.72953475e+00]
 [-1.05351076e-02 -1.28095259e-04  9.99944496e-01 -2.47768501e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.007702638
Centerline is valid?  [True, True]
Translation: X:23.43, Y:1.73, Z:-0.25
[[ 9.98610087e-01 -5.16460187e-02  1.05158169e-02  2.34342623e+01]
 [ 5.16420371e-02  9.98665448e-01  6.49994158e-04  1.73292984e+00]
 [-1.05353526e-02 -1.06032515e-04  9.99944496e-01 -2.48423853e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.067702638
Centerline is valid?  [True, True]
Translation: X:23.49, Y:1.74, Z:-0.25
[[ 9.98483642e-01 -5.40354692e-02  1.05159163e-02  2.34941225e+01]
 [ 5.40316371e-02  9.98539014e-01  6.48383003e-04  1.73767839e+00]
 [-1.05355883e-02 -7.92076511e-05  9.99944496e-01 -2.49055261e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.127702638
Centerline is valid?  [True, True]
Translation: X:23.56, Y:1.74, Z:-0.25
[[ 9.98415051e-01 -5.52883477e-02  1.05159161e-02  2.35555874e+01]
 [ 5.52845850e-02  9.98470427e-01  6.48385619e-04  1.73664052e+00]
 [-1.05356794e-02 -6.59899028e-05  9.99944496e-01 -2.49700984e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.187702638
Centerline is valid?  [True, True]
Translation: X:23.62, Y:1.74, Z:-0.25
[[ 9.98151318e-01 -5.98611860e-02  1.05159244e-02  2.36177231e+01]
 [ 5.98576784e-02  9.98206711e-01  6.48250760e-04  1.74131829e+00]
 [-1.05358714e-02 -1.75935282e-05  9.99944496e-01 -2.50357368e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.247702638
Centerline is valid?  [True, True]
Translation: X:23.68, Y:1.75, Z:-0.25
[[ 9.97840039e-01 -6.48434272e-02  1.05160210e-02  2.36790741e+01]
 [ 6.48402127e-02  9.97895450e-01  6.46679441e-04  1.74581175e+00]
 [-1.05358225e-02  3.65784032e-05  9.99944496e-01 -2.51004322e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.307702638
Centerline is valid?  [True, True]
Translation: X:23.74, Y:1.75, Z:-0.25
[[ 9.97768406e-01 -6.59364920e-02  1.05160485e-02  2.37392592e+01]
 [ 6.59333430e-02  9.97823820e-01  6.46233319e-04  1.74814759e+00]
 [-1.05357740e-02  4.85670415e-05  9.99944496e-01 -2.51638448e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.367702638
Centerline is valid?  [True, True]
Translation: X:23.80, Y:1.75, Z:-0.25
[[ 9.97682779e-01 -6.72196727e-02  1.05160554e-02  2.38014310e+01]
 [ 6.72165962e-02  9.97738198e-01  6.46120723e-04  1.75410023e+00]
 [-1.05357022e-02  6.22299294e-05  9.99944496e-01 -2.52296049e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.427702638
Centerline is valid?  [True, True]
Translation: X:23.86, Y:1.76, Z:-0.25
[[ 9.97512476e-01 -6.97012995e-02  1.05160899e-02  2.38641517e+01]
 [ 6.96983667e-02  9.97567903e-01  6.45558866e-04  1.75652179e+00]
 [-1.05355100e-02  8.90012652e-05  9.99944496e-01 -2.52956812e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.487702638000002
Centerline is valid?  [True, True]
Translation: X:23.93, Y:1.76, Z:-0.25
[[ 9.97055098e-01 -7.59640753e-02  1.05162009e-02  2.39257842e+01]
 [ 7.59615098e-02  9.97110543e-01  6.43744359e-04  1.76258603e+00]
 [-1.05347163e-02  1.56977906e-04  9.99944496e-01 -2.53607556e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.547702638
Centerline is valid?  [True, True]
Translation: X:23.99, Y:1.77, Z:-0.25
[[ 9.96809253e-01 -7.91247174e-02  1.05162521e-02  2.39881225e+01]
 [ 7.91223366e-02  9.96864706e-01  6.42906756e-04  1.76634353e+00]
 [-1.05341504e-02  1.91215039e-04  9.99944496e-01 -2.54264955e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.607702638
Centerline is valid?  [True, True]
Translation: X:24.05, Y:1.77, Z:-0.25
[[ 9.96759475e-01 -7.97493239e-02  1.05163495e-02  2.40495582e+01]
 [ 7.97469946e-02  9.96814930e-01  6.41311100e-04  1.76910083e+00]
 [-1.05339983e-02  1.99414347e-04  9.99944496e-01 -2.54911661e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.667702638
Centerline is valid?  [True, True]
Translation: X:24.11, Y:1.78, Z:-0.26
[[ 9.97026043e-01 -7.63444525e-02  1.05163633e-02  2.41089902e+01]
 [ 7.63419362e-02  9.97081490e-01  6.41084698e-04  1.77532995e+00]
 [-1.05346144e-02  1.63661392e-04  9.99944496e-01 -2.55540531e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.727702638
Centerline is valid?  [True, True]
Translation: X:24.17, Y:1.78, Z:-0.26
[[ 9.97494242e-01 -6.99617236e-02  1.05163619e-02  2.41700948e+01]
 [ 6.99588523e-02  9.97549672e-01  6.41106587e-04  1.77767339e+00]
 [-1.05354463e-02  9.62124809e-05  9.99944496e-01 -2.56184683e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.787702638
Centerline is valid?  [True, True]
Translation: X:24.23, Y:1.78, Z:-0.26
[[ 9.97765763e-01 -6.59764172e-02  1.05163829e-02  2.42296434e+01]
 [ 6.59733281e-02  9.97821181e-01  6.40762757e-04  1.78333813e+00]
 [-1.05357448e-02  5.44696369e-05  9.99944496e-01 -2.56814330e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.847702638
Centerline is valid?  [True, True]
Translation: X:24.29, Y:1.79, Z:-0.26
[[ 9.97921409e-01 -6.35788196e-02  1.05163829e-02  2.42902992e+01]
 [ 6.35755973e-02  9.97976820e-01  6.40762757e-04  1.78983447e+00]
 [-1.05358453e-02  2.91544492e-05  9.99944496e-01 -2.57456408e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.907702638
Centerline is valid?  [True, True]
Translation: X:24.35, Y:1.79, Z:-0.26
[[ 9.98239161e-01 -5.83779262e-02  1.05163895e-02  2.43523425e+01]
 [ 5.83744163e-02  9.98294554e-01  6.40654519e-04  1.79370540e+00]
 [-1.05358544e-02 -2.56383322e-05  9.99944496e-01 -2.58111315e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 23.967702638
Centerline is valid?  [True, True]
Translation: X:24.41, Y:1.80, Z:-0.26
[[ 9.98501070e-01 -5.37123653e-02  1.05164233e-02  2.44145835e+01]
 [ 5.37086025e-02  9.98556446e-01  6.40097889e-04  1.79816326e+00]
 [-1.05356235e-02 -7.43160257e-05  9.99944496e-01 -2.58768344e-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 24.027702638
Centerline is valid?  [True, True]
Translation: X:24.48, Y:1.80, Z:-0.26
[[ 9.98711766e-01 -4.96408253e-02  1.05165187e-02  2.44760795e+01]
 [ 4.96368532e-02  9.98767128e-01  6.38528201e-04  1.80043207e+00]
 [-1.05352502e-02 -1.15698734e-04  9.99944496e-01 -2.59415385e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.087702638
Centerline is valid?  [True, True]
Translation: X:24.54, Y:1.80, Z:-0.26
[[ 9.98763001e-01 -4.85990668e-02  1.05166068e-02  2.45383038e+01]
 [ 4.85950524e-02  9.98818359e-01  6.37072726e-04  1.80497281e+00]
 [-1.05351411e-02 -1.25229608e-04  9.99944496e-01 -2.60071622e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.147702638
Centerline is valid?  [True, True]
Translation: X:24.60, Y:1.81, Z:-0.26
[[ 9.98922621e-01 -4.51995155e-02  1.05167014e-02  2.45993943e+01]
 [ 4.51953292e-02  9.98977967e-01  6.35506837e-04  1.81040807e+00]
 [-1.05346776e-02 -1.59516371e-04  9.99944496e-01 -2.60716419e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.207702638
Centerline is valid?  [True, True]
Translation: X:24.66, Y:1.81, Z:-0.26
[[ 9.98921490e-01 -4.52245068e-02  1.05167154e-02  2.46613300e+01]
 [ 4.52203243e-02  9.98976836e-01  6.35276136e-04  1.81338355e+00]
 [-1.05346851e-02 -1.59021705e-04  9.99944496e-01 -2.61369534e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.267702638
Centerline is valid?  [True, True]
Translation: X:24.72, Y:1.82, Z:-0.26
[[ 9.98936796e-01 -4.48851341e-02  1.05168120e-02  2.47233094e+01]
 [ 4.48809496e-02  9.98992142e-01  6.33672222e-04  1.81515494e+00]
 [-1.05346550e-02 -1.60993988e-04  9.99944496e-01 -2.62021325e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.327702638
Centerline is valid?  [True, True]
Translation: X:24.79, Y:1.82, Z:-0.26
[[ 9.98958997e-01 -4.43882510e-02  1.05169213e-02  2.47853465e+01]
 [ 4.43840582e-02  9.99014342e-01  6.31853770e-04  1.82063778e+00]
 [-1.05346021e-02 -1.64412363e-04  9.99944496e-01 -2.62675916e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.387702638
Centerline is valid?  [True, True]
Translation: X:24.85, Y:1.82, Z:-0.26
[[ 9.98887650e-01 -4.59657958e-02  1.05170183e-02  2.48490676e+01]
 [ 4.59617074e-02  9.98943004e-01  6.30235231e-04  1.81904680e+00]
 [-1.05348711e-02 -1.46154073e-04  9.99944496e-01 -2.63343904e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.447702638
Centerline is valid?  [True, True]
Translation: X:24.91, Y:1.82, Z:-0.26
[[ 9.98883933e-01 -4.60464746e-02  1.05171275e-02  2.49107398e+01]
 [ 4.60424099e-02  9.98939288e-01  6.28407691e-04  1.82416089e+00]
 [-1.05349078e-02 -1.43472452e-04  9.99944496e-01 -2.63994419e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.507702638
Centerline is valid?  [True, True]
Translation: X:24.97, Y:1.83, Z:-0.26
[[ 9.98760136e-01 -4.86577624e-02  1.05172227e-02  2.49717731e+01]
 [ 4.86538593e-02  9.98815503e-01  6.26809036e-04  1.82609353e+00]
 [-1.05352642e-02 -1.14328402e-04  9.99944496e-01 -2.64636386e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.567702638
Centerline is valid?  [True, True]
Translation: X:25.03, Y:1.83, Z:-0.27
[[ 9.98672007e-01 -5.04342195e-02  1.05172365e-02  2.50336231e+01]
 [ 5.04304173e-02  9.98727380e-01  6.26578544e-04  1.82622973e+00]
 [-1.05354530e-02 -9.53578271e-05  9.99944496e-01 -2.65286827e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.627702638
Centerline is valid?  [True, True]
Translation: X:25.10, Y:1.83, Z:-0.27
[[ 9.98431996e-01 -5.49812306e-02  1.05173313e-02  2.50962593e+01]
 [ 5.49776974e-02  9.98487387e-01  6.24982739e-04  1.82826214e+00]
 [-1.05357850e-02 -4.57841057e-05  9.99944496e-01 -2.65945728e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.687702638
Centerline is valid?  [True, True]
Translation: X:25.16, Y:1.83, Z:-0.27
[[ 9.98337814e-01 -5.66656154e-02  1.05174260e-02  2.51585229e+01]
 [ 5.66621925e-02  9.98393213e-01  6.23384273e-04  1.83057326e+00]
 [-1.05358512e-02 -2.64076735e-05  9.99944496e-01 -2.66600888e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.747702638
Centerline is valid?  [True, True]
Translation: X:25.22, Y:1.83, Z:-0.27
[[ 9.98193477e-01 -5.91537465e-02  1.05174530e-02  2.52204833e+01]
 [ 5.91504665e-02  9.98248884e-01  6.22929264e-04  1.82974282e+00]
 [-1.05358843e-02  3.08322739e-07  9.99944496e-01 -2.67251741e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.807702638
Centerline is valid?  [True, True]
Translation: X:25.28, Y:1.83, Z:-0.27
[[ 9.98149472e-01 -5.98916914e-02  1.05174735e-02  2.52819755e+01]
 [ 5.98884560e-02  9.98204881e-01  6.22583382e-04  1.83148374e+00]
 [-1.05358809e-02  8.44397287e-06  9.99944496e-01 -2.67899351e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.867702638
Centerline is valid?  [True, True]
Translation: X:25.34, Y:1.83, Z:-0.27
[[ 9.98006912e-01 -6.22220689e-02  1.05175255e-02  2.53438431e+01]
 [ 6.22189722e-02  9.98062329e-01  6.21702595e-04  1.83205022e+00]
 [-1.05358297e-02  3.39261413e-05  9.99944496e-01 -2.68549796e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.927702638
Centerline is valid?  [True, True]
Translation: X:25.41, Y:1.83, Z:-0.27
[[ 9.97992663e-01 -6.24501740e-02  1.05176199e-02  2.54067830e+01]
 [ 6.24471068e-02  9.98048082e-01  6.20102773e-04  1.83301900e+00]
 [-1.05358159e-02  3.79369127e-05  9.99944496e-01 -2.69211257e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 24.987702638000002
Centerline is valid?  [True, True]
Translation: X:25.47, Y:1.84, Z:-0.27
[[ 9.98200514e-01 -5.90348354e-02  1.05177279e-02  2.54694575e+01]
 [ 5.90315979e-02  9.98255923e-01  6.18264733e-04  1.83597157e+00]
 [-1.05358833e-02  3.72611052e-06  9.99944496e-01 -2.69870993e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.047702638
Centerline is valid?  [True, True]
Translation: X:25.53, Y:1.84, Z:-0.27
[[ 9.98251689e-01 -5.81630572e-02  1.05177745e-02  2.55321391e+01]
 [ 5.81597797e-02  9.98307096e-01  6.17470676e-04  1.83864984e+00]
 [-1.05358829e-02 -4.67969668e-06  9.99944496e-01 -2.70531385e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.107702638
Centerline is valid?  [True, True]
Translation: X:25.59, Y:1.84, Z:-0.27
[[ 9.98282997e-01 -5.76231981e-02  1.05178079e-02  2.55945297e+01]
 [ 5.76198966e-02  9.98338403e-01  6.16901580e-04  1.84134369e+00]
 [-1.05358794e-02 -9.80735457e-06  9.99944496e-01 -2.71188887e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.167702638
Centerline is valid?  [True, True]
Translation: X:25.66, Y:1.84, Z:-0.27
[[ 9.98106019e-01 -6.06114603e-02  1.05178418e-02  2.56564844e+01]
 [ 6.06083308e-02  9.98161435e-01  6.16322428e-04  1.84292533e+00]
 [-1.05358603e-02  2.23137129e-05  9.99944496e-01 -2.71841113e-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 25.227702638
Centerline is valid?  [True, True]
Translation: X:25.72, Y:1.85, Z:-0.27
[[ 9.98053881e-01 -6.14640031e-02  1.05179370e-02  2.57181331e+01]
 [ 6.14609381e-02  9.98109300e-01  6.14694632e-04  1.84797927e+00]
 [-1.05358323e-02  3.29439103e-05  9.99944496e-01 -2.72491512e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.287702638
Centerline is valid?  [True, True]
Translation: X:25.78, Y:1.85, Z:-0.27
[[ 9.98229733e-01 -5.85386363e-02  1.05180244e-02  2.57801979e+01]
 [ 5.85354247e-02  9.98285144e-01  6.13195249e-04  1.84785412e+00]
 [-1.05358831e-02  3.56729439e-06  9.99944496e-01 -2.73143199e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.347702638
Centerline is valid?  [True, True]
Translation: X:25.84, Y:1.85, Z:-0.27
[[ 9.98233743e-01 -5.84701860e-02  1.05181178e-02  2.58423849e+01]
 [ 5.84669876e-02  9.98289155e-01  6.11588905e-04  1.85020662e+00]
 [-1.05358826e-02  4.45397917e-06  9.99944496e-01 -2.73797622e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.407702638
Centerline is valid?  [True, True]
Translation: X:25.90, Y:1.85, Z:-0.27
[[ 9.98201102e-01 -5.90248070e-02  1.05182108e-02  2.59040470e+01]
 [ 5.90216562e-02  9.98256516e-01  6.09984556e-04  1.85105398e+00]
 [-1.05358767e-02  1.19149670e-05  9.99944496e-01 -2.74445612e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.467702638
Centerline is valid?  [True, True]
Translation: X:25.97, Y:1.85, Z:-0.28
[[ 9.98300739e-01 -5.73149335e-02  1.05182630e-02  2.59660578e+01]
 [ 5.73116973e-02  9.98356148e-01  6.09083067e-04  1.85231301e+00]
 [-1.05358821e-02 -5.22856824e-06  9.99944496e-01 -2.75098023e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.527702638
Centerline is valid?  [True, True]
Translation: X:26.03, Y:1.86, Z:-0.28
[[ 9.98369435e-01 -5.61055884e-02  1.05182888e-02  2.60274463e+01]
 [ 5.61022897e-02  9.98424841e-01  6.08637604e-04  1.85853401e+00]
 [-1.05358688e-02 -1.75450948e-05  9.99944496e-01 -2.75747233e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.587702638
Centerline is valid?  [True, True]
Translation: X:26.09, Y:1.86, Z:-0.28
[[ 9.98483581e-01 -5.40361260e-02  1.05183731e-02  2.60897912e+01]
 [ 5.40327280e-02  9.98538981e-01  6.07177133e-04  1.85864244e+00]
 [-1.05358151e-02 -3.79200052e-05  9.99944496e-01 -2.76402070e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.647702638
Centerline is valid?  [True, True]
Translation: X:26.15, Y:1.86, Z:-0.28
[[ 9.98480070e-01 -5.41009435e-02  1.05184648e-02  2.61518834e+01]
 [ 5.40975658e-02  9.98535471e-01  6.05584893e-04  1.86302370e+00]
 [-1.05358229e-02 -3.56411055e-05  9.99944496e-01 -2.77056754e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.707702638
Centerline is valid?  [True, True]
Translation: X:26.21, Y:1.87, Z:-0.28
[[ 9.98439784e-01 -5.48393868e-02  1.05185567e-02  2.62140027e+01]
 [ 5.48360669e-02  9.98495188e-01  6.03984928e-04  1.87103059e+00]
 [-1.05358504e-02 -2.62463041e-05  9.99944496e-01 -2.77713906e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.767702638
Centerline is valid?  [True, True]
Translation: X:26.28, Y:1.87, Z:-0.28
[[ 9.98340959e-01 -5.66099641e-02  1.05186481e-02  2.62757886e+01]
 [ 5.66067593e-02  9.98396370e-01  6.02388485e-04  1.87148059e+00]
 [-1.05358813e-02 -5.96251721e-06  9.99944496e-01 -2.78362986e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.827702638
Centerline is valid?  [True, True]
Translation: X:26.34, Y:1.88, Z:-0.28
[[ 9.97873685e-01 -6.43231304e-02  1.05187407e-02  2.63376834e+01]
 [ 6.43203710e-02  9.97929120e-01  6.00767184e-04  1.87685551e+00]
 [-1.05356009e-02  7.70795401e-05  9.99944496e-01 -2.79016163e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.887702638
Centerline is valid?  [True, True]
Translation: X:26.40, Y:1.88, Z:-0.28
[[ 9.97571458e-01 -6.88515798e-02  1.05188333e-02  2.63978599e+01]
 [ 6.88490891e-02  9.97626906e-01  5.99141767e-04  1.87702928e+00]
 [-1.05351229e-02  1.26525363e-04  9.99944496e-01 -2.79648140e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 25.947702638
Centerline is valid?  [True, True]
Translation: X:26.46, Y:1.88, Z:-0.28
[[ 9.97092323e-01 -7.54735324e-02  1.05188333e-02  2.64600122e+01]
 [ 7.54714100e-02  9.97147786e-01  5.99141767e-04  1.87663756e+00]
 [-1.05340506e-02  1.96471522e-04  9.99944496e-01 -2.80301711e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.007702638
Centerline is valid?  [True, True]
Translation: X:26.52, Y:1.88, Z:-0.28
[[ 9.96905207e-01 -7.79061104e-02  1.05188652e-02  2.65209649e+01]
 [ 7.79041292e-02  9.96960675e-01  5.98580818e-04  1.87934409e+00]
 [-1.05335280e-02  2.22734699e-04  9.99944496e-01 -2.80944127e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.067702638
Centerline is valid?  [True, True]
Translation: X:26.58, Y:1.89, Z:-0.28
[[ 9.96838689e-01 -7.87526549e-02  1.05188781e-02  2.65820995e+01]
 [ 7.87507233e-02  9.96894160e-01  5.98353427e-04  1.88534991e+00]
 [-1.05333301e-02  2.31907414e-04  9.99944496e-01 -2.81590664e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.127702638
Centerline is valid?  [True, True]
Translation: X:26.64, Y:1.89, Z:-0.28
[[ 9.96797291e-01 -7.92749143e-02  1.05189686e-02  2.66430068e+01]
 [ 7.92730285e-02  9.96852763e-01  5.96759132e-04  1.88627424e+00]
 [-1.05331709e-02  2.39022608e-04  9.99944496e-01 -2.82230816e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.187702638
Centerline is valid?  [True, True]
Translation: X:26.70, Y:1.89, Z:-0.28
[[ 9.96783043e-01 -7.94538664e-02  1.05189739e-02  2.67033815e+01]
 [ 7.94519915e-02  9.96838515e-01  5.96665144e-04  1.89114682e+00]
 [-1.05331257e-02  2.41007727e-04  9.99944496e-01 -2.82868772e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.247702638
Centerline is valid?  [True, True]
Translation: X:26.76, Y:1.90, Z:-0.28
[[ 9.97033314e-01 -7.62490821e-02  1.05189739e-02  2.67648340e+01]
 [ 7.62470289e-02  9.97088780e-01  5.96665144e-04  1.89883334e+00]
 [-1.05338460e-02  2.07145481e-04  9.99944496e-01 -2.83519812e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.307702638
Centerline is valid?  [True, True]
Translation: X:26.82, Y:1.90, Z:-0.28
[[ 9.97363301e-01 -7.18038610e-02  1.05190590e-02  2.68249075e+01]
 [ 7.18015765e-02  9.97418758e-01  5.95161836e-04  1.90299045e+00]
 [-1.05346416e-02  1.61692442e-04  9.99944496e-01 -2.84153179e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.367702638
Centerline is valid?  [True, True]
Translation: X:26.89, Y:1.91, Z:-0.28
[[ 9.97498016e-01 -6.99074898e-02  1.05190590e-02  2.68874890e+01]
 [ 6.99050998e-02  9.97553469e-01  5.95161836e-04  1.90676980e+00]
 [-1.05349300e-02  1.41663116e-04  9.99944496e-01 -2.84813763e-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 26.427702638
Centerline is valid?  [True, True]
Translation: X:26.95, Y:1.92, Z:-0.29
[[ 9.97593371e-01 -6.85333018e-02  1.05191497e-02  2.69489259e+01]
 [ 6.85308524e-02  9.97648821e-01  5.93553327e-04  1.91501183e+00]
 [-1.05350955e-02  1.28761433e-04  9.99944496e-01 -2.85463821e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.487702638
Centerline is valid?  [True, True]
Translation: X:27.01, Y:1.92, Z:-0.29
[[ 9.97678283e-01 -6.72858854e-02  1.05191768e-02  2.70098263e+01]
 [ 6.72833718e-02  9.97733730e-01  5.93072966e-04  1.92025757e+00]
 [-1.05352429e-02  1.16069665e-04  9.99944496e-01 -2.86107248e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.547702638
Centerline is valid?  [True, True]
Translation: X:27.07, Y:1.92, Z:-0.29
[[ 9.97512378e-01 -6.97022333e-02  1.05192288e-02  2.70722444e+01]
 [ 6.96998636e-02  9.97567831e-01  5.92148700e-04  1.92363681e+00]
 [-1.05349184e-02  1.42513157e-04  9.99944496e-01 -2.86765218e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.607702638
Centerline is valid?  [True, True]
Translation: X:27.13, Y:1.93, Z:-0.29
[[ 9.97333180e-01 -7.22210070e-02  1.05192602e-02  2.71328311e+01]
 [ 7.22187833e-02  9.97388639e-01  5.91590285e-04  1.92692516e+00]
 [-1.05345159e-02  1.69675554e-04  9.99944496e-01 -2.87404128e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.667702638
Centerline is valid?  [True, True]
Translation: X:27.19, Y:1.93, Z:-0.29
[[ 9.97138286e-01 -7.48637689e-02  1.05192667e-02  2.71948811e+01]
 [ 7.48616934e-02  9.97193751e-01  5.91474851e-04  1.93063544e+00]
 [-1.05340271e-02  1.97707901e-04  9.99944496e-01 -2.88058998e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.727702638
Centerline is valid?  [True, True]
Translation: X:27.26, Y:1.93, Z:-0.29
[[ 9.97246408e-01 -7.34094312e-02  1.05193566e-02  2.72554522e+01]
 [ 7.34072917e-02  9.97301871e-01  5.89872325e-04  1.93444416e+00]
 [-1.05342762e-02  1.83949420e-04  9.99944496e-01 -2.88697308e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.787702638
Centerline is valid?  [True, True]
Translation: X:27.32, Y:1.94, Z:-0.29
[[ 9.97569272e-01 -6.88831692e-02  1.05193694e-02  2.73179402e+01]
 [ 6.88807805e-02  9.97624724e-01  5.89642880e-04  1.94116491e+00]
 [-1.05349995e-02  1.36372759e-04  9.99944496e-01 -2.89358478e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.847702638
Centerline is valid?  [True, True]
Translation: X:27.38, Y:1.95, Z:-0.29
[[ 9.98118428e-01 -6.04064904e-02  1.05194405e-02  2.73782038e+01]
 [ 6.04036441e-02  9.98173859e-01  5.88373202e-04  1.94595716e+00]
 [-1.05357720e-02  4.81464020e-05  9.99944496e-01 -2.89994364e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.907702638
Centerline is valid?  [True, True]
Translation: X:27.44, Y:1.95, Z:-0.29
[[ 9.98448055e-01 -5.46884214e-02  1.05194464e-02  2.74392822e+01]
 [ 5.46852588e-02  9.98503468e-01  5.88266877e-04  1.95205899e+00]
 [-1.05358751e-02 -1.20952702e-05  9.99944496e-01 -2.90640425e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 26.967702638
Centerline is valid?  [True, True]
Translation: X:27.50, Y:1.96, Z:-0.29
[[ 9.99051385e-01 -4.22571835e-02  1.05195305e-02  2.74990301e+01]
 [ 4.22533473e-02  9.99106756e-01  5.86758434e-04  1.95805978e+00]
 [-1.05349288e-02 -1.41716449e-04  9.99944496e-01 -2.91271415e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.027702638
Centerline is valid?  [True, True]
Translation: X:27.56, Y:1.96, Z:-0.29
[[ 9.99209705e-01 -3.83315009e-02  1.05195305e-02  2.75614998e+01]
 [ 3.83274472e-02  9.99265061e-01  5.86758434e-04  1.96272299e+00]
 [-1.05342907e-02 -1.83107971e-04  9.99944496e-01 -2.91931340e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.087702638
Centerline is valid?  [True, True]
Translation: X:27.62, Y:1.97, Z:-0.29
[[ 9.99328929e-01 -3.50860377e-02  1.05195797e-02  2.76221200e+01]
 [ 3.50818135e-02  9.99384272e-01  5.85876039e-04  1.96650480e+00]
 [-1.05336586e-02 -2.16436942e-04  9.99944496e-01 -2.92570651e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.147702638
Centerline is valid?  [True, True]
Translation: X:27.68, Y:1.97, Z:-0.29
[[ 9.99385750e-01 -3.34284443e-02  1.05195926e-02  2.76824808e+01]
 [ 3.34241307e-02  9.99441086e-01  5.85644170e-04  1.96959755e+00]
 [-1.05332902e-02 -2.33676200e-04  9.99944496e-01 -2.93207302e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.207702638
Centerline is valid?  [True, True]
Translation: X:27.74, Y:1.97, Z:-0.29
[[ 9.99381342e-01 -3.35599553e-02  1.05195991e-02  2.77430617e+01]
 [ 3.35556502e-02  9.99436679e-01  5.85528186e-04  1.97460954e+00]
 [-1.05333234e-02 -2.32173958e-04  9.99944496e-01 -2.93847475e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.267702638
Centerline is valid?  [True, True]
Translation: X:27.81, Y:1.97, Z:-0.29
[[ 9.99244566e-01 -3.74117009e-02  1.05196117e-02  2.78051142e+01]
 [ 3.74076115e-02  9.99299919e-01  5.85301552e-04  1.97352088e+00]
 [-1.05341442e-02 -1.91345850e-04  9.99944496e-01 -2.94499478e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.327702638
Centerline is valid?  [True, True]
Translation: X:27.87, Y:1.98, Z:-0.30
[[ 9.99200341e-01 -3.85747794e-02  1.05197008e-02  2.78658696e+01]
 [ 3.85707713e-02  9.99255700e-01  5.83694745e-04  1.97938977e+00]
 [-1.05343869e-02 -1.77475014e-04  9.99944496e-01 -2.95140910e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.387702638
Centerline is valid?  [True, True]
Translation: X:27.93, Y:1.99, Z:-0.30
[[ 9.99333003e-01 -3.49697753e-02  1.05197046e-02  2.79258917e+01]
 [ 3.49655682e-02  9.99388347e-01  5.83626581e-04  1.98568744e+00]
 [-1.05336795e-02 -2.15409855e-04  9.99944496e-01 -2.95775986e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.447702638
Centerline is valid?  [True, True]
Translation: X:27.99, Y:1.99, Z:-0.30
[[ 9.99474733e-01 -3.06527772e-02  1.05197129e-02  2.79854366e+01]
 [ 3.06483327e-02  9.99530059e-01  5.83477139e-04  1.98738677e+00]
 [-1.05326544e-02 -2.60758998e-04  9.99944496e-01 -2.96403299e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.507702638
Centerline is valid?  [True, True]
Translation: X:28.05, Y:1.99, Z:-0.30
[[ 9.99427225e-01 -3.21645427e-02  1.05197127e-02  2.80465210e+01]
 [ 3.21601819e-02  9.99482557e-01  5.83481377e-04  1.99242480e+00]
 [-1.05330367e-02 -2.44831301e-04  9.99944496e-01 -2.97048868e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.567702638
Centerline is valid?  [True, True]
Translation: X:28.11, Y:2.00, Z:-0.30
[[ 9.99385312e-01 -3.34414985e-02  1.05197397e-02  2.81076311e+01]
 [ 3.34372135e-02  9.99440650e-01  5.82993526e-04  1.99654154e+00]
 [-1.05333516e-02 -2.30884385e-04  9.99944496e-01 -2.97693812e-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 27.627702638
Centerline is valid?  [True, True]
Translation: X:28.17, Y:2.00, Z:-0.30
[[ 9.99400858e-01 -3.29736243e-02  1.05197525e-02  2.81696737e+01]
 [ 3.29693159e-02  9.99456194e-01  5.82762593e-04  2.00026879e+00]
 [-1.05332476e-02 -2.35584393e-04  9.99944496e-01 -2.98348526e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.687702638
Centerline is valid?  [True, True]
Translation: X:28.23, Y:2.01, Z:-0.30
[[ 9.99360947e-01 -3.41618429e-02  1.05198419e-02  2.82288318e+01]
 [ 3.41576173e-02  9.99416289e-01  5.81143619e-04  2.00596976e+00]
 [-1.05335543e-02 -2.21439503e-04  9.99944496e-01 -2.98973030e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.747702638
Centerline is valid?  [True, True]
Translation: X:28.29, Y:2.01, Z:-0.30
[[ 9.99415273e-01 -3.25337380e-02  1.05198419e-02  2.82898019e+01]
 [ 3.25294222e-02  9.99470609e-01  5.81143619e-04  2.00872268e+00]
 [-1.05331796e-02 -2.38599430e-04  9.99944496e-01 -2.99616061e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.807702638
Centerline is valid?  [True, True]
Translation: X:28.35, Y:2.01, Z:-0.30
[[ 9.99438447e-01 -3.18139023e-02  1.05198483e-02  2.83517503e+01]
 [ 3.18095479e-02  9.99493779e-01  5.81027876e-04  2.01248098e+00]
 [-1.05330077e-02 -2.46069979e-04  9.99944496e-01 -3.00269884e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.867702638
Centerline is valid?  [True, True]
Translation: X:28.41, Y:2.02, Z:-0.30
[[ 9.99476299e-01 -3.06016247e-02  1.05198677e-02  2.84122138e+01]
 [ 3.05972069e-02  9.99531627e-01  5.80676620e-04  2.01624411e+00]
 [-1.05327101e-02 -2.58493951e-04  9.99944496e-01 -3.00907917e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.927702638
Centerline is valid?  [True, True]
Translation: X:28.47, Y:2.02, Z:-0.30
[[ 9.99516283e-01 -2.92665748e-02  1.05198741e-02  2.84733545e+01]
 [ 2.92620843e-02  9.99571605e-01  5.80560074e-04  2.01928269e+00]
 [-1.05323585e-02 -2.72445804e-04  9.99944496e-01 -3.01552824e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 27.987702638
Centerline is valid?  [True, True]
Translation: X:28.53, Y:2.02, Z:-0.30
[[ 9.99552703e-01 -2.79950837e-02  1.05199555e-02  2.85342610e+01]
 [ 2.79905384e-02  9.99608020e-01  5.79081284e-04  2.01989821e+00]
 [-1.05320434e-02 -2.84363044e-04  9.99944496e-01 -3.02192872e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.047702638
Centerline is valid?  [True, True]
Translation: X:28.59, Y:2.02, Z:-0.30
[[ 9.99572662e-01 -2.72730942e-02  1.05200419e-02  2.85941212e+01]
 [ 2.72685255e-02  9.99627978e-01  5.77507437e-04  2.02348160e+00]
 [-1.05318787e-02 -2.90394615e-04  9.99944496e-01 -3.02823565e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.107702638
Centerline is valid?  [True, True]
Translation: X:28.66, Y:2.03, Z:-0.30
[[ 9.99653424e-01 -2.41321457e-02  1.05200534e-02  2.86567427e+01]
 [ 2.41274054e-02  9.99708725e-01  5.77298714e-04  2.02650197e+00]
 [-1.05309206e-02 -3.23277044e-04  9.99944496e-01 -3.03483975e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.167702638
Centerline is valid?  [True, True]
Translation: X:28.72, Y:2.03, Z:-0.30
[[ 9.99682523e-01 -2.28950073e-02  1.05200828e-02  2.87188356e+01]
 [ 2.28902042e-02  9.99737819e-01  5.76762182e-04  2.02700945e+00]
 [-1.05305296e-02 -3.35772230e-04  9.99944496e-01 -3.04137137e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.227702638
Centerline is valid?  [True, True]
Translation: X:28.78, Y:2.03, Z:-0.30
[[ 9.99700780e-01 -2.20834140e-02  1.05201710e-02  2.87799519e+01]
 [ 2.20785829e-02  9.99756073e-01  5.75149704e-04  2.02956783e+00]
 [-1.05303061e-02 -3.42707140e-04  9.99944496e-01 -3.04780432e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.287702638
Centerline is valid?  [True, True]
Translation: X:28.84, Y:2.03, Z:-0.31
[[ 9.99709089e-01 -2.17039913e-02  1.05201791e-02  2.88422871e+01]
 [ 2.16991408e-02  9.99764381e-01  5.75001002e-04  2.03054723e+00]
 [-1.05301801e-02 -3.46554880e-04  9.99944496e-01 -3.05436701e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.347702638
Centerline is valid?  [True, True]
Translation: X:28.90, Y:2.03, Z:-0.31
[[ 9.99756337e-01 -1.94059586e-02  1.05202663e-02  2.89043887e+01]
 [ 1.94009978e-02  9.99811619e-01  5.73401664e-04  2.03433836e+00]
 [-1.05294118e-02 -3.69158284e-04  9.99944496e-01 -3.06091086e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.407702638
Centerline is valid?  [True, True]
Translation: X:28.97, Y:2.04, Z:-0.31
[[ 9.99791470e-01 -1.75025489e-02  1.05203558e-02  2.89659852e+01]
 [ 1.74975002e-02  9.99846744e-01  5.71753545e-04  2.03519490e+00]
 [-1.05287507e-02 -3.87554389e-04  9.99944496e-01 -3.06738442e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.467702638
Centerline is valid?  [True, True]
Translation: X:29.03, Y:2.03, Z:-0.31
[[ 9.99845686e-01 -1.40685445e-02  1.05204453e-02  2.90276858e+01]
 [ 1.40633234e-02  9.99900944e-01  5.70102825e-04  2.03142917e+00]
 [-1.05274237e-02 -4.22062427e-04  9.99944496e-01 -3.07384264e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.527702638
Centerline is valid?  [True, True]
Translation: X:29.09, Y:2.03, Z:-0.31
[[ 9.99902263e-01 -9.20782856e-03  1.05204555e-02  2.90887780e+01]
 [ 9.20234083e-03  9.99957495e-01  5.69914334e-04  2.03251223e+00]
 [-1.05252560e-02 -4.73045815e-04  9.99944496e-01 -3.08027501e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.587702638
Centerline is valid?  [True, True]
Translation: X:29.15, Y:2.04, Z:-0.31
[[ 9.99943645e-01 -1.42390092e-03  1.05204679e-02  2.91489326e+01]
 [ 1.41798582e-03  9.99998832e-01  5.69684441e-04  2.03570584e+00]
 [-1.05212668e-02 -5.54734462e-04  9.99944496e-01 -3.08662047e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.647702638
Centerline is valid?  [True, True]
Translation: X:29.21, Y:2.04, Z:-0.31
[[ 9.99937865e-01  3.68584769e-03  1.05204690e-02  2.92092536e+01]
 [-3.69204452e-03  9.99993022e-01  5.69665569e-04  2.03748956e+00]
 [-1.05182958e-02 -6.08472212e-04  9.99944496e-01 -3.09297691e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.707702638
Centerline is valid?  [True, True]
Translation: X:29.27, Y:2.04, Z:-0.31
[[ 9.99928388e-01  5.70430498e-03  1.05204675e-02  2.92684652e+01]
 [-5.71061342e-03  9.99983532e-01  5.69692573e-04  2.03901480e+00]
 [-1.05170445e-02 -6.29730099e-04  9.99944496e-01 -3.09921547e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.767702638
Centerline is valid?  [True, True]
Translation: X:29.33, Y:2.04, Z:-0.31
[[ 9.99928716e-01  5.64652063e-03  1.05204484e-02  2.93266963e+01]
 [-5.65282959e-03  9.99983860e-01  5.70045762e-04  2.03942107e+00]
 [-1.05170598e-02 -6.29475429e-04  9.99944496e-01 -3.10534679e-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 28.827702637999998
Centerline is valid?  [True, True]
Translation: X:29.39, Y:2.04, Z:-0.31
[[ 9.99942589e-01  2.03507688e-03  1.05203531e-02  2.93871447e+01]
 [-2.04120503e-03  9.99997753e-01  5.71799019e-04  2.04034736e+00]
 [-1.05191658e-02 -5.93240389e-04  9.99944496e-01 -3.11172414e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.887702638
Centerline is valid?  [True, True]
Translation: X:29.45, Y:2.04, Z:-0.31
[[ 9.99927517e-01 -5.85524357e-03  1.05203495e-02  2.94463479e+01]
 [ 5.84955021e-03  9.99982728e-01  5.71865210e-04  2.04060590e+00]
 [-1.05235162e-02 -5.10284447e-04  9.99944496e-01 -3.11795480e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 28.947702638
Centerline is valid?  [True, True]
Translation: X:29.51, Y:2.04, Z:-0.31
[[ 9.99900571e-01 -9.38989220e-03  1.05203418e-02  2.95063909e+01]
 [ 9.38439257e-03  9.99955802e-01  5.72005591e-04  2.04346434e+00]
 [-1.05252479e-02 -4.73221699e-04  9.99944496e-01 -3.12428922e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.007702638
Centerline is valid?  [True, True]
Translation: X:29.57, Y:2.04, Z:-0.31
[[ 9.99877335e-01 -1.16033034e-02  1.05203412e-02  2.95688148e+01]
 [ 1.15979259e-02  9.99932578e-01  5.72016494e-04  2.04328652e+00]
 [-1.05262692e-02 -4.49932189e-04  9.99944496e-01 -3.13085584e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.067702638
Centerline is valid?  [True, True]
Translation: X:29.63, Y:2.04, Z:-0.31
[[ 9.99846378e-01 -1.40192948e-02  1.05204281e-02  2.96304809e+01]
 [ 1.40140676e-02  9.99901635e-01  5.70415357e-04  2.04488739e+00]
 [-1.05273900e-02 -4.22893738e-04  9.99944496e-01 -3.13734178e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.127702638
Centerline is valid?  [True, True]
Translation: X:29.69, Y:2.05, Z:-0.31
[[ 9.99822013e-01 -1.56608739e-02  1.05204472e-02  2.96910252e+01]
 [ 1.56557412e-02  9.99877279e-01  5.70061373e-04  2.04839130e+00]
 [-1.05280838e-02 -4.05254510e-04  9.99944496e-01 -3.14372919e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.187702638
Centerline is valid?  [True, True]
Translation: X:29.75, Y:2.05, Z:-0.32
[[ 9.99816104e-01 -1.60336730e-02  1.05204598e-02  2.97530636e+01]
 [ 1.60285633e-02  9.99871372e-01  5.69828979e-04  2.05171830e+00]
 [-1.05282430e-02 -4.01096333e-04  9.99944496e-01 -3.15027363e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.247702638
Centerline is valid?  [True, True]
Translation: X:29.81, Y:2.05, Z:-0.32
[[ 9.99791453e-01 -1.75034453e-02  1.05204920e-02  2.98137482e+01]
 [ 1.74984232e-02  9.99846729e-01  5.69235035e-04  2.05303081e+00]
 [-1.05288430e-02 -3.85024303e-04  9.99944496e-01 -3.15666167e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.307702638
Centerline is valid?  [True, True]
Translation: X:29.87, Y:2.06, Z:-0.32
[[ 9.99816100e-01 -1.60338707e-02  1.05204984e-02  2.98747183e+01]
 [ 1.60287686e-02  9.99871369e-01  5.69115641e-04  2.05605348e+00]
 [-1.05282703e-02 -4.00380346e-04  9.99944496e-01 -3.16309277e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.367702638
Centerline is valid?  [True, True]
Translation: X:29.94, Y:2.06, Z:-0.32
[[ 9.99825090e-01 -1.54630974e-02  1.05205111e-02  2.99365042e+01]
 [ 1.54579662e-02  9.99880357e-01  5.68880385e-04  2.05895493e+00]
 [-1.05280491e-02 -4.06155176e-04  9.99944496e-01 -3.16960821e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.427702638
Centerline is valid?  [True, True]
Translation: X:30.00, Y:2.06, Z:-0.32
[[ 9.99811724e-01 -1.63044400e-02  1.05205305e-02  2.99983665e+01]
 [ 1.62993591e-02  9.99866995e-01  5.68521909e-04  2.06131917e+00]
 [-1.05284007e-02 -3.96936966e-04  9.99944496e-01 -3.17612778e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.487702638
Centerline is valid?  [True, True]
Translation: X:30.06, Y:2.06, Z:-0.32
[[ 9.99803891e-01 -1.67778260e-02  1.05206102e-02  3.00599926e+01]
 [ 1.67727867e-02  9.99859166e-01  5.67043216e-04  2.06416859e+00]
 [-1.05286423e-02 -3.90472063e-04  9.99944496e-01 -3.18261758e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.547702638
Centerline is valid?  [True, True]
Translation: X:30.12, Y:2.07, Z:-0.32
[[ 9.99786715e-01 -1.77719295e-02  1.05206347e-02  3.01225606e+01]
 [ 1.77669500e-02  9.99841995e-01  5.66589119e-04  2.06537896e+00]
 [-1.05290417e-02 -3.79548683e-04  9.99944496e-01 -3.18920423e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.607702638
Centerline is valid?  [True, True]
Translation: X:30.18, Y:2.07, Z:-0.32
[[ 9.99727303e-01 -2.08478980e-02  1.05207222e-02  3.01840389e+01]
 [ 2.08431058e-02  9.99782599e-01  5.64959058e-04  2.06728423e+00]
 [-1.05302132e-02 -3.45520470e-04  9.99944496e-01 -3.19567215e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.667702638
Centerline is valid?  [True, True]
Translation: X:30.24, Y:2.07, Z:-0.32
[[ 9.99807105e-01 -1.65851354e-02  1.05207410e-02  3.02441936e+01]
 [ 1.65801111e-02  9.99862381e-01  5.64609170e-04  2.07216198e+00]
 [-1.05286572e-02 -3.90065205e-04  9.99944496e-01 -3.20202637e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.727702638
Centerline is valid?  [True, True]
Translation: X:30.31, Y:2.08, Z:-0.32
[[ 9.99826527e-01 -1.53697870e-02  1.05207487e-02  3.03065171e+01]
 [ 1.53646970e-02  9.99881797e-01  5.64465227e-04  2.07707605e+00]
 [-1.05281808e-02 -4.02719191e-04  9.99944496e-01 -3.20861038e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.787702638
Centerline is valid?  [True, True]
Translation: X:30.37, Y:2.08, Z:-0.32
[[ 9.99848280e-01 -1.38827066e-02  1.05207745e-02  3.03682712e+01]
 [ 1.38775394e-02  9.99903543e-01  5.63983531e-04  2.07891894e+00]
 [-1.05275893e-02 -4.17895500e-04  9.99944496e-01 -3.21511484e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.847702638
Centerline is valid?  [True, True]
Translation: X:30.43, Y:2.08, Z:-0.32
[[ 9.99883726e-01 -1.10384799e-02  1.05207936e-02  3.04292926e+01]
 [ 1.10331594e-02  9.99938974e-01  5.63627370e-04  2.08461727e+00]
 [-1.05263732e-02 -4.47484242e-04  9.99944496e-01 -3.22156481e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.907702638
Centerline is valid?  [True, True]
Translation: X:30.49, Y:2.09, Z:-0.32
[[ 9.99892038e-01 -1.02578982e-02  1.05208070e-02  3.04903723e+01]
 [ 1.02525371e-02  9.99947283e-01  5.63377993e-04  2.08742325e+00]
 [-1.05260314e-02 -4.55452206e-04  9.99944496e-01 -3.22800534e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 29.967702638
Centerline is valid?  [True, True]
Translation: X:30.55, Y:2.09, Z:-0.32
[[ 9.99830575e-01 -1.51040710e-02  1.05208196e-02  3.05508686e+01]
 [ 1.50989802e-02  9.99885845e-01  5.63142074e-04  2.08969847e+00]
 [-1.05281243e-02 -4.04193018e-04  9.99944496e-01 -3.23438159e-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 30.027702638
Centerline is valid?  [True, True]
Translation: X:30.61, Y:2.09, Z:-0.32
[[ 9.99664574e-01 -2.36654254e-02  1.05208258e-02  3.06110115e+01]
 [ 2.36608093e-02  9.99719885e-01  5.63025042e-04  2.09330361e+00]
 [-1.05312030e-02 -3.13904934e-04  9.99944496e-01 -3.24072897e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.087702638
Centerline is valid?  [True, True]
Translation: X:30.67, Y:2.10, Z:-0.32
[[ 9.99348998e-01 -3.45093060e-02  1.05208280e-02  3.06717746e+01]
 [ 3.45052907e-02  9.99404357e-01  5.62984375e-04  2.09565253e+00]
 [-1.05339896e-02 -1.99593642e-04  9.99944496e-01 -3.24713505e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.147702638
Centerline is valid?  [True, True]
Translation: X:30.73, Y:2.10, Z:-0.33
[[ 9.99148114e-01 -3.99043658e-02  1.05208336e-02  3.07327009e+01]
 [ 3.99006505e-02  9.99203493e-01  5.62880232e-04  2.09904485e+00]
 [-1.05349151e-02 -1.42612617e-04  9.99944496e-01 -3.25356374e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.207702638
Centerline is valid?  [True, True]
Translation: X:30.79, Y:2.10, Z:-0.33
[[ 9.99041914e-01 -4.24801564e-02  1.05209195e-02  3.07945350e+01]
 [ 4.24766008e-02  9.99097304e-01  5.61270778e-04  2.10373400e+00]
 [-1.05352651e-02 -1.13840136e-04  9.99944496e-01 -3.26008490e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.267702638
Centerline is valid?  [True, True]
Translation: X:30.86, Y:2.11, Z:-0.33
[[ 9.99014516e-01 -4.31196880e-02  1.05209437e-02  3.08563175e+01]
 [ 4.31161728e-02  9.99069908e-01  5.60815633e-04  2.10835803e+00]
 [-1.05353405e-02 -1.06640130e-04  9.99944496e-01 -3.26660817e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.327702637999998
Centerline is valid?  [True, True]
Translation: X:30.92, Y:2.11, Z:-0.33
[[ 9.98983757e-01 -4.38265005e-02  1.05209691e-02  3.09171077e+01]
 [ 4.38230294e-02  9.99039152e-01  5.60339879e-04  2.11371291e+00]
 [-1.05354177e-02 -9.87097017e-05  9.99944496e-01 -3.27303097e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.387702638
Centerline is valid?  [True, True]
Translation: X:30.98, Y:2.12, Z:-0.33
[[ 9.98840787e-01 -4.69722245e-02  1.05210188e-02  3.09796696e+01]
 [ 4.69689377e-02  9.98896194e-01  5.59403557e-04  2.12135238e+00]
 [-1.05356821e-02 -6.45940107e-05  9.99944496e-01 -3.27964976e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.447702638
Centerline is valid?  [True, True]
Translation: X:31.04, Y:2.13, Z:-0.33
[[ 9.98729382e-01 -4.92841543e-02  1.05211189e-02  3.10417080e+01]
 [ 4.92810157e-02  9.98784797e-01  5.57514484e-04  2.12771373e+00]
 [-1.05358103e-02 -3.83146686e-05  9.99944496e-01 -3.28619960e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.507702638
Centerline is valid?  [True, True]
Translation: X:31.10, Y:2.13, Z:-0.33
[[ 9.98762365e-01 -4.86111391e-02  1.05212067e-02  3.11019129e+01]
 [ 4.86079807e-02  9.98817779e-01  5.55853690e-04  2.13262437e+00]
 [-1.05357890e-02 -4.37511345e-05  9.99944496e-01 -3.29254994e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.567702638
Centerline is valid?  [True, True]
Translation: X:31.16, Y:2.14, Z:-0.33
[[ 9.98467638e-01 -5.43293742e-02  1.05212067e-02  3.11620773e+01]
 [ 5.43265331e-02  9.98523069e-01  5.55853690e-04  2.13726223e+00]
 [-1.05358668e-02  1.65787622e-05  9.99944496e-01 -3.29890609e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.627702638
Centerline is valid?  [True, True]
Translation: X:31.22, Y:2.14, Z:-0.33
[[ 9.98376791e-01 -5.59739790e-02  1.05212129e-02  3.12247383e+01]
 [ 5.59712305e-02  9.98432227e-01  5.55736764e-04  2.13902492e+00]
 [-1.05358248e-02  3.40505422e-05  9.99944496e-01 -3.30550813e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.687702638
Centerline is valid?  [True, True]
Translation: X:31.29, Y:2.15, Z:-0.33
[[ 9.98195448e-01 -5.91197945e-02  1.05212985e-02  3.12865120e+01]
 [ 5.91172379e-02  9.98250893e-01  5.54110739e-04  2.14602567e+00]
 [-1.05356545e-02  6.88792885e-05  9.99944496e-01 -3.31203530e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.747702638
Centerline is valid?  [True, True]
Translation: X:31.35, Y:2.15, Z:-0.33
[[ 9.97996752e-01 -6.23841652e-02  1.05213429e-02  3.13474677e+01]
 [ 6.23817988e-02  9.98052206e-01  5.53265538e-04  2.15026074e+00]
 [-1.05353645e-02  1.04183088e-04  9.99944496e-01 -3.31846651e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.807702638
Centerline is valid?  [True, True]
Translation: X:31.41, Y:2.15, Z:-0.33
[[ 9.97848732e-01 -6.47086472e-02  1.05213879e-02  3.14100701e+01]
 [ 6.47064190e-02  9.97904191e-01  5.52409300e-04  2.15246575e+00]
 [-1.05350827e-02  1.29580414e-04  9.99944496e-01 -3.32505967e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.867702638
Centerline is valid?  [True, True]
Translation: X:31.47, Y:2.16, Z:-0.33
[[ 9.97791191e-01 -6.55899251e-02  1.05214709e-02  3.14716656e+01]
 [ 6.55877626e-02  9.97846653e-01  5.50824459e-04  2.15835625e+00]
 [-1.05349430e-02  1.40471941e-04  9.99944496e-01 -3.33156209e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.927702638
Centerline is valid?  [True, True]
Translation: X:31.53, Y:2.16, Z:-0.33
[[ 9.97823952e-01 -6.50896140e-02  1.05215531e-02  3.15324319e+01]
 [ 6.50874403e-02  9.97879413e-01  5.49249100e-04  2.16403782e+00]
 [-1.05349917e-02  1.36767052e-04  9.99944496e-01 -3.33797609e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 30.987702638
Centerline is valid?  [True, True]
Translation: X:31.59, Y:2.17, Z:-0.33
[[ 9.97664049e-01 -6.74962223e-02  1.05216342e-02  3.15942033e+01]
 [ 6.74941988e-02  9.97719516e-01  5.47691336e-04  2.16859879e+00]
 [-1.05346069e-02  1.63737314e-04  9.99944496e-01 -3.34448977e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.047702638
Centerline is valid?  [True, True]
Translation: X:31.65, Y:2.17, Z:-0.34
[[ 9.97495013e-01 -6.99499321e-02  1.05217171e-02  3.16539563e+01]
 [ 6.99480619e-02  9.97550485e-01  5.46093542e-04  2.17211846e+00]
 [-1.05341432e-02  1.91248135e-04  9.99944496e-01 -3.35078504e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.107702638
Centerline is valid?  [True, True]
Translation: X:31.71, Y:2.17, Z:-0.34
[[ 9.97162118e-01 -7.45453134e-02  1.05217339e-02  3.17148470e+01]
 [ 7.45437022e-02  9.97217598e-01  5.45770369e-04  2.17456077e+00]
 [-1.05331428e-02  2.40107460e-04  9.99944496e-01 -3.35720319e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.167702638
Centerline is valid?  [True, True]
Translation: X:31.78, Y:2.18, Z:-0.34
[[ 9.97301363e-01 -7.26586785e-02  1.05217387e-02  3.17762104e+01]
 [ 7.26569634e-02  9.97356841e-01  5.45677966e-04  2.18291478e+00]
 [-1.05335763e-02  2.20272202e-04  9.99944496e-01 -3.36370499e-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 31.227702638
Centerline is valid?  [True, True]
Translation: X:31.84, Y:2.19, Z:-0.34
[[ 9.97722263e-01 -6.66301582e-02  1.05218211e-02  3.18368446e+01]
 [ 6.66281246e-02  9.97777729e-01  5.44084556e-04  2.19085962e+00]
 [-1.05346912e-02  1.58203931e-04  9.99944496e-01 -3.37011702e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.287702638
Centerline is valid?  [True, True]
Translation: X:31.90, Y:2.20, Z:-0.34
[[ 9.97800687e-01 -6.54452421e-02  1.05218187e-02  3.18982174e+01]
 [ 6.54431421e-02  9.97856151e-01  5.44130457e-04  2.19569832e+00]
 [-1.05348723e-02  1.45647132e-04  9.99944496e-01 -3.37660157e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.347702638
Centerline is valid?  [True, True]
Translation: X:31.96, Y:2.20, Z:-0.34
[[ 9.97825193e-01 -6.50705481e-02  1.05218306e-02  3.19590285e+01]
 [ 6.50684297e-02  9.97880656e-01  5.43900461e-04  2.20134678e+00]
 [-1.05349231e-02  1.41921411e-04  9.99944496e-01 -3.38302943e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.407702638
Centerline is valid?  [True, True]
Translation: X:32.02, Y:2.21, Z:-0.34
[[ 9.97740005e-01 -6.63639473e-02  1.05218380e-02  3.20207926e+01]
 [ 6.63619023e-02  9.97795471e-01  5.43756578e-04  2.20894330e+00]
 [-1.05347282e-02  1.55721496e-04  9.99944496e-01 -3.38956878e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.467702638
Centerline is valid?  [True, True]
Translation: X:32.08, Y:2.21, Z:-0.34
[[ 9.97690558e-01 -6.71032012e-02  1.05219206e-02  3.20832068e+01]
 [ 6.71012143e-02  9.97746026e-01  5.42153219e-04  2.21271289e+00]
 [-1.05345847e-02  1.65132503e-04  9.99944496e-01 -3.39614510e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.527702638
Centerline is valid?  [True, True]
Translation: X:32.15, Y:2.22, Z:-0.34
[[ 9.97635148e-01 -6.79220042e-02  1.05220023e-02  3.21455066e+01]
 [ 6.79200795e-02  9.97690619e-01  5.40563288e-04  2.21987624e+00]
 [-1.05344191e-02  1.75370299e-04  9.99944496e-01 -3.40272780e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.587702638
Centerline is valid?  [True, True]
Translation: X:32.21, Y:2.23, Z:-0.34
[[ 9.97615000e-01 -6.82172815e-02  1.05220832e-02  3.22053395e+01]
 [ 6.82153898e-02  9.97670472e-01  5.38983763e-04  2.22554871e+00]
 [-1.05343397e-02  1.80069722e-04  9.99944496e-01 -3.40904284e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.647702638
Centerline is valid?  [True, True]
Translation: X:32.27, Y:2.23, Z:-0.34
[[ 9.97729744e-01 -6.65180007e-02  1.05220832e-02  3.22664218e+01]
 [ 6.65160146e-02  9.97785212e-01  5.38983763e-04  2.23023138e+00]
 [-1.05346312e-02  1.62126909e-04  9.99944496e-01 -3.41549556e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.707702638
Centerline is valid?  [True, True]
Translation: X:32.33, Y:2.23, Z:-0.34
[[ 9.97902903e-01 -6.38676889e-02  1.05220943e-02  3.23291395e+01]
 [ 6.38655577e-02  9.97958366e-01  5.38768500e-04  2.23162931e+00]
 [-1.05350219e-02  1.34360767e-04  9.99944496e-01 -3.42210109e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.767702638
Centerline is valid?  [True, True]
Translation: X:32.39, Y:2.24, Z:-0.34
[[ 9.98154518e-01 -5.98067072e-02  1.05221236e-02  3.23902618e+01]
 [ 5.98043564e-02  9.98209973e-01  5.38194277e-04  2.24016527e+00]
 [-1.05354764e-02  9.20677818e-05  9.99944496e-01 -3.42857454e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.827702637999998
Centerline is valid?  [True, True]
Translation: X:32.45, Y:2.24, Z:-0.34
[[ 9.98150312e-01 -5.98768571e-02  1.05221979e-02  3.24521533e+01]
 [ 5.98745256e-02  9.98205767e-01  5.36739029e-04  2.24178393e+00]
 [-1.05354568e-02  9.42653760e-05  9.99944496e-01 -3.43508518e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.887702638
Centerline is valid?  [True, True]
Translation: X:32.51, Y:2.25, Z:-0.34
[[ 9.97957985e-01 -6.30011269e-02  1.05222760e-02  3.25128064e+01]
 [ 6.29989852e-02  9.98013448e-01  5.35202073e-04  2.24771064e+00]
 [-1.05350913e-02  1.28783530e-04  9.99944496e-01 -3.44148801e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 31.947702638
Centerline is valid?  [True, True]
Translation: X:32.57, Y:2.25, Z:-0.34
[[ 9.98002531e-01 -6.22914978e-02  1.05222817e-02  3.25738891e+01]
 [ 6.22893178e-02  9.98057992e-01  5.35091196e-04  2.25366991e+00]
 [-1.05351789e-02  1.21403379e-04  9.99944496e-01 -3.44794672e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.007702638
Centerline is valid?  [True, True]
Translation: X:32.63, Y:2.26, Z:-0.35
[[ 9.97636166e-01 -6.79069907e-02  1.05223583e-02  3.26347830e+01]
 [ 6.79051388e-02  9.97691639e-01  5.33579334e-04  2.25723766e+00]
 [-1.05343027e-02  1.82204162e-04  9.99944496e-01 -3.45436235e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.067702638
Centerline is valid?  [True, True]
Translation: X:32.69, Y:2.26, Z:-0.35
[[ 9.97319065e-01 -7.24152085e-02  1.05223638e-02  3.26945426e+01]
 [ 7.24136085e-02  9.97374546e-01  5.33472160e-04  2.26145509e+00]
 [-1.05333693e-02  2.29920375e-04  9.99944496e-01 -3.46067253e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.127702638
Centerline is valid?  [True, True]
Translation: X:32.76, Y:2.26, Z:-0.35
[[ 9.97202374e-01 -7.40047692e-02  1.05223703e-02  3.27571892e+01]
 [ 7.40032590e-02  9.97257857e-01  5.33342769e-04  2.26402561e+00]
 [-1.05329864e-02  2.46839021e-04  9.99944496e-01 -3.46727755e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.187702638
Centerline is valid?  [True, True]
Translation: X:32.82, Y:2.27, Z:-0.35
[[ 9.97142702e-01 -7.48044733e-02  1.05224466e-02  3.28201171e+01]
 [ 7.48030235e-02  9.97198187e-01  5.31833654e-04  2.26662036e+00]
 [-1.05327482e-02  2.56796774e-04  9.99944496e-01 -3.47390205e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.247702638
Centerline is valid?  [True, True]
Translation: X:32.88, Y:2.27, Z:-0.35
[[ 9.96984211e-01 -7.68879617e-02  1.05225337e-02  3.28810644e+01]
 [ 7.68866461e-02  9.97039700e-01  5.30104433e-04  2.27113869e+00]
 [-1.05321425e-02  2.80536575e-04  9.99944496e-01 -3.48032669e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.307702638
Centerline is valid?  [True, True]
Translation: X:32.94, Y:2.27, Z:-0.35
[[ 9.97017513e-01 -7.64549175e-02  1.05226014e-02  3.29432319e+01]
 [ 7.64535920e-02  9.97073001e-01  5.28757662e-04  2.27234493e+00]
 [-1.05322279e-02  2.77310024e-04  9.99944496e-01 -3.48686505e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.367702638
Centerline is valid?  [True, True]
Translation: X:33.00, Y:2.27, Z:-0.35
[[ 9.97145900e-01 -7.47618028e-02  1.05226784e-02  3.30047202e+01]
 [ 7.47603992e-02  9.97201386e-01  5.27221054e-04  2.27384297e+00]
 [-1.05326455e-02  2.60963325e-04  9.99944496e-01 -3.49333211e-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 32.427702638
Centerline is valid?  [True, True]
Translation: X:33.06, Y:2.28, Z:-0.35
[[ 9.97436650e-01 -7.07771144e-02  1.05227546e-02  3.30649882e+01]
 [ 7.07755053e-02  9.97492131e-01  5.25696182e-04  2.27983342e+00]
 [-1.05335721e-02  2.20404632e-04  9.99944496e-01 -3.49969451e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.487702638
Centerline is valid?  [True, True]
Translation: X:33.13, Y:2.28, Z:-0.35
[[ 9.97779152e-01 -6.57726048e-02  1.05227601e-02  3.31254931e+01]
 [ 6.57707185e-02  9.97834624e-01  5.25585849e-04  2.28101875e+00]
 [-1.05345435e-02  1.67670887e-04  9.99944496e-01 -3.50606705e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.547702638
Centerline is valid?  [True, True]
Translation: X:33.19, Y:2.28, Z:-0.35
[[ 9.98099926e-01 -6.07108595e-02  1.05227656e-02  3.31874600e+01]
 [ 6.07086931e-02  9.98155388e-01  5.25474547e-04  2.28470771e+00]
 [-1.05352572e-02  1.14347242e-04  9.99944496e-01 -3.51260660e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.607702638
Centerline is valid?  [True, True]
Translation: X:33.25, Y:2.29, Z:-0.35
[[ 9.98429900e-01 -5.50182357e-02  1.05228081e-02  3.32485556e+01]
 [ 5.50157620e-02  9.98485348e-01  5.24622915e-04  2.29112233e+00]
 [-1.05357335e-02  5.51211006e-05  9.99944496e-01 -3.51906326e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.667702638
Centerline is valid?  [True, True]
Translation: X:33.31, Y:2.29, Z:-0.35
[[ 9.98503131e-01 -5.36727698e-02  1.05228530e-02  3.33091625e+01]
 [ 5.36702309e-02  9.98558577e-01  5.23720293e-04  2.29137891e+00]
 [-1.05357946e-02  4.18275973e-05  9.99944496e-01 -3.52543580e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.727702638
Centerline is valid?  [True, True]
Translation: X:33.37, Y:2.29, Z:-0.35
[[ 9.98465512e-01 -5.43680991e-02  1.05228586e-02  3.33688715e+01]
 [ 5.43656000e-02  9.98520960e-01  5.23607826e-04  2.29302716e+00]
 [-1.05357624e-02  4.92771662e-05  9.99944496e-01 -3.53172704e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.787702638
Centerline is valid?  [True, True]
Translation: X:33.43, Y:2.30, Z:-0.35
[[ 9.98538824e-01 -5.30045884e-02  1.05228586e-02  3.34299034e+01]
 [ 5.30020136e-02  9.98594268e-01  5.23607826e-04  2.29960726e+00]
 [-1.05358199e-02  3.48899523e-05  9.99944496e-01 -3.53818415e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.847702638
Centerline is valid?  [True, True]
Translation: X:33.49, Y:2.30, Z:-0.35
[[ 9.98646275e-01 -5.09400380e-02  1.05228659e-02  3.34906036e+01]
 [ 5.09373501e-02  9.98701713e-01  5.23461148e-04  2.29887341e+00]
 [-1.05358693e-02  1.32543794e-05  9.99944496e-01 -3.54456697e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.907702637999996
Centerline is valid?  [True, True]
Translation: X:33.55, Y:2.30, Z:-0.36
[[ 9.98650841e-01 -5.08504301e-02  1.05228771e-02  3.35522613e+01]
 [ 5.08477396e-02  9.98706280e-01  5.23235525e-04  2.30192052e+00]
 [-1.05358702e-02  1.25349185e-05  9.99944496e-01 -3.55106977e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 32.967702638
Centerline is valid?  [True, True]
Translation: X:33.61, Y:2.31, Z:-0.36
[[ 9.98721235e-01 -4.94485981e-02  1.05229197e-02  3.36128148e+01]
 [ 4.94458388e-02  9.98776670e-01  5.22377780e-04  2.30634002e+00]
 [-1.05358775e-02 -1.39518992e-06  9.99944496e-01 -3.55745883e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.027702638
Centerline is valid?  [True, True]
Translation: X:33.67, Y:2.30, Z:-0.36
[[ 9.98783192e-01 -4.81809374e-02  1.05229568e-02  3.36741995e+01]
 [ 4.81781157e-02  9.98838624e-01  5.21630279e-04  2.30331830e+00]
 [-1.05358683e-02 -1.40193275e-05  9.99944496e-01 -3.56389736e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.087702638
Centerline is valid?  [True, True]
Translation: X:33.74, Y:2.31, Z:-0.36
[[ 9.98853877e-01 -4.66926164e-02  1.05229622e-02  3.37352296e+01]
 [ 4.66897132e-02  9.98909305e-01  5.21520155e-04  2.30783731e+00]
 [-1.05358360e-02 -2.96083410e-05  9.99944496e-01 -3.57034265e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.147702638
Centerline is valid?  [True, True]
Translation: X:33.79, Y:2.31, Z:-0.36
[[ 9.98921747e-01 -4.52173694e-02  1.05229678e-02  3.37946693e+01]
 [ 4.52143856e-02  9.98977171e-01  5.21408399e-04  2.30940907e+00]
 [-1.05357813e-02 -4.50566677e-05  9.99944496e-01 -3.57660518e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.207702638
Centerline is valid?  [True, True]
Translation: X:33.86, Y:2.31, Z:-0.36
[[ 9.98975197e-01 -4.40207151e-02  1.05229622e-02  3.38569270e+01]
 [ 4.40176636e-02  9.99030617e-01  5.21519474e-04  2.30947723e+00]
 [-1.05357191e-02 -5.77888061e-05  9.99944496e-01 -3.58315808e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.267702638
Centerline is valid?  [True, True]
Translation: X:33.92, Y:2.31, Z:-0.36
[[ 9.98931525e-01 -4.50008276e-02  1.05230037e-02  3.39176405e+01]
 [ 4.49978393e-02  9.98986949e-01  5.20680884e-04  2.31266502e+00]
 [-1.05357745e-02 -4.66121175e-05  9.99944496e-01 -3.58955776e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.327702638
Centerline is valid?  [True, True]
Translation: X:33.98, Y:2.31, Z:-0.36
[[ 9.98913923e-01 -4.53898778e-02  1.05230173e-02  3.39797183e+01]
 [ 4.53869141e-02  9.98969347e-01  5.20406182e-04  2.31194379e+00]
 [-1.05357929e-02 -4.22336974e-05  9.99944496e-01 -3.59608481e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.387702638
Centerline is valid?  [True, True]
Translation: X:34.04, Y:2.31, Z:-0.36
[[ 9.99025728e-01 -4.28586117e-02  1.05230451e-02  3.40412801e+01]
 [ 4.28555134e-02  9.99081145e-01  5.19843777e-04  2.31368346e+00]
 [-1.05356557e-02 -6.83668064e-05  9.99944496e-01 -3.60256828e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.447702638
Centerline is valid?  [True, True]
Translation: X:34.10, Y:2.32, Z:-0.36
[[ 9.99083953e-01 -4.14791436e-02  1.05230564e-02  3.41034181e+01]
 [ 4.14759712e-02  9.99139367e-01  5.19614369e-04  2.31726048e+00]
 [-1.05355531e-02 -8.26843914e-05  9.99944496e-01 -3.60912438e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.507702638
Centerline is valid?  [True, True]
Translation: X:34.17, Y:2.32, Z:-0.36
[[ 9.99216046e-01 -3.81648785e-02  1.05230790e-02  3.41659008e+01]
 [ 3.81615272e-02  9.99271449e-01  5.19157082e-04  2.31857141e+00]
 [-1.05352260e-02 -1.17173321e-04  9.99944496e-01 -3.61570331e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.567702638
Centerline is valid?  [True, True]
Translation: X:34.23, Y:2.32, Z:-0.36
[[ 9.99354921e-01 -3.43366441e-02  1.05231680e-02  3.42265864e+01]
 [ 3.43330996e-02  9.99410311e-01  5.17346791e-04  2.32137471e+00]
 [-1.05347266e-02 -1.55720086e-04  9.99944496e-01 -3.62209103e-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 33.627702638
Centerline is valid?  [True, True]
Translation: X:34.29, Y:2.32, Z:-0.36
[[ 9.99383341e-01 -3.34992524e-02  1.05231825e-02  3.42883986e+01]
 [ 3.34956646e-02  9.99438729e-01  5.17052574e-04  2.32450185e+00]
 [-1.05345970e-02 -1.64252740e-04  9.99944496e-01 -3.62861003e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.687702638
Centerline is valid?  [True, True]
Translation: X:34.35, Y:2.33, Z:-0.36
[[ 9.99435577e-01 -3.19027805e-02  1.05232655e-02  3.43505006e+01]
 [ 3.18991221e-02  9.99490961e-01  5.15356879e-04  2.32627468e+00]
 [-1.05343501e-02 -1.79383069e-04  9.99944496e-01 -3.63514235e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.747702638
Centerline is valid?  [True, True]
Translation: X:34.41, Y:2.33, Z:-0.36
[[ 9.99481360e-01 -3.04347018e-02  1.05233427e-02  3.44129377e+01]
 [ 3.04309787e-02  9.99536738e-01  5.13774788e-04  2.33088814e+00]
 [-1.05341043e-02 -1.93272706e-04  9.99944496e-01 -3.64172539e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.807702638
Centerline is valid?  [True, True]
Translation: X:34.48, Y:2.33, Z:-0.36
[[ 9.99514054e-01 -2.93413151e-02  1.05234209e-02  3.44754543e+01]
 [ 2.93375483e-02  9.99569430e-01  5.12169706e-04  2.33202256e+00]
 [-1.05339175e-02 -2.03189452e-04  9.99944496e-01 -3.64829876e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.867702638
Centerline is valid?  [True, True]
Translation: X:34.54, Y:2.34, Z:-0.37
[[ 9.99511915e-01 -2.94140807e-02  1.05234990e-02  3.45369072e+01]
 [ 2.94103349e-02  9.99567292e-01  5.10558289e-04  2.33716812e+00]
 [-1.05339630e-02 -2.00809463e-04  9.99944496e-01 -3.65478070e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.927702638
Centerline is valid?  [True, True]
Translation: X:34.60, Y:2.34, Z:-0.37
[[ 9.99532978e-01 -2.86894075e-02  1.05235254e-02  3.45987434e+01]
 [ 2.86856272e-02  9.99588353e-01  5.10014203e-04  2.34223387e+00]
 [-1.05338254e-02 -2.07902089e-04  9.99944496e-01 -3.66131028e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 33.987702638
Centerline is valid?  [True, True]
Translation: X:34.66, Y:2.35, Z:-0.37
[[ 9.99550585e-01 -2.80692158e-02  1.05236035e-02  3.46616056e+01]
 [ 2.80654183e-02  9.99605959e-01  5.08398496e-04  2.34736302e+00]
 [-1.05337271e-02 -2.12820682e-04  9.99944496e-01 -3.66794029e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.047702638
Centerline is valid?  [True, True]
Translation: X:34.72, Y:2.35, Z:-0.37
[[ 9.99621375e-01 -2.54235899e-02  1.05236909e-02  3.47227582e+01]
 [ 2.54196649e-02  9.99676740e-01  5.06581475e-04  2.35265917e+00]
 [-1.05331682e-02 -2.38880974e-04  9.99944496e-01 -3.67438969e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.107702638
Centerline is valid?  [True, True]
Translation: X:34.78, Y:2.36, Z:-0.37
[[ 9.99713322e-01 -2.15063894e-02  1.05237020e-02  3.47829131e+01]
 [ 2.15022499e-02  9.99768672e-01  5.06351378e-04  2.35801156e+00]
 [-1.05321574e-02 -2.79922949e-04  9.99944496e-01 -3.68074598e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.167702638
Centerline is valid?  [True, True]
Translation: X:34.84, Y:2.36, Z:-0.37
[[ 9.99692164e-01 -2.24683864e-02  1.05237038e-02  3.48430096e+01]
 [ 2.24643006e-02  9.99747518e-01  5.06313027e-04  2.35994374e+00]
 [-1.05324228e-02 -2.69749519e-04  9.99944496e-01 -3.68708021e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.227702638
Centerline is valid?  [True, True]
Translation: X:34.90, Y:2.37, Z:-0.37
[[ 9.99736529e-01 -2.03991240e-02  1.05237031e-02  3.49024631e+01]
 [ 2.03949234e-02  9.99791874e-01  5.06327908e-04  2.36602957e+00]
 [-1.05318415e-02 -2.91564386e-04  9.99944496e-01 -3.69336819e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.287702638
Centerline is valid?  [True, True]
Translation: X:34.96, Y:2.37, Z:-0.37
[[ 9.99693968e-01 -2.23879763e-02  1.05237066e-02  3.49644215e+01]
 [ 2.23838866e-02  9.99749321e-01  5.06256574e-04  2.37141817e+00]
 [-1.05324025e-02 -2.70540189e-04  9.99944496e-01 -3.69991563e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.347702638
Centerline is valid?  [True, True]
Translation: X:35.03, Y:2.37, Z:-0.37
[[ 9.99624377e-01 -2.53052358e-02  1.05237823e-02  3.50257862e+01]
 [ 2.53013243e-02  9.99679743e-01  5.04676580e-04  2.37341593e+00]
 [-1.05331830e-02 -2.38221382e-04  9.99944496e-01 -3.70637224e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.407702637999996
Centerline is valid?  [True, True]
Translation: X:35.09, Y:2.38, Z:-0.37
[[ 9.99592133e-01 -2.65484057e-02  1.05237933e-02  3.50871011e+01]
 [ 2.65445655e-02  9.99647504e-01  5.04447420e-04  2.37915871e+00]
 [-1.05334760e-02 -2.24892152e-04  9.99944496e-01 -3.71285252e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.467702638
Centerline is valid?  [True, True]
Translation: X:35.15, Y:2.38, Z:-0.37
[[ 9.99595077e-01 -2.64373202e-02  1.05238097e-02  3.51486358e+01]
 [ 2.64334774e-02  9.99650447e-01  5.04105906e-04  2.38121306e+00]
 [-1.05334583e-02 -2.25720897e-04  9.99944496e-01 -3.71933650e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.527702638
Centerline is valid?  [True, True]
Translation: X:35.21, Y:2.39, Z:-0.37
[[ 9.99568226e-01 -2.74337278e-02  1.05238802e-02  3.52100926e+01]
 [ 2.74299557e-02  9.99623602e-01  5.02629004e-04  2.38503835e+00]
 [-1.05337080e-02 -2.13742414e-04  9.99944496e-01 -3.72581276e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.587702638
Centerline is valid?  [True, True]
Translation: X:35.27, Y:2.39, Z:-0.37
[[ 9.99666567e-01 -2.35796818e-02  1.05239489e-02  3.52704483e+01]
 [ 2.35757114e-02  9.99721929e-01  5.01187572e-04  2.39145113e+00]
 [-1.05328403e-02 -2.52910878e-04  9.99944496e-01 -3.73218635e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.647702638
Centerline is valid?  [True, True]
Translation: X:35.33, Y:2.39, Z:-0.37
[[ 9.99740398e-01 -2.02084777e-02  1.05239838e-02  3.53312505e+01]
 [ 2.02043284e-02  9.99795746e-01  5.00453679e-04  2.39315000e+00]
 [-1.05319476e-02 -2.87693736e-04  9.99944496e-01 -3.73858854e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.707702638
Centerline is valid?  [True, True]
Translation: X:35.39, Y:2.40, Z:-0.37
[[ 9.99811283e-01 -1.63292652e-02  1.05239890e-02  3.53919425e+01]
 [ 1.63249023e-02  9.99866615e-01  5.00342571e-04  2.39791799e+00]
 [-1.05307555e-02 -3.28445054e-04  9.99944496e-01 -3.74499914e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.767702638
Centerline is valid?  [True, True]
Translation: X:35.45, Y:2.40, Z:-0.38
[[ 9.99877388e-01 -1.15954588e-02  1.05239944e-02  3.54517716e+01]
 [ 1.15908352e-02  9.99932699e-01  5.00228678e-04  2.40178981e+00]
 [-1.05290866e-02 -3.78185459e-04  9.99944496e-01 -3.75131442e-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 34.827702638
Centerline is valid?  [True, True]
Translation: X:35.51, Y:2.41, Z:-0.38
[[ 9.99896510e-01 -9.80891746e-03  1.05239901e-02  3.55138978e+01]
 [ 9.80419406e-03  9.99951813e-01  5.00320328e-04  2.40706752e+00]
 [-1.05283906e-02 -3.97089308e-04  9.99944496e-01 -3.75788003e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.887702638
Centerline is valid?  [True, True]
Translation: X:35.58, Y:2.41, Z:-0.38
[[ 9.99908637e-01 -8.48308044e-03  1.05240119e-02  3.55756997e+01]
 [ 8.47828855e-03  9.99963934e-01  4.99860358e-04  2.41090974e+00]
 [-1.05278727e-02 -4.10589079e-04  9.99944496e-01 -3.76440018e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 34.947702638
Centerline is valid?  [True, True]
Translation: X:35.64, Y:2.41, Z:-0.38
[[ 9.99913075e-01 -7.94274141e-03  1.05240386e-02  3.56369926e+01]
 [ 7.93792555e-03  9.99968370e-01  4.99297616e-04  2.41286651e+00]
 [-1.05276715e-02 -4.15715180e-04  9.99944496e-01 -3.77085657e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.007702638
Centerline is valid?  [True, True]
Translation: X:35.70, Y:2.42, Z:-0.38
[[ 9.99923784e-01 -6.45531462e-03  1.05240600e-02  3.56977346e+01]
 [ 6.45042126e-03  9.99979071e-01  4.98846024e-04  2.41615080e+00]
 [-1.05270600e-02 -4.30923383e-04  9.99944496e-01 -3.77726245e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.067702638
Centerline is valid?  [True, True]
Translation: X:35.76, Y:2.42, Z:-0.38
[[ 9.99935230e-01 -4.33348858e-03  1.05240760e-02  3.57585458e+01]
 [ 4.32848146e-03  9.99990508e-01  4.98508887e-04  2.42074838e+00]
 [-1.05261364e-02 -4.52923330e-04  9.99944496e-01 -3.78368301e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.127702638
Centerline is valid?  [True, True]
Translation: X:35.82, Y:2.42, Z:-0.38
[[ 9.99939907e-01 -3.07016266e-03  1.05240814e-02  3.58202076e+01]
 [ 3.06508690e-03  9.99995178e-01  4.98394957e-04  2.42396360e+00]
 [-1.05255608e-02 -4.66107783e-04  9.99944496e-01 -3.79018787e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.187702638
Centerline is valid?  [True, True]
Translation: X:35.88, Y:2.43, Z:-0.38
[[ 9.99944514e-01  4.60500199e-04  1.05241087e-02  3.58808077e+01]
 [-4.65765035e-04  9.99999768e-01  4.97818853e-04  2.42678317e+00]
 [-1.05238770e-02 -5.02692993e-04  9.99944496e-01 -3.79657555e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.247702638
Centerline is valid?  [True, True]
Translation: X:35.94, Y:2.43, Z:-0.38
[[ 9.99942114e-01  2.23845601e-03  1.05241142e-02  3.59408673e+01]
 [-2.24381786e-03  9.99997359e-01  4.97702487e-04  2.43148225e+00]
 [-1.05229723e-02 -5.21287873e-04  9.99944496e-01 -3.80291915e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.307702638
Centerline is valid?  [True, True]
Translation: X:36.00, Y:2.43, Z:-0.38
[[ 9.99940349e-01  2.92269314e-03  1.05241087e-02  3.59990838e+01]
 [-2.92809401e-03  9.99995589e-01  4.97818933e-04  2.43286448e+00]
 [-1.05226073e-02 -5.28604817e-04  9.99944496e-01 -3.80905402e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.367702638
Centerline is valid?  [True, True]
Translation: X:36.06, Y:2.44, Z:-0.38
[[ 9.99925984e-01  6.10495016e-03  1.05240325e-02  3.60587696e+01]
 [-6.11054364e-03  9.99981206e-01  4.99422929e-04  2.43871284e+00]
 [-1.05207858e-02 -5.63693524e-04  9.99944496e-01 -3.81537702e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.427702638
Centerline is valid?  [True, True]
Translation: X:36.12, Y:2.44, Z:-0.38
[[ 9.99916250e-01  7.53246456e-03  1.05240271e-02  3.61177574e+01]
 [-7.53813807e-03  9.99971463e-01  4.99537628e-04  2.44118578e+00]
 [-1.05199640e-02 -5.78827361e-04  9.99944496e-01 -3.82159847e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.487702638
Centerline is valid?  [True, True]
Translation: X:36.18, Y:2.44, Z:-0.38
[[ 9.99908891e-01  8.45319660e-03  1.05239504e-02  3.61781142e+01]
 [-8.45893785e-03  9.99964097e-01  5.01147417e-04  2.44269656e+00]
 [-1.05193363e-02 -5.90123201e-04  9.99944496e-01 -3.82797049e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.547702638
Centerline is valid?  [True, True]
Translation: X:36.24, Y:2.44, Z:-0.38
[[ 9.99916111e-01  7.55096319e-03  1.05239550e-02  3.62384097e+01]
 [-7.55665362e-03  9.99971323e-01  5.01051959e-04  2.44483266e+00]
 [-1.05198698e-02 -5.80535809e-04  9.99944496e-01 -3.83432630e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.607702638
Centerline is valid?  [True, True]
Translation: X:36.30, Y:2.45, Z:-0.38
[[ 9.99905623e-01  8.83123869e-03  1.05239495e-02  3.62962775e+01]
 [-8.83700102e-03  9.99960827e-01  5.01167948e-04  2.44845445e+00]
 [-1.05191113e-02 -5.94120801e-04  9.99944496e-01 -3.84043564e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.667702638
Centerline is valid?  [True, True]
Translation: X:36.36, Y:2.45, Z:-0.38
[[ 9.99884867e-01  1.09315820e-02  1.05239278e-02  3.63567993e+01]
 [-1.09374650e-02  9.99940058e-01  5.01621439e-04  2.44815727e+00]
 [-1.05178135e-02 -6.16668779e-04  9.99944496e-01 -3.84680720e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.727702638
Centerline is valid?  [True, True]
Translation: X:36.42, Y:2.45, Z:-0.39
[[ 9.99865910e-01  1.25462409e-02  1.05239278e-02  3.64158279e+01]
 [-1.25522130e-02  9.99921092e-01  5.01621439e-04  2.44815381e+00]
 [-1.05168040e-02 -6.33652761e-04  9.99944496e-01 -3.85301966e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.787702638
Centerline is valid?  [True, True]
Translation: X:36.47, Y:2.45, Z:-0.39
[[ 9.99864308e-01  1.26733458e-02  1.05239170e-02  3.64743280e+01]
 [-1.26793274e-02  9.99919488e-01  5.01848104e-04  2.44997561e+00]
 [-1.05167096e-02 -6.35216197e-04  9.99944496e-01 -3.85918734e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.847702638
Centerline is valid?  [True, True]
Translation: X:36.53, Y:2.45, Z:-0.39
[[ 9.99861658e-01  1.28807582e-02  1.05238386e-02  3.65332259e+01]
 [-1.28867684e-02  9.99916835e-01  5.03487289e-04  2.44882740e+00]
 [-1.05164781e-02 -6.39035907e-04  9.99944496e-01 -3.86539250e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.907702637999996
Centerline is valid?  [True, True]
Translation: X:36.59, Y:2.45, Z:-0.39
[[ 9.99875536e-01  1.17542655e-02  1.05237602e-02  3.65914663e+01]
 [-1.17602307e-02  9.99930719e-01  5.05121604e-04  2.44709364e+00]
 [-1.05170937e-02 -6.28820582e-04  9.99944496e-01 -3.87152533e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 35.967702638
Centerline is valid?  [True, True]
Translation: X:36.65, Y:2.45, Z:-0.39
[[ 9.99884137e-01  1.09984246e-02  1.05236870e-02  3.66504266e+01]
 [-1.10043639e-02  9.99939322e-01  5.06640569e-04  2.44943798e+00]
 [-1.05174762e-02 -6.22388350e-04  9.99944496e-01 -3.87775359e-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 36.027702638
Centerline is valid?  [True, True]
Translation: X:36.71, Y:2.45, Z:-0.39
[[ 9.99869907e-01  1.22237982e-02  1.05236698e-02  3.67084353e+01]
 [-1.22298090e-02  9.99925085e-01  5.06999388e-04  2.45043568e+00]
 [-1.05166839e-02 -6.35635902e-04  9.99944496e-01 -3.88386629e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.087702637999996
Centerline is valid?  [True, True]
Translation: X:36.77, Y:2.45, Z:-0.39
[[ 9.99858433e-01  1.31288782e-02  1.05236416e-02  3.67685185e+01]
 [-1.31349450e-02  9.99913604e-01  5.07582248e-04  2.44968482e+00]
 [-1.05160685e-02 -6.45737845e-04  9.99944496e-01 -3.89019006e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.147702638
Centerline is valid?  [True, True]
Translation: X:36.83, Y:2.45, Z:-0.39
[[ 9.99822191e-01  1.56473189e-02  1.05236362e-02  3.68271250e+01]
 [-1.56535259e-02  9.99877347e-01  5.07695813e-04  2.45382307e+00]
 [-1.05144013e-02 -6.72337552e-04  9.99944496e-01 -3.89637979e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.207702638
Centerline is valid?  [True, True]
Translation: X:36.89, Y:2.45, Z:-0.39
[[ 9.99730886e-01  2.06738852e-02  1.05236197e-02  3.68871281e+01]
 [-2.06803729e-02  9.99786009e-01  5.08036669e-04  2.45381150e+00]
 [-1.05108647e-02 -7.25532329e-04  9.99944496e-01 -3.90269709e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.267702638
Centerline is valid?  [True, True]
Translation: X:36.95, Y:2.46, Z:-0.39
[[ 9.99688287e-01  2.26402910e-02  1.05236157e-02  3.69456097e+01]
 [-2.26468880e-02  9.99743397e-01  5.08118821e-04  2.45675986e+00]
 [-1.05094114e-02 -7.46287581e-04  9.99944496e-01 -3.90886738e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.327702638
Centerline is valid?  [True, True]
Translation: X:37.00, Y:2.46, Z:-0.39
[[ 9.99681349e-01  2.29446040e-02  1.05236049e-02  3.70041196e+01]
 [-2.29512202e-02  9.99736457e-01  5.08343509e-04  2.45870273e+00]
 [-1.05091677e-02 -7.49711097e-04  9.99944496e-01 -3.91503660e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.387702638
Centerline is valid?  [True, True]
Translation: X:37.06, Y:2.46, Z:-0.39
[[ 9.99652931e-01  2.41510314e-02  1.05235290e-02  3.70623458e+01]
 [-2.41577305e-02  9.99708029e-01  5.09909021e-04  2.45949472e+00]
 [-1.05081416e-02 -7.63956625e-04  9.99944496e-01 -3.92117989e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.447702638
Centerline is valid?  [True, True]
Translation: X:37.12, Y:2.46, Z:-0.39
[[ 9.99691337e-01  2.25052937e-02  1.05234617e-02  3.71217739e+01]
 [-2.25119165e-02  9.99746444e-01  5.11294563e-04  2.46333685e+00]
 [-1.05092866e-02 -7.48040037e-04  9.99944496e-01 -3.92746390e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.507702638
Centerline is valid?  [True, True]
Translation: X:37.18, Y:2.46, Z:-0.39
[[ 9.99717991e-01  2.12883888e-02  1.05234495e-02  3.71822268e+01]
 [-2.12949472e-02  9.99773106e-01  5.11545291e-04  2.46102857e+00]
 [-1.05101718e-02 -7.35497332e-04  9.99944496e-01 -3.93381600e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.567702638
Centerline is valid?  [True, True]
Translation: X:37.24, Y:2.46, Z:-0.39
[[ 9.99786821e-01  1.77642789e-02  1.05234326e-02  3.72414311e+01]
 [-1.77706466e-02  9.99841959e-01  5.11892994e-04  2.46118277e+00]
 [-1.05126761e-02 -6.98792071e-04  9.99944496e-01 -3.94004998e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.627702638
Centerline is valid?  [True, True]
Translation: X:37.30, Y:2.46, Z:-0.39
[[ 9.99858241e-01  1.31436780e-02  1.05234264e-02  3.73018849e+01]
 [-1.31497921e-02  9.99913407e-01  5.12021394e-04  2.46496260e+00]
 [-1.05157853e-02 -6.50329679e-04  9.99944496e-01 -3.94643244e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.687702638
Centerline is valid?  [True, True]
Translation: X:37.36, Y:2.46, Z:-0.40
[[ 9.99916361e-01  7.51848270e-03  1.05234298e-02  3.73626200e+01]
 [-7.52428567e-03  9.99971561e-01  5.11949920e-04  2.46253736e+00]
 [-1.05192815e-02 -5.91088394e-04  9.99944496e-01 -3.95281127e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.747702638
Centerline is valid?  [True, True]
Translation: X:37.42, Y:2.46, Z:-0.40
[[ 9.99927579e-01  5.83894047e-03  1.05234339e-02  3.74210406e+01]
 [-5.84464984e-03  9.99982789e-01  5.11865703e-04  2.46252427e+00]
 [-1.05202641e-02 -5.73334420e-04  9.99944496e-01 -3.95895879e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.807702638
Centerline is valid?  [True, True]
Translation: X:37.48, Y:2.46, Z:-0.40
[[ 9.99943357e-01  1.59413934e-03  1.05234083e-02  3.74809303e+01]
 [-1.59961982e-03  9.99998589e-01  5.12392639e-04  2.46324827e+00]
 [-1.05225766e-02 -5.29197068e-04  9.99944496e-01 -3.96526906e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.867702638
Centerline is valid?  [True, True]
Translation: X:37.54, Y:2.46, Z:-0.40
[[ 9.99938748e-01  3.42905927e-03  1.05233981e-02  3.75397071e+01]
 [-3.43464328e-03  9.99993970e-01  5.12601120e-04  2.46004446e+00]
 [-1.05215769e-02 -5.48713841e-04  9.99944496e-01 -3.97143979e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.927702638
Centerline is valid?  [True, True]
Translation: X:37.60, Y:2.46, Z:-0.40
[[ 9.99932856e-01  4.85191790e-03  1.05233876e-02  3.75993912e+01]
 [-4.85758274e-03  9.99988070e-01  5.12817000e-04  2.45747924e+00]
 [-1.05207739e-02 -5.63900793e-04  9.99944496e-01 -3.97770929e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 36.987702638
Centerline is valid?  [True, True]
Translation: X:37.66, Y:2.46, Z:-0.40
[[ 9.99928816e-01  5.62330415e-03  1.05233822e-02  3.76593228e+01]
 [-5.62901275e-03  9.99984025e-01  5.12927058e-04  2.45674575e+00]
 [-1.05203298e-02 -5.72126799e-04  9.99944496e-01 -3.98401348e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.047702638
Centerline is valid?  [True, True]
Translation: X:37.72, Y:2.45, Z:-0.40
[[ 9.99925417e-01  6.19833529e-03  1.05233711e-02  3.77182844e+01]
 [-6.20407803e-03  9.99980623e-01  5.13156109e-04  2.45377469e+00]
 [-1.05199864e-02 -5.78405651e-04  9.99944496e-01 -3.99020493e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.107702638
Centerline is valid?  [True, True]
Translation: X:37.78, Y:2.45, Z:-0.40
[[ 9.99920241e-01  6.98362382e-03  1.05233259e-02  3.77767813e+01]
 [-6.98941961e-03  9.99975442e-01  5.14079918e-04  2.45394152e+00]
 [-1.05194774e-02 -5.87590856e-04  9.99944496e-01 -3.99636834e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.167702638
Centerline is valid?  [True, True]
Translation: X:37.84, Y:2.45, Z:-0.40
[[ 9.99910887e-01  8.21445213e-03  1.05233146e-02  3.78353688e+01]
 [-8.22031829e-03  9.99966080e-01  5.14311395e-04  2.45458969e+00]
 [-1.05187329e-02 -6.00770559e-04  9.99944496e-01 -4.00253896e-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 37.227702638
Centerline is valid?  [True, True]
Translation: X:37.90, Y:2.45, Z:-0.40
[[ 9.99907697e-01  8.59411806e-03  1.05232346e-02  3.78950380e+01]
 [-8.60002230e-03  9.99962886e-01  5.15943550e-04  2.45092716e+00]
 [-1.05184100e-02 -6.06395979e-04  9.99944496e-01 -4.00881077e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.287702638
Centerline is valid?  [True, True]
Translation: X:37.96, Y:2.45, Z:-0.40
[[ 9.99926635e-01  5.99881542e-03  1.05232174e-02  3.79551507e+01]
 [-6.00458008e-03  9.99981839e-01  5.16294915e-04  2.44889246e+00]
 [-1.05199291e-02 -5.79444538e-04  9.99944496e-01 -4.01512880e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.347702638
Centerline is valid?  [True, True]
Translation: X:38.01, Y:2.45, Z:-0.40
[[ 9.99920209e-01  6.98841154e-03  1.05232222e-02  3.80139890e+01]
 [-6.99422979e-03  9.99975407e-01  5.16195787e-04  2.44658952e+00]
 [-1.05193560e-02 -5.89756433e-04  9.99944496e-01 -4.02130826e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.407702637999996
Centerline is valid?  [True, True]
Translation: X:38.07, Y:2.45, Z:-0.40
[[ 9.99934698e-01  4.45662319e-03  1.05232108e-02  3.80740894e+01]
 [-4.46230410e-03  9.99989911e-01  5.16427934e-04  2.44737103e+00]
 [-1.05208031e-02 -5.63351977e-04  9.99944496e-01 -4.02763870e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.467702638
Centerline is valid?  [True, True]
Translation: X:38.13, Y:2.45, Z:-0.40
[[ 9.99928843e-01  5.61882164e-03  1.05232098e-02  3.81342418e+01]
 [-5.62456695e-03  9.99984049e-01  5.16449235e-04  2.44718685e+00]
 [-1.05201401e-02 -5.75600983e-04  9.99944496e-01 -4.03396821e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.527702638
Centerline is valid?  [True, True]
Translation: X:38.19, Y:2.45, Z:-0.40
[[ 9.99878939e-01  1.14616601e-02  1.05232098e-02  3.81947687e+01]
 [-1.14677279e-02  9.99934110e-01  5.16449235e-04  2.44575300e+00]
 [-1.05165970e-02 -6.37064019e-04  9.99944496e-01 -4.04033053e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.587702637999996
Centerline is valid?  [True, True]
Translation: X:38.25, Y:2.45, Z:-0.40
[[ 9.99816957e-01  1.59785578e-02  1.05232096e-02  3.82544892e+01]
 [-1.59848748e-02  9.99872100e-01  5.16452096e-04  2.44620240e+00]
 [-1.05136116e-02 -6.84569752e-04  9.99944496e-01 -4.04661773e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.647702638
Centerline is valid?  [True, True]
Translation: X:38.32, Y:2.44, Z:-0.41
[[ 9.99771275e-01  1.86188053e-02  1.05232103e-02  3.83151478e+01]
 [-1.86252678e-02  9.99826401e-01  5.16438458e-04  2.44498732e+00]
 [-1.05117680e-02 -7.12317945e-04  9.99944496e-01 -4.05299495e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.707702638
Centerline is valid?  [True, True]
Translation: X:38.38, Y:2.44, Z:-0.41
[[ 9.99657065e-01  2.39794749e-02  1.05232108e-02  3.83756023e+01]
 [-2.39862327e-02  9.99712156e-01  5.16427782e-04  2.44288320e+00]
 [-1.05077981e-02 -7.68662865e-04  9.99944496e-01 -4.05934613e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.767702638
Centerline is valid?  [True, True]
Translation: X:38.43, Y:2.44, Z:-0.41
[[ 9.99573064e-01  2.72571432e-02  1.05232174e-02  3.84345750e+01]
 [-2.72640802e-02  9.99628133e-01  5.16294467e-04  2.44179627e+00]
 [-1.05052314e-02 -8.02979886e-04  9.99944496e-01 -4.06554582e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.827702638
Centerline is valid?  [True, True]
Translation: X:38.49, Y:2.44, Z:-0.41
[[ 9.99528187e-01  2.88559237e-02  1.05232204e-02  3.84949447e+01]
 [-2.88629482e-02  9.99583245e-01  5.16233337e-04  2.44177433e+00]
 [-1.05039384e-02 -8.19720937e-04  9.99944496e-01 -4.07189850e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.887702638
Centerline is valid?  [True, True]
Translation: X:38.56, Y:2.44, Z:-0.41
[[ 9.99381059e-01  3.35672486e-02  1.05232141e-02  3.85550079e+01]
 [-3.35745339e-02  9.99436083e-01  5.16362144e-04  2.43926600e+00]
 [-1.04999470e-02 -8.69354554e-04  9.99944496e-01 -4.07820730e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 37.947702638
Centerline is valid?  [True, True]
Translation: X:38.61, Y:2.44, Z:-0.41
[[ 9.99423282e-01  3.22856729e-02  1.05232080e-02  3.86134851e+01]
 [-3.22928889e-02  9.99478315e-01  5.16486415e-04  2.43702908e+00]
 [-1.05010431e-02 -8.56013334e-04  9.99944496e-01 -4.08435056e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.007702638
Centerline is valid?  [True, True]
Translation: X:38.67, Y:2.44, Z:-0.41
[[ 9.99480644e-01  3.04582836e-02  1.05231128e-02  3.86744567e+01]
 [-3.04654192e-02  9.99535687e-01  5.18417348e-04  2.43690038e+00]
 [-1.05024367e-02 -8.38739148e-04  9.99944496e-01 -4.09077856e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.067702638
Centerline is valid?  [True, True]
Translation: X:38.73, Y:2.43, Z:-0.41
[[ 9.99415433e-01  3.25277900e-02  1.05231070e-02  3.87343192e+01]
 [-3.25350408e-02  9.99470461e-01  5.18535898e-04  2.43404835e+00]
 [-1.05006678e-02 -8.60602495e-04  9.99944496e-01 -4.09706426e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.127702638
Centerline is valid?  [True, True]
Translation: X:38.79, Y:2.43, Z:-0.41
[[ 9.99439009e-01  3.17951500e-02  1.05230935e-02  3.87943071e+01]
 [-3.18023633e-02  9.99494042e-01  5.18808991e-04  2.42876355e+00]
 [-1.05012737e-02 -8.53177187e-04  9.99944496e-01 -4.10335148e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.187702638
Centerline is valid?  [True, True]
Translation: X:38.85, Y:2.43, Z:-0.41
[[ 9.99525188e-01  2.89596694e-02  1.05230802e-02  3.88547158e+01]
 [-2.89667294e-02  9.99580241e-01  5.19080036e-04  2.43010320e+00]
 [-1.05036306e-02 -8.23652787e-04  9.99944496e-01 -4.10971731e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.247702638
Centerline is valid?  [True, True]
Translation: X:38.91, Y:2.43, Z:-0.41
[[ 9.99454997e-01  3.12885585e-02  1.05230765e-02  3.89147354e+01]
 [-3.12957475e-02  9.99510033e-01  5.19154500e-04  2.42838446e+00]
 [-1.05016769e-02 -8.48199104e-04  9.99944496e-01 -4.11602510e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.307702638
Centerline is valid?  [True, True]
Translation: X:38.97, Y:2.43, Z:-0.41
[[ 9.99423542e-01  3.22776919e-02  1.05230703e-02  3.89741504e+01]
 [-3.22849367e-02  9.99478571e-01  5.19279041e-04  2.42517354e+00]
 [-1.05008222e-02 -8.58716358e-04  9.99944496e-01 -4.12226181e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.367702638
Centerline is valid?  [True, True]
Translation: X:39.03, Y:2.43, Z:-0.41
[[ 9.99366607e-01  3.39948546e-02  1.05230569e-02  3.90341471e+01]
 [-3.40021968e-02  9.99421623e-01  5.19551895e-04  2.42582683e+00]
 [-1.04993085e-02 -8.77029864e-04  9.99944496e-01 -4.12858068e-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 38.427702638
Centerline is valid?  [True, True]
Translation: X:39.09, Y:2.43, Z:-0.41
[[ 9.99251454e-01  3.72263032e-02  1.05230500e-02  3.90947800e+01]
 [-3.72338247e-02  9.99306446e-01  5.19691723e-04  2.42508887e+00]
 [-1.04964055e-02 -9.11116108e-04  9.99944496e-01 -4.13495847e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.487702638
Centerline is valid?  [True, True]
Translation: X:39.15, Y:2.42, Z:-0.41
[[ 9.99153174e-01  3.97768737e-02  1.05230450e-02  3.91545713e+01]
 [-3.97845366e-02  9.99208147e-01  5.19792849e-04  2.42153838e+00]
 [-1.04940365e-02 -9.38007142e-04  9.99944496e-01 -4.14123284e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.547702638
Centerline is valid?  [True, True]
Translation: X:39.21, Y:2.42, Z:-0.41
[[ 9.99220609e-01  3.80452366e-02  1.05230456e-02  3.92147175e+01]
 [-3.80528041e-02  9.99275595e-01  5.19779803e-04  2.41767087e+00]
 [-1.04956475e-02 -9.19806084e-04  9.99944496e-01 -4.14754221e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.607702638
Centerline is valid?  [True, True]
Translation: X:39.27, Y:2.42, Z:-0.42
[[ 9.99239136e-01  3.75554884e-02  1.05230434e-02  3.92734224e+01]
 [-3.75630295e-02  9.99294125e-01  5.19824186e-04  2.41587817e+00]
 [-1.04960932e-02 -9.14706060e-04  9.99944496e-01 -4.15371104e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.667702638
Centerline is valid?  [True, True]
Translation: X:39.33, Y:2.41, Z:-0.42
[[ 9.99325453e-01  3.51838810e-02  1.05230185e-02  3.93344219e+01]
 [-3.51912967e-02  9.99380459e-01  5.20328221e-04  2.41238714e+00]
 [-1.04981919e-02 -8.90295901e-04  9.99944496e-01 -4.16011513e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.727702638
Centerline is valid?  [True, True]
Translation: X:39.39, Y:2.41, Z:-0.42
[[ 9.99501077e-01  2.97802559e-02  1.05230139e-02  3.93944285e+01]
 [-2.97873751e-02  9.99556122e-01  5.20421921e-04  2.40864997e+00]
 [-1.05028446e-02 -8.33615232e-04  9.99944496e-01 -4.16641107e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.787702638
Centerline is valid?  [True, True]
Translation: X:39.46, Y:2.41, Z:-0.42
[[ 9.99576006e-01  2.71491092e-02  1.05230060e-02  3.94551115e+01]
 [-2.71560852e-02  9.99631070e-01  5.20580825e-04  2.40935431e+00]
 [-1.05049904e-02 -8.06123749e-04  9.99944496e-01 -4.17280167e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.847702638
Centerline is valid?  [True, True]
Translation: X:39.52, Y:2.41, Z:-0.42
[[ 9.99717656e-01  2.13043289e-02  1.05230053e-02  3.95152287e+01]
 [-2.13109830e-02  9.99772760e-01  5.20595416e-04  2.40560417e+00]
 [-1.05095231e-02 -7.44704015e-04  9.99944496e-01 -4.17910872e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.907702637999996
Centerline is valid?  [True, True]
Translation: X:39.57, Y:2.40, Z:-0.42
[[ 9.99847238e-01  1.39558635e-02  1.05230050e-02  3.95747144e+01]
 [-1.39621124e-02  9.99902389e-01  5.20600574e-04  2.40265466e+00]
 [-1.05147124e-02 -6.67444425e-04  9.99944496e-01 -4.18535342e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 38.967702638
Centerline is valid?  [True, True]
Translation: X:39.63, Y:2.40, Z:-0.42
[[ 9.99891263e-01  1.03309190e-02  1.05230029e-02  3.96347690e+01]
 [-1.03369683e-02  9.99946437e-01  5.20643110e-04  2.40194598e+00]
 [-1.05170606e-02 -6.29362445e-04  9.99944496e-01 -4.19166986e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.027702638
Centerline is valid?  [True, True]
Translation: X:39.69, Y:2.40, Z:-0.42
[[ 9.99896556e-01  9.80525527e-03  1.05229879e-02  3.96935624e+01]
 [-9.81127882e-03  9.99951733e-01  5.20946379e-04  2.40278893e+00]
 [-1.05173720e-02 -6.24136459e-04  9.99944496e-01 -4.19786307e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.087702637999996
Centerline is valid?  [True, True]
Translation: X:39.75, Y:2.40, Z:-0.42
[[ 9.99928448e-01  5.68914589e-03  1.05229753e-02  3.97545493e+01]
 [-5.69494494e-03  9.99983648e-01  5.21201421e-04  2.39888550e+00]
 [-1.05198380e-02 -5.81091893e-04  9.99944496e-01 -4.20426211e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.147702638
Centerline is valid?  [True, True]
Translation: X:39.81, Y:2.40, Z:-0.42
[[ 9.99939016e-01  3.35129428e-03  1.05229742e-02  3.98149637e+01]
 [-3.35696448e-03  9.99994230e-01  5.21222991e-04  2.40087907e+00]
 [-1.05211667e-02 -5.56516456e-04  9.99944496e-01 -4.21063037e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.207702638
Centerline is valid?  [True, True]
Translation: X:39.87, Y:2.40, Z:-0.42
[[ 9.99940831e-01  2.75704490e-03  1.05229731e-02  3.98733122e+01]
 [-2.76268252e-03  9.99996048e-01  5.21244892e-04  2.39965768e+00]
 [-1.05214944e-02 -5.50285684e-04  9.99944496e-01 -4.21676445e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.267702638
Centerline is valid?  [True, True]
Translation: X:39.93, Y:2.40, Z:-0.42
[[ 9.99936988e-01  3.90998114e-03  1.05229481e-02  3.99320684e+01]
 [-3.91568771e-03  9.99992198e-01  5.21749881e-04  2.39997758e+00]
 [-1.05208259e-02 -5.62921583e-04  9.99944496e-01 -4.22295203e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.327702638
Centerline is valid?  [True, True]
Translation: X:39.99, Y:2.40, Z:-0.42
[[ 9.99920929e-01  6.88508077e-03  1.05229293e-02  3.99920291e+01]
 [-6.89095556e-03  9.99976121e-01  5.22127941e-04  2.40259785e+00]
 [-1.05190832e-02 -5.94599694e-04  9.99944496e-01 -4.22927769e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.387702638
Centerline is valid?  [True, True]
Translation: X:40.05, Y:2.40, Z:-0.42
[[ 9.99868073e-01  1.23735244e-02  1.05229293e-02  4.00527647e+01]
 [-1.23797020e-02  9.99923232e-01  5.22127941e-04  2.40434242e+00]
 [-1.05156609e-02 -6.52329788e-04  9.99944496e-01 -4.23567832e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.447702638
Centerline is valid?  [True, True]
Translation: X:40.11, Y:2.41, Z:-0.42
[[ 9.99716809e-01  2.13440812e-02  1.05229299e-02  4.01131671e+01]
 [-2.13507534e-02  9.99771910e-01  5.22117208e-04  2.40728656e+00]
 [-1.05093856e-02 -7.46641830e-04  9.99944496e-01 -4.24205010e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.507702638
Centerline is valid?  [True, True]
Translation: X:40.17, Y:2.41, Z:-0.42
[[ 9.99637174e-01  2.47949241e-02  1.05229263e-02  4.01726375e+01]
 [-2.48017872e-02  9.99692252e-01  5.22189769e-04  2.40773709e+00]
 [-1.05067402e-02 -7.82987682e-04  9.99944496e-01 -4.24831120e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.567702638
Centerline is valid?  [True, True]
Translation: X:40.23, Y:2.41, Z:-0.43
[[ 9.99595253e-01  2.64310102e-02  1.05229261e-02  4.02322302e+01]
 [-2.64379635e-02  9.99650320e-01  5.22193915e-04  2.41007025e+00]
 [-1.05054443e-02 -8.00187293e-04  9.99944496e-01 -4.25459465e-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 39.627702638
Centerline is valid?  [True, True]
Translation: X:40.29, Y:2.41, Z:-0.43
[[ 9.99605467e-01  2.60418554e-02  1.05229134e-02  4.02906773e+01]
 [-2.60487899e-02  9.99660536e-01  5.22448973e-04  2.41054003e+00]
 [-1.05057357e-02 -7.96352010e-04  9.99944496e-01 -4.26074912e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.687702638
Centerline is valid?  [True, True]
Translation: X:40.35, Y:2.41, Z:-0.43
[[ 9.99601345e-01  2.61996249e-02  1.05228237e-02  4.03509851e+01]
 [-2.62065869e-02  9.99656411e-01  5.24249731e-04  2.41212788e+00]
 [-1.05054730e-02 -7.99808030e-04  9.99944496e-01 -4.26711329e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.747702638
Centerline is valid?  [True, True]
Translation: X:40.41, Y:2.41, Z:-0.43
[[ 9.99712360e-01  2.15515150e-02  1.05228237e-02  4.04105553e+01]
 [-2.15582210e-02  9.99767457e-01  5.24249731e-04  2.41310623e+00]
 [-1.05090783e-02 -7.50952294e-04  9.99944496e-01 -4.27338724e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.807702638
Centerline is valid?  [True, True]
Translation: X:40.47, Y:2.41, Z:-0.43
[[ 9.99858919e-01  1.30924607e-02  1.05228130e-02  4.04714619e+01]
 [-1.30987025e-02  9.99914071e-01  5.24463284e-04  2.40995527e+00]
 [-1.05150423e-02 -6.62224490e-04  9.99944496e-01 -4.27978126e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.867702638
Centerline is valid?  [True, True]
Translation: X:40.53, Y:2.41, Z:-0.43
[[ 9.99915706e-01  7.60600495e-03  1.05228122e-02  4.05319390e+01]
 [-7.61194418e-03  9.99970891e-01  5.24479040e-04  2.41013829e+00]
 [-1.05185167e-02 -6.04533889e-04  9.99944496e-01 -4.28614655e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.927702638
Centerline is valid?  [True, True]
Translation: X:40.59, Y:2.41, Z:-0.43
[[ 9.99944491e-01 -5.33628211e-04  1.05228114e-02  4.05924126e+01]
 [ 5.28138211e-04  9.99999723e-01  5.24495628e-04  2.40755596e+00]
 [-1.05230884e-02 -5.18909015e-04  9.99944496e-01 -4.29249696e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 39.987702638
Centerline is valid?  [True, True]
Translation: X:40.65, Y:2.41, Z:-0.43
[[ 9.99936192e-01 -4.10891289e-03  1.05228106e-02  4.06529933e+01]
 [ 4.10362024e-03  9.99991443e-01  5.24511058e-04  2.40654558e+00]
 [-1.05248758e-02 -4.81295971e-04  9.99944496e-01 -4.29886689e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.047702638
Centerline is valid?  [True, True]
Translation: X:40.71, Y:2.41, Z:-0.43
[[ 9.99938192e-01 -3.58911592e-03  1.05228170e-02  4.07143433e+01]
 [ 3.58379588e-03  9.99993441e-01  5.24384586e-04  2.40673007e+00]
 [-1.05246300e-02 -4.86640547e-04  9.99944496e-01 -4.30532334e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.107702638
Centerline is valid?  [True, True]
Translation: X:40.78, Y:2.40, Z:-0.43
[[ 9.99937962e-01 -3.65263723e-03  1.05228359e-02  4.07760105e+01]
 [ 3.64732470e-03  9.99993211e-01  5.24003810e-04  2.40436845e+00]
 [-1.05246785e-02 -4.85591102e-04  9.99944496e-01 -4.31179856e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.167702638
Centerline is valid?  [True, True]
Translation: X:40.84, Y:2.41, Z:-0.43
[[ 9.99942930e-01 -1.84550121e-03  1.05228549e-02  4.08373418e+01]
 [ 1.84009284e-03  9.99998170e-01  5.23622773e-04  2.40670962e+00]
 [-1.05238020e-02 -5.04229860e-04  9.99944496e-01 -4.31826311e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.227702638
Centerline is valid?  [True, True]
Translation: X:40.90, Y:2.41, Z:-0.43
[[ 9.99942351e-01 -2.13621972e-03  1.05228738e-02  4.08990281e+01]
 [ 2.13083141e-03  9.99997593e-01  5.23241536e-04  2.40546809e+00]
 [-1.05239663e-02 -5.00788902e-04  9.99944496e-01 -4.32474627e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.287702638
Centerline is valid?  [True, True]
Translation: X:40.96, Y:2.41, Z:-0.43
[[ 9.99941761e-01 -2.39659944e-03  1.05228865e-02  4.09603044e+01]
 [ 2.39122821e-03  9.99997004e-01  5.22985921e-04  2.40738583e+00]
 [-1.05241084e-02 -4.97792839e-04  9.99944496e-01 -4.33120344e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.347702638
Centerline is valid?  [True, True]
Translation: X:41.02, Y:2.41, Z:-0.43
[[ 9.99928221e-01 -5.72908585e-03  1.05228994e-02  4.10203857e+01]
 [ 5.72390146e-03  9.99983482e-01  5.22727577e-04  2.41262451e+00]
 [-1.05257203e-02 -4.62458017e-04  9.99944496e-01 -4.33755222e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.407702637999996
Centerline is valid?  [True, True]
Translation: X:41.08, Y:2.41, Z:-0.43
[[ 9.99898660e-01 -9.58839558e-03  1.05229009e-02  4.10832519e+01]
 [ 9.58342484e-03  9.99953941e-01  5.22696888e-04  2.41226807e+00]
 [-1.05274280e-02 -4.21798488e-04  9.99944496e-01 -4.34416592e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.467702638
Centerline is valid?  [True, True]
Translation: X:41.14, Y:2.42, Z:-0.44
[[ 9.99742797e-01 -2.00899956e-02  1.05229322e-02  4.11435787e+01]
 [ 2.00856124e-02  9.99798127e-01  5.22065566e-04  2.41746198e+00]
 [-1.05312962e-02 -3.10571752e-04  9.99944496e-01 -4.35053848e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.527702638
Centerline is valid?  [True, True]
Translation: X:41.21, Y:2.42, Z:-0.44
[[ 9.99650932e-01 -2.42339221e-02  1.05229314e-02  4.12057154e+01]
 [ 2.42297681e-02  9.99706280e-01  5.22082483e-04  2.42143416e+00]
 [-1.05324927e-02 -2.66932053e-04  9.99944496e-01 -4.35709827e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.587702637999996
Centerline is valid?  [True, True]
Translation: X:41.27, Y:2.42, Z:-0.44
[[ 9.99440482e-01 -3.17488556e-02  1.05229636e-02  4.12665499e+01]
 [ 3.17451247e-02  9.99495861e-01  5.21431513e-04  2.42452570e+00]
 [-1.05342134e-02 -1.87086970e-04  9.99944496e-01 -4.36351316e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.647702638
Centerline is valid?  [True, True]
Translation: X:41.33, Y:2.43, Z:-0.44
[[ 9.99297568e-01 -3.59671849e-02  1.05229653e-02  4.13268632e+01]
 [ 3.59636882e-02  9.99352961e-01  5.21397127e-04  2.43277235e+00]
 [-1.05349098e-02 -1.42586237e-04  9.99944496e-01 -4.36990309e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.707702638
Centerline is valid?  [True, True]
Translation: X:41.39, Y:2.44, Z:-0.44
[[ 9.99183762e-01 -3.90009706e-02  1.05229781e-02  4.13883586e+01]
 [ 3.89976447e-02  9.99239167e-01  5.21139965e-04  2.43989479e+00]
 [-1.05352968e-02 -1.10343231e-04  9.99944496e-01 -4.37641045e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.767702638
Centerline is valid?  [True, True]
Translation: X:41.45, Y:2.44, Z:-0.44
[[ 9.99085565e-01 -4.14403248e-02  1.05229965e-02  4.14500951e+01]
 [ 4.14371381e-02  9.99140977e-01  5.20767276e-04  2.44170609e+00]
 [-1.05355378e-02 -8.42482083e-05  9.99944496e-01 -4.38291491e-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 40.827702638
Centerline is valid?  [True, True]
Translation: X:41.51, Y:2.45, Z:-0.44
[[ 9.99068837e-01 -4.18416522e-02  1.05230422e-02  4.15120255e+01]
 [ 4.18384975e-02  9.99124251e-01  5.19841946e-04  2.45111531e+00]
 [-1.05355777e-02 -7.90896119e-05  9.99944496e-01 -4.38947657e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.887702638
Centerline is valid?  [True, True]
Translation: X:41.57, Y:2.46, Z:-0.44
[[ 9.99094286e-01 -4.12295162e-02  1.05230734e-02  4.15734510e+01]
 [ 4.12263343e-02  9.99149698e-01  5.19210838e-04  2.45577327e+00]
 [-1.05355324e-02 -8.49128408e-05  9.99944496e-01 -4.39596179e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 40.947702638
Centerline is valid?  [True, True]
Translation: X:41.63, Y:2.46, Z:-0.44
[[ 9.99009862e-01 -4.32268208e-02  1.05231540e-02  4.16340681e+01]
 [ 4.32237669e-02  9.99065282e-01  5.17571601e-04  2.46263105e+00]
 [-1.05356908e-02 -6.22087793e-05  9.99944496e-01 -4.40236820e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.007702638
Centerline is valid?  [True, True]
Translation: X:41.70, Y:2.47, Z:-0.44
[[ 9.98994895e-01 -4.35713306e-02  1.05232335e-02  4.16955499e+01]
 [ 4.35683129e-02  9.99050317e-01  5.15950619e-04  2.46825357e+00]
 [-1.05357204e-02 -5.69525066e-05  9.99944496e-01 -4.40885922e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.067702638
Centerline is valid?  [True, True]
Translation: X:41.76, Y:2.48, Z:-0.44
[[ 9.99018796e-01 -4.30198464e-02  1.05232578e-02  4.17558924e+01]
 [ 4.30168033e-02  9.99074216e-01  5.15453287e-04  2.47991469e+00]
 [-1.05356903e-02 -6.22706093e-05  9.99944496e-01 -4.41526714e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.127702638
Centerline is valid?  [True, True]
Translation: X:41.82, Y:2.49, Z:-0.44
[[ 9.99052452e-01 -4.22310284e-02  1.05232641e-02  4.18165068e+01]
 [ 4.22279429e-02  9.99107870e-01  5.15325125e-04  2.48913965e+00]
 [-1.05356387e-02 -7.04610339e-05  9.99944496e-01 -4.42169298e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.187702638
Centerline is valid?  [True, True]
Translation: X:41.88, Y:2.50, Z:-0.44
[[ 9.99079948e-01 -4.15754333e-02  1.05233493e-02  4.18781768e+01]
 [ 4.15723299e-02  9.99135365e-01  5.13580066e-04  2.49586811e+00]
 [-1.05356027e-02 -7.56273992e-05  9.99944496e-01 -4.42820848e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.247702638
Centerline is valid?  [True, True]
Translation: X:41.94, Y:2.51, Z:-0.44
[[ 9.99048641e-01 -4.23210465e-02  1.05234337e-02  4.19395793e+01]
 [ 4.23180027e-02  9.99104061e-01  5.11844417e-04  2.50721046e+00]
 [-1.05356671e-02 -6.60267737e-05  9.99944496e-01 -4.43471937e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.307702638
Centerline is valid?  [True, True]
Translation: X:42.00, Y:2.52, Z:-0.44
[[ 9.98988183e-01 -4.37248803e-02  1.05235172e-02  4.20009423e+01]
 [ 4.37219325e-02  9.99043609e-01  5.10120906e-04  2.51786993e+00]
 [-1.05357576e-02 -4.94962469e-05  9.99944496e-01 -4.44122240e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.367702638
Centerline is valid?  [True, True]
Translation: X:42.06, Y:2.53, Z:-0.44
[[ 9.98816219e-01 -4.74911987e-02  1.05235990e-02  4.20616667e+01]
 [ 4.74884778e-02  9.98871656e-01  5.08428886e-04  2.52963282e+00]
 [-1.05358706e-02 -8.07732153e-06  9.99944496e-01 -4.44766373e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.427702638
Centerline is valid?  [True, True]
Translation: X:42.12, Y:2.54, Z:-0.45
[[ 9.98646748e-01 -5.09306112e-02  1.05236170e-02  4.21233232e+01]
 [ 5.09280851e-02  9.98702194e-01  5.08056199e-04  2.53949282e+00]
 [-1.05358350e-02  2.85789900e-05  9.99944496e-01 -4.45420062e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.487702638
Centerline is valid?  [True, True]
Translation: X:42.18, Y:2.55, Z:-0.45
[[ 9.98411938e-01 -5.53430599e-02  1.05236355e-02  4.21839508e+01]
 [ 5.53407829e-02  9.98467396e-01  5.07671587e-04  2.55112592e+00]
 [-1.05356031e-02  7.55208556e-05  9.99944496e-01 -4.46063811e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.547702638
Centerline is valid?  [True, True]
Translation: X:42.24, Y:2.56, Z:-0.45
[[ 9.98233787e-01 -5.84684304e-02  1.05237209e-02  4.22448737e+01]
 [ 5.84663457e-02  9.98289252e-01  5.05896488e-04  2.56412823e+00]
 [-1.05352964e-02  1.10280535e-04  9.99944496e-01 -4.46710550e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.607702638
Centerline is valid?  [True, True]
Translation: X:42.31, Y:2.58, Z:-0.45
[[ 9.98128891e-01 -6.02326186e-02  1.05237333e-02  4.23068865e+01]
 [ 6.02306347e-02  9.98184359e-01  5.05638533e-04  2.57762252e+00]
 [-1.05350819e-02  1.29158705e-04  9.99944496e-01 -4.47369866e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.667702638
Centerline is valid?  [True, True]
Translation: X:42.37, Y:2.59, Z:-0.45
[[ 9.98040853e-01 -6.16741794e-02  1.05238178e-02  4.23679630e+01]
 [ 6.16722942e-02  9.98096325e-01  5.03871818e-04  2.58553800e+00]
 [-1.05348598e-02  1.46143331e-04  9.99944496e-01 -4.48015607e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.727702638
Centerline is valid?  [True, True]
Translation: X:42.43, Y:2.60, Z:-0.45
[[ 9.98006272e-01 -6.22312586e-02  1.05238359e-02  4.24288990e+01]
 [ 6.22294083e-02  9.98061745e-01  5.03495232e-04  2.59767505e+00]
 [-1.05347711e-02  1.52400679e-04  9.99944496e-01 -4.48662811e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.787702638
Centerline is valid?  [True, True]
Translation: X:42.49, Y:2.61, Z:-0.45
[[ 9.98129737e-01 -6.02185794e-02  1.05238479e-02  4.24903579e+01]
 [ 6.02166200e-02  9.98185206e-01  5.03243103e-04  2.60897894e+00]
 [-1.05350539e-02  1.31408645e-04  9.99944496e-01 -4.49315167e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.847702638
Centerline is valid?  [True, True]
Translation: X:42.55, Y:2.62, Z:-0.45
[[ 9.98185940e-01 -5.92796407e-02  1.05239321e-02  4.25502241e+01]
 [ 5.92776477e-02  9.98241408e-01  5.01477174e-04  2.61873017e+00]
 [-1.05351521e-02  1.23266474e-04  9.99944496e-01 -4.49949039e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.907702637999996
Centerline is valid?  [True, True]
Translation: X:42.61, Y:2.63, Z:-0.45
[[ 9.98382478e-01 -5.58719544e-02  1.05239321e-02  4.26120496e+01]
 [ 5.58697721e-02  9.98437939e-01  5.01477174e-04  2.63082779e+00]
 [-1.05355115e-02  8.73036624e-05  9.99944496e-01 -4.50605790e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 41.967702638
Centerline is valid?  [True, True]
Translation: X:42.67, Y:2.64, Z:-0.45
[[ 9.98588126e-01 -5.20672529e-02  1.05240136e-02  4.26733643e+01]
 [ 5.20648774e-02  9.98643579e-01  4.99760742e-04  2.64471062e+00]
 [-1.05357598e-02  4.88763328e-05  9.99944496e-01 -4.51256963e-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 42.027702638
Centerline is valid?  [True, True]
Translation: X:42.73, Y:2.66, Z:-0.45
[[ 9.98659021e-01 -5.06892753e-02  1.05240883e-02  4.27347124e+01]
 [ 5.06868398e-02  9.98714472e-01  4.98182273e-04  2.65501470e+00]
 [-1.05358118e-02  3.59185570e-05  9.99944496e-01 -4.51906757e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.087702637999996
Centerline is valid?  [True, True]
Translation: X:42.79, Y:2.67, Z:-0.45
[[ 9.98640888e-01 -5.10452620e-02  1.05241307e-02  4.27935993e+01]
 [ 5.10428558e-02  9.98696340e-01  4.97284754e-04  2.66840622e+00]
 [-1.05357948e-02  4.05727970e-05  9.99944496e-01 -4.52532604e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.147702638
Centerline is valid?  [True, True]
Translation: X:42.86, Y:2.68, Z:-0.45
[[ 9.98602950e-01 -5.17821424e-02  1.05241251e-02  4.28555590e+01]
 [ 5.17797758e-02  9.98658404e-01  4.97402494e-04  2.67754494e+00]
 [-1.05357626e-02  4.82292421e-05  9.99944496e-01 -4.53189335e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.207702638
Centerline is valid?  [True, True]
Translation: X:42.92, Y:2.69, Z:-0.45
[[ 9.98428034e-01 -5.50518281e-02  1.05241538e-02  4.29157721e+01]
 [ 5.50496495e-02  9.98483495e-01  4.96796318e-04  2.68802778e+00]
 [-1.05355434e-02  8.33356050e-05  9.99944496e-01 -4.53827869e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.267702637999996
Centerline is valid?  [True, True]
Translation: X:42.98, Y:2.70, Z:-0.45
[[ 9.98253611e-01 -5.81289165e-02  1.05241652e-02  4.29776601e+01]
 [ 5.81269114e-02  9.98309078e-01  4.96552927e-04  2.69956846e+00]
 [-1.05352338e-02  1.16051469e-04  9.99944496e-01 -4.54484792e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.327702638
Centerline is valid?  [True, True]
Translation: X:43.04, Y:2.71, Z:-0.46
[[ 9.98236018e-01 -5.84302422e-02  1.05242431e-02  4.30394012e+01]
 [ 5.84282714e-02  9.98291487e-01  4.94897122e-04  2.70841934e+00]
 [-1.05351792e-02  1.20889200e-04  9.99944496e-01 -4.55137862e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.387702638
Centerline is valid?  [True, True]
Translation: X:43.10, Y:2.72, Z:-0.46
[[ 9.98123600e-01 -6.03201331e-02  1.05243189e-02  4.31007026e+01]
 [ 6.03182843e-02  9.98179073e-01  4.93278818e-04  2.71527969e+00]
 [-1.05349096e-02  1.42455633e-04  9.99944496e-01 -4.55785328e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.447702638
Centerline is valid?  [True, True]
Translation: X:43.16, Y:2.73, Z:-0.46
[[ 9.97976385e-01 -6.27086287e-02  1.05243887e-02  4.31633601e+01]
 [ 6.27069284e-02  9.98031863e-01  4.91786697e-04  2.72519455e+00]
 [-1.05345145e-02  1.69160577e-04  9.99944496e-01 -4.56448645e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.507702638
Centerline is valid?  [True, True]
Translation: X:43.22, Y:2.73, Z:-0.46
[[ 9.97930323e-01 -6.34374189e-02  1.05244746e-02  4.32243918e+01]
 [ 6.34357786e-02  9.97985802e-01  4.89941603e-04  2.73108516e+00]
 [-1.05343568e-02  1.78700657e-04  9.99944496e-01 -4.57092610e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.567702638
Centerline is valid?  [True, True]
Translation: X:43.29, Y:2.74, Z:-0.46
[[ 9.97981186e-01 -6.26321574e-02  1.05244853e-02  4.32864964e+01]
 [ 6.26304748e-02  9.98036665e-01  4.89711118e-04  2.73700957e+00]
 [-1.05344939e-02  1.70431028e-04  9.99944496e-01 -4.57749005e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.627702638
Centerline is valid?  [True, True]
Translation: X:43.35, Y:2.75, Z:-0.46
[[ 9.97997567e-01 -6.23705806e-02  1.05245591e-02  4.33453941e+01]
 [ 6.23689002e-02  9.98053046e-01  4.88119270e-04  2.74749798e+00]
 [-1.05345126e-02  1.69263333e-04  9.99944496e-01 -4.58372914e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.687702638
Centerline is valid?  [True, True]
Translation: X:43.41, Y:2.75, Z:-0.46
[[ 9.97909134e-01 -6.37698487e-02  1.05245539e-02  4.34071610e+01]
 [ 6.37682449e-02  9.97964615e-01  4.88231391e-04  2.75086505e+00]
 [-1.05342668e-02  1.83921768e-04  9.99944496e-01 -4.59024743e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.747702638
Centerline is valid?  [True, True]
Translation: X:43.47, Y:2.76, Z:-0.46
[[ 9.97866232e-01 -6.44376790e-02  1.05246226e-02  4.34669735e+01]
 [ 6.44361280e-02  9.97921715e-01  4.86745618e-04  2.75872694e+00]
 [-1.05341142e-02  1.92458916e-04  9.99944496e-01 -4.59657054e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.807702638
Centerline is valid?  [True, True]
Translation: X:43.53, Y:2.77, Z:-0.46
[[ 9.98041676e-01 -6.16607230e-02  1.05246279e-02  4.35283548e+01]
 [ 6.16590188e-02  9.98097154e-01  4.86632094e-04  2.76851831e+00]
 [-1.05346072e-02  1.63259118e-04  9.99944496e-01 -4.60307789e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.867702638
Centerline is valid?  [True, True]
Translation: X:43.59, Y:2.77, Z:-0.46
[[ 9.98040917e-01 -6.16729920e-02  1.05246962e-02  4.35888757e+01]
 [ 6.16713042e-02  9.98096396e-01  4.85149153e-04  2.77010672e+00]
 [-1.05345820e-02  1.64873038e-04  9.99944496e-01 -4.60944488e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.927702638
Centerline is valid?  [True, True]
Translation: X:43.65, Y:2.78, Z:-0.46
[[ 9.98203577e-01 -5.89817731e-02  1.05247067e-02  4.36512972e+01]
 [ 5.89799380e-02  9.98259050e-01  4.84922352e-04  2.77611279e+00]
 [-1.05349853e-02  1.36695322e-04  9.99944496e-01 -4.61604241e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 42.987702638
Centerline is valid?  [True, True]
Translation: X:43.71, Y:2.78, Z:-0.46
[[ 9.98265513e-01 -5.79240398e-02  1.05247797e-02  4.37126505e+01]
 [ 5.79221628e-02  9.98320985e-01  4.83331566e-04  2.78321670e+00]
 [-1.05351050e-02  1.27124772e-04  9.99944496e-01 -4.62252290e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.047702638
Centerline is valid?  [True, True]
Translation: X:43.77, Y:2.78, Z:-0.46
[[ 9.98263630e-01 -5.79564789e-02  1.05248461e-02  4.37746006e+01]
 [ 5.79546189e-02  9.98319102e-01  4.81883015e-04  2.78350599e+00]
 [-1.05350831e-02  1.28917155e-04  9.99944496e-01 -4.62903426e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.107702638
Centerline is valid?  [True, True]
Translation: X:43.84, Y:2.79, Z:-0.46
[[ 9.98306765e-01 -5.72086607e-02  1.05248715e-02  4.38356462e+01]
 [ 5.72067651e-02  9.98362236e-01  4.81327043e-04  2.78805524e+00]
 [-1.05351703e-02  1.21581808e-04  9.99944496e-01 -4.63547745e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.167702638
Centerline is valid?  [True, True]
Translation: X:43.89, Y:2.80, Z:-0.46
[[ 9.98407695e-01 -5.54193289e-02  1.05248818e-02  4.38947237e+01]
 [ 5.54173362e-02  9.98463163e-01  4.81101015e-04  2.79588289e+00]
 [-1.05353691e-02  1.02925959e-04  9.99944496e-01 -4.64173165e-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 43.227702638
Centerline is valid?  [True, True]
Translation: X:43.96, Y:2.80, Z:-0.46
[[ 9.98663381e-01 -5.06031482e-02  1.05248767e-02  4.39568075e+01]
 [ 5.06008868e-02  9.98718839e-01  4.81213076e-04  2.80032205e+00]
 [-1.05357435e-02  5.19982174e-05  9.99944496e-01 -4.64828843e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.287702638
Centerline is valid?  [True, True]
Translation: X:44.02, Y:2.80, Z:-0.47
[[ 9.98886994e-01 -4.59782436e-02  1.05249484e-02  4.40177962e+01]
 [ 4.59757420e-02  9.98942441e-01  4.79640424e-04  2.80295035e+00]
 [-1.05358706e-02  4.78572984e-06  9.99944496e-01 -4.65470888e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.347702638
Centerline is valid?  [True, True]
Translation: X:44.08, Y:2.81, Z:-0.47
[[ 9.99077548e-01 -4.16326710e-02  1.05249535e-02  4.40801825e+01]
 [ 4.16299294e-02  9.99132984e-01  4.79527068e-04  2.81211028e+00]
 [-1.05357922e-02 -4.09316548e-05  9.99944496e-01 -4.66131848e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.407702637999996
Centerline is valid?  [True, True]
Translation: X:44.14, Y:2.82, Z:-0.47
[[ 9.99196836e-01 -3.86640470e-02  1.05249796e-02  4.41424620e+01]
 [ 3.86611467e-02  9.99252264e-01  4.78953332e-04  2.81587477e+00]
 [-1.05356280e-02 -7.16608716e-05  9.99944496e-01 -4.66788752e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.467702638
Centerline is valid?  [True, True]
Translation: X:44.20, Y:2.82, Z:-0.47
[[ 9.99318498e-01 -3.53802577e-02  1.05250566e-02  4.42046439e+01]
 [ 3.53771932e-02  9.99373917e-01  4.77255711e-04  2.82057159e+00]
 [-1.05353525e-02 -1.04583498e-04  9.99944496e-01 -4.67444240e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.527702638
Centerline is valid?  [True, True]
Translation: X:44.27, Y:2.83, Z:-0.47
[[ 9.99415715e-01 -3.25184517e-02  1.05251252e-02  4.42658265e+01]
 [ 3.25152445e-02  9.99471126e-01  4.75739287e-04  2.83183746e+00]
 [-1.05350290e-02 -1.33234302e-04  9.99944496e-01 -4.68092464e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.587702637999996
Centerline is valid?  [True, True]
Translation: X:44.33, Y:2.84, Z:-0.47
[[ 9.99350554e-01 -3.44629055e-02  1.05251368e-02  4.43262539e+01]
 [ 3.44598088e-02  9.99405971e-01  4.75482527e-04  2.83577475e+00]
 [-1.05352710e-02 -1.12479526e-04  9.99944496e-01 -4.68730186e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.647702638
Centerline is valid?  [True, True]
Translation: X:44.39, Y:2.84, Z:-0.47
[[ 9.99254616e-01 -3.71407200e-02  1.05251466e-02  4.43880581e+01]
 [ 3.71377742e-02  9.99310042e-01  4.75264578e-04  2.83980222e+00]
 [-1.05355364e-02 -8.40298055e-05  9.99944496e-01 -4.69382470e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.707702638
Centerline is valid?  [True, True]
Translation: X:44.45, Y:2.85, Z:-0.47
[[ 9.99187237e-01 -3.89112593e-02  1.05251715e-02  4.44493584e+01]
 [ 3.89084174e-02  9.99242668e-01  4.74713618e-04  2.85004844e+00]
 [-1.05356721e-02 -6.48100239e-05  9.99944496e-01 -4.70032151e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.767702637999996
Centerline is valid?  [True, True]
Translation: X:44.51, Y:2.86, Z:-0.47
[[ 9.99161452e-01 -3.95678267e-02  1.05251867e-02  4.45114253e+01]
 [ 3.95650248e-02  9.99216885e-01  4.74375136e-04  2.85501727e+00]
 [-1.05357143e-02 -5.75480758e-05  9.99944496e-01 -4.70687553e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.827702638
Centerline is valid?  [True, True]
Translation: X:44.57, Y:2.86, Z:-0.47
[[ 9.98874135e-01 -4.62567062e-02  1.05252067e-02  4.45720176e+01]
 [ 4.62542802e-02  9.98929586e-01  4.73930916e-04  2.85864564e+00]
 [-1.05358629e-02  1.34385273e-05  9.99944496e-01 -4.71326715e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.887702638
Centerline is valid?  [True, True]
Translation: X:44.63, Y:2.87, Z:-0.47
[[ 9.98838812e-01 -4.70132789e-02  1.05252166e-02  4.46336079e+01]
 [ 4.70108973e-02  9.98894264e-01  4.73710478e-04  2.86600796e+00]
 [-1.05358492e-02  2.16394670e-05  9.99944496e-01 -4.71978322e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 43.947702638
Centerline is valid?  [True, True]
Translation: X:44.70, Y:2.87, Z:-0.47
[[ 9.98788896e-01 -4.80620486e-02  1.05252313e-02  4.46953826e+01]
 [ 4.80597286e-02  9.98844351e-01  4.73384124e-04  2.87210748e+00]
 [-1.05358197e-02  3.30289536e-05  9.99944496e-01 -4.72631187e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.007702638
Centerline is valid?  [True, True]
Translation: X:44.76, Y:2.88, Z:-0.47
[[ 9.98663123e-01 -5.06081478e-02  1.05253002e-02  4.47566468e+01]
 [ 5.06059854e-02  9.98718585e-01  4.71846930e-04  2.87616757e+00]
 [-1.05356922e-02  6.14270613e-05  9.99944496e-01 -4.73276776e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.067702638
Centerline is valid?  [True, True]
Translation: X:44.82, Y:2.88, Z:-0.47
[[ 9.98395939e-01 -5.56306103e-02  1.05253604e-02  4.48171313e+01]
 [ 5.56287411e-02  9.98451412e-01  4.70499963e-04  2.88259769e+00]
 [-1.05352352e-02  1.15767298e-04  9.99944496e-01 -4.73915416e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.127702638
Centerline is valid?  [True, True]
Translation: X:44.88, Y:2.89, Z:-0.47
[[ 9.98091311e-01 -6.08518758e-02  1.05254202e-02  4.48778038e+01]
 [ 6.08503109e-02  9.98146793e-01  4.69159887e-04  2.88730012e+00]
 [-1.05344636e-02  1.72210683e-04  9.99944496e-01 -4.74555220e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.187702638
Centerline is valid?  [True, True]
Translation: X:44.94, Y:2.89, Z:-0.48
[[ 9.97808436e-01 -6.53264127e-02  1.05254284e-02  4.49385423e+01]
 [ 6.53250985e-02  9.97863924e-01  4.68976219e-04  2.89315105e+00]
 [-1.05335818e-02  2.19626216e-04  9.99944496e-01 -4.75197156e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.247702638
Centerline is valid?  [True, True]
Translation: X:45.00, Y:2.90, Z:-0.48
[[ 9.97717533e-01 -6.67003782e-02  1.05254333e-02  4.49995450e+01]
 [ 6.66991415e-02  9.97773023e-01  4.68865337e-04  2.89939515e+00]
 [-1.05332669e-02  2.34242198e-04  9.99944496e-01 -4.75842113e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.307702638
Centerline is valid?  [True, True]
Translation: X:45.06, Y:2.91, Z:-0.48
[[ 9.97714916e-01 -6.67395025e-02  1.05254999e-02  4.50612345e+01]
 [ 6.67382839e-02  9.97770406e-01  4.67364788e-04  2.90521772e+00]
 [-1.05332240e-02  2.36156982e-04  9.99944496e-01 -4.76493004e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.367702638
Centerline is valid?  [True, True]
Translation: X:45.12, Y:2.91, Z:-0.48
[[ 9.97604105e-01 -6.83758870e-02  1.05255672e-02  4.51217944e+01]
 [ 6.83747754e-02  9.97659598e-01  4.65844119e-04  2.91079150e+00]
 [-1.05327857e-02  2.54955289e-04  9.99944496e-01 -4.77131864e-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 44.427702638
Centerline is valid?  [True, True]
Translation: X:45.18, Y:2.92, Z:-0.48
[[ 9.97590019e-01 -6.85810890e-02  1.05256293e-02  4.51847640e+01]
 [ 6.85800036e-02  9.97645512e-01  4.64437553e-04  2.91704163e+00]
 [-1.05326985e-02  2.58529427e-04  9.99944496e-01 -4.77796486e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.487702638
Centerline is valid?  [True, True]
Translation: X:45.25, Y:2.92, Z:-0.48
[[ 9.97598564e-01 -6.84566600e-02  1.05257071e-02  4.52471323e+01]
 [ 6.84555864e-02  9.97654058e-01  4.62668056e-04  2.92124340e+00]
 [-1.05326871e-02  2.58986462e-04  9.99944496e-01 -4.78453531e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.547702638
Centerline is valid?  [True, True]
Translation: X:45.31, Y:2.92, Z:-0.48
[[ 9.97447236e-01 -7.06273255e-02  1.05257835e-02  4.53079059e+01]
 [ 7.06263910e-02  9.97502732e-01  4.60923241e-04  2.92342647e+00]
 [-1.05320515e-02  2.83651487e-04  9.99944496e-01 -4.79092873e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.607702638
Centerline is valid?  [True, True]
Translation: X:45.37, Y:2.93, Z:-0.48
[[ 9.97420615e-01 -7.10022878e-02  1.05257931e-02  4.53690431e+01]
 [ 7.10013766e-02  9.97476111e-01  4.60702501e-04  2.92765005e+00]
 [-1.05319381e-02  2.87831630e-04  9.99944496e-01 -4.79738196e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.667702638
Centerline is valid?  [True, True]
Translation: X:45.43, Y:2.93, Z:-0.48
[[ 9.97474238e-01 -7.02449312e-02  1.05258558e-02  4.54293984e+01]
 [ 7.02439930e-02  9.97529734e-01  4.59266765e-04  2.92956514e+00]
 [-1.05321153e-02  2.81271373e-04  9.99944496e-01 -4.80373259e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.727702638
Centerline is valid?  [True, True]
Translation: X:45.49, Y:2.93, Z:-0.48
[[ 9.97523240e-01 -6.95456076e-02  1.05258558e-02  4.54905793e+01]
 [ 6.95446305e-02  9.97578735e-01  4.59266765e-04  2.93194846e+00]
 [-1.05323099e-02  2.73887479e-04  9.99944496e-01 -4.81018370e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.787702638
Centerline is valid?  [True, True]
Translation: X:45.55, Y:2.94, Z:-0.48
[[ 9.97574549e-01 -6.88057097e-02  1.05258875e-02  4.55526706e+01]
 [ 6.88046990e-02  9.97630043e-01  4.58538758e-04  2.93608476e+00]
 [-1.05324917e-02  2.66803927e-04  9.99944496e-01 -4.81673290e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.847702638
Centerline is valid?  [True, True]
Translation: X:45.61, Y:2.94, Z:-0.48
[[ 9.97310848e-01 -7.25277601e-02  1.05259528e-02  4.56136405e+01]
 [ 7.25269725e-02  9.97366347e-01  4.57035412e-04  2.93590287e+00]
 [-1.05313788e-02  3.07609112e-04  9.99944496e-01 -4.82313810e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.907702637999996
Centerline is valid?  [True, True]
Translation: X:45.68, Y:2.94, Z:-0.48
[[ 9.97169240e-01 -7.44493812e-02  1.05259634e-02  4.56759719e+01]
 [ 7.44487031e-02  9.97224740e-01  4.56789818e-04  2.94014300e+00]
 [-1.05307589e-02  3.28147570e-04  9.99944496e-01 -4.82971686e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 44.967702638
Centerline is valid?  [True, True]
Translation: X:45.74, Y:2.94, Z:-0.48
[[ 9.97040270e-01 -7.61570976e-02  1.05260261e-02  4.57357969e+01]
 [ 7.61565298e-02  9.97095771e-01  4.55339951e-04  2.94046790e+00]
 [-1.05301335e-02  3.47633357e-04  9.99944496e-01 -4.83600434e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.027702638
Centerline is valid?  [True, True]
Translation: X:45.80, Y:2.94, Z:-0.48
[[ 9.97119399e-01 -7.51139609e-02  1.05260378e-02  4.57983496e+01]
 [ 7.51133378e-02  9.97174899e-01  4.55071202e-04  2.94194829e+00]
 [-1.05304828e-02  3.36885507e-04  9.99944496e-01 -4.84259364e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.087702637999996
Centerline is valid?  [True, True]
Translation: X:45.86, Y:2.94, Z:-0.48
[[ 9.97204528e-01 -7.39751963e-02  1.05261026e-02  4.58578642e+01]
 [ 7.39745257e-02  9.97260028e-01  4.53566079e-04  2.94443556e+00]
 [-1.05308140e-02  3.26365301e-04  9.99944496e-01 -4.84885791e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.147702638
Centerline is valid?  [True, True]
Translation: X:45.92, Y:2.94, Z:-0.49
[[ 9.97698855e-01 -6.69790728e-02  1.05260988e-02  4.59187956e+01]
 [ 6.69780121e-02  9.97754349e-01  4.53654416e-04  2.94424637e+00]
 [-1.05328462e-02  2.52406682e-04  9.99944496e-01 -4.85527181e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.207702638
Centerline is valid?  [True, True]
Translation: X:45.98, Y:2.94, Z:-0.49
[[ 9.98331622e-01 -5.67730046e-02  1.05261034e-02  4.59800243e+01]
 [ 5.67713775e-02  9.98387102e-01  4.53546962e-04  2.94337713e+00]
 [-1.05348751e-02  1.44791118e-04  9.99944496e-01 -4.86171237e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.267702637999996
Centerline is valid?  [True, True]
Translation: X:46.04, Y:2.95, Z:-0.49
[[ 9.98850299e-01 -4.67683785e-02  1.05260955e-02  4.60409688e+01]
 [ 4.67661938e-02  9.98905760e-01  4.53730860e-04  2.94677699e+00]
 [-1.05357977e-02  3.90562174e-05  9.99944496e-01 -4.86814467e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.327702638
Centerline is valid?  [True, True]
Translation: X:46.10, Y:2.95, Z:-0.49
[[ 9.99341513e-01 -3.47238041e-02  1.05261002e-02  4.61025407e+01]
 [ 3.47209521e-02  9.99396943e-01  4.53622660e-04  2.94516961e+00]
 [-1.05355038e-02 -8.78477347e-05  9.99944496e-01 -4.87461801e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.387702638
Centerline is valid?  [True, True]
Translation: X:46.16, Y:2.94, Z:-0.49
[[ 9.99579535e-01 -2.70176523e-02  1.05261635e-02  4.61641467e+01]
 [ 2.70143885e-02  9.99634943e-01  4.52147642e-04  2.94102947e+00]
 [-1.05345368e-02 -1.67599658e-04  9.99944496e-01 -4.88107286e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.447702638
Centerline is valid?  [True, True]
Translation: X:46.23, Y:2.94, Z:-0.49
[[ 9.99661093e-01 -2.38096230e-02  1.05261731e-02  4.62262983e+01]
 [ 2.38061838e-02  9.99716491e-01  4.51925662e-04  2.94211091e+00]
 [-1.05339490e-02 -2.01184491e-04  9.99944496e-01 -4.88761857e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.507702638
Centerline is valid?  [True, True]
Translation: X:46.29, Y:2.94, Z:-0.49
[[ 9.99763889e-01 -1.90096192e-02  1.05261967e-02  4.62865510e+01]
 [ 1.90059198e-02  9.99819269e-01  4.51374208e-04  2.93961905e+00]
 [-1.05328748e-02 -2.51207583e-04  9.99944496e-01 -4.89394573e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.567702638
Centerline is valid?  [True, True]
Translation: X:46.35, Y:2.94, Z:-0.49
[[ 9.99824468e-01 -1.54994031e-02  1.05261967e-02  4.63468398e+01]
 [ 1.54955093e-02  9.99879836e-01  4.51374208e-04  2.93654022e+00]
 [-1.05319279e-02 -2.88186199e-04  9.99944496e-01 -4.90027830e-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 45.627702638
Centerline is valid?  [True, True]
Translation: X:46.41, Y:2.94, Z:-0.49
[[ 9.99868820e-01 -1.23102420e-02  1.05261975e-02  4.64077387e+01]
 [ 1.23061718e-02  9.99924174e-01  4.51355317e-04  2.93861150e+00]
 [-1.05309557e-02 -3.21758912e-04  9.99944496e-01 -4.90669820e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.687702638
Centerline is valid?  [True, True]
Translation: X:46.47, Y:2.94, Z:-0.49
[[ 9.99889998e-01 -1.04494309e-02  1.05262071e-02  4.64694192e+01]
 [ 1.04452601e-02  9.99945345e-01  4.51132314e-04  2.93725270e+00]
 [-1.05303458e-02 -3.41133718e-04  9.99944496e-01 -4.91318334e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.747702638
Centerline is valid?  [True, True]
Translation: X:46.53, Y:2.94, Z:-0.49
[[ 9.99907366e-01 -8.62896986e-03  1.05262167e-02  4.65318882e+01]
 [ 8.62470064e-03  9.99962705e-01  4.50906756e-04  2.93771072e+00]
 [-1.05297150e-02 -3.60079518e-04  9.99944496e-01 -4.91975969e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.807702638
Centerline is valid?  [True, True]
Translation: X:46.59, Y:2.94, Z:-0.49
[[ 9.99915388e-01 -7.64301202e-03  1.05262404e-02  4.65931896e+01]
 [ 7.63869405e-03  9.99970723e-01  4.50353492e-04  2.93874018e+00]
 [-1.05293743e-02 -3.69908657e-04  9.99944496e-01 -4.92621323e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.867702638
Centerline is valid?  [True, True]
Translation: X:46.66, Y:2.94, Z:-0.49
[[ 9.99906866e-01 -8.68663478e-03  1.05262497e-02  4.66556197e+01]
 [ 8.68237685e-03  9.99962206e-01  4.50136407e-04  2.93739018e+00]
 [-1.05297620e-02 -3.58701618e-04  9.99944496e-01 -4.93277743e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.927702638
Centerline is valid?  [True, True]
Translation: X:46.72, Y:2.94, Z:-0.49
[[ 9.99908823e-01 -8.45824409e-03  1.05263131e-02  4.67178179e+01]
 [ 8.45398916e-03  9.99964164e-01  4.48648856e-04  2.93925151e+00]
 [-1.05297307e-02 -3.59618613e-04  9.99944496e-01 -4.93932215e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 45.987702638
Centerline is valid?  [True, True]
Translation: X:46.78, Y:2.94, Z:-0.49
[[ 9.99912558e-01 -8.00451589e-03  1.05263773e-02  4.67804391e+01]
 [ 8.00025175e-03  9.99967898e-01  4.47137204e-04  2.94055194e+00]
 [-1.05296185e-02 -3.62884436e-04  9.99944496e-01 -4.94590873e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.047702638
Centerline is valid?  [True, True]
Translation: X:46.84, Y:2.94, Z:-0.50
[[ 9.99925777e-01 -6.13462287e-03  1.05264431e-02  4.68401870e+01]
 [ 6.13027159e-03  9.99981110e-01  4.45583332e-04  2.94016153e+00]
 [-1.05289777e-02 -3.81020305e-04  9.99944496e-01 -4.95218505e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.107702638
Centerline is valid?  [True, True]
Translation: X:46.90, Y:2.95, Z:-0.50
[[ 9.99943645e-01 -1.37874981e-03  1.05264546e-02  4.69007111e+01]
 [ 1.37413826e-03  9.99998957e-01  4.45311444e-04  2.94814516e+00]
 [-1.05270576e-02 -4.30821544e-04  9.99944496e-01 -4.95858997e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.167702638
Centerline is valid?  [True, True]
Translation: X:46.96, Y:2.95, Z:-0.50
[[ 9.99942841e-01  1.87332088e-03  1.05264593e-02  4.69621608e+01]
 [-1.87811113e-03  9.99998137e-01  4.45200523e-04  2.95222074e+00]
 [-1.05256057e-02 -4.64944936e-04  9.99944496e-01 -4.96507612e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.227702638
Centerline is valid?  [True, True]
Translation: X:47.02, Y:2.95, Z:-0.50
[[ 9.99944282e-01 -7.91816449e-04  1.05264685e-02  4.70216951e+01]
 [ 7.87175904e-04  9.99999591e-01  4.44981362e-04  2.95443188e+00]
 [-1.05268166e-02 -4.36670386e-04  9.99944496e-01 -4.97135152e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.287702638
Centerline is valid?  [True, True]
Translation: X:47.08, Y:2.96, Z:-0.50
[[ 9.99928954e-01 -5.59287749e-03  1.05264592e-02  4.70822178e+01]
 [ 5.58850024e-03  9.99984285e-01  4.45201632e-04  2.96447590e+00]
 [-1.05287838e-02 -3.86342883e-04  9.99944496e-01 -4.97776914e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.347702638
Centerline is valid?  [True, True]
Translation: X:47.14, Y:2.97, Z:-0.50
[[ 9.99900557e-01 -9.38452846e-03  1.05264681e-02  4.71425710e+01]
 [ 9.38036327e-03  9.99955904e-01  4.44991264e-04  2.96714058e+00]
 [-1.05301800e-02 -3.46204918e-04  9.99944496e-01 -4.98413281e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.407702637999996
Centerline is valid?  [True, True]
Translation: X:47.20, Y:2.97, Z:-0.50
[[ 9.99816581e-01 -1.59999189e-02  1.05264729e-02  4.72024012e+01]
 [ 1.59961212e-02  9.99871955e-01  4.44878332e-04  2.97160327e+00]
 [-1.05322430e-02 -2.76413997e-04  9.99944496e-01 -4.99045017e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.467702638
Centerline is valid?  [True, True]
Translation: X:47.26, Y:2.98, Z:-0.50
[[ 9.99721243e-01 -2.11336311e-02  1.05264725e-02  4.72648634e+01]
 [ 2.11301176e-02  9.99776635e-01  4.44888457e-04  2.97791832e+00]
 [-1.05335233e-02 -2.22338839e-04  9.99944496e-01 -4.99705377e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.527702638
Centerline is valid?  [True, True]
Translation: X:47.33, Y:2.98, Z:-0.50
[[ 9.99697944e-01 -2.22084171e-02  1.05265081e-02  4.73271838e+01]
 [ 2.22049721e-02  9.99753341e-01  4.44043608e-04  2.98092683e+00]
 [-1.05337731e-02 -2.10168662e-04  9.99944496e-01 -5.00362120e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.587702637999996
Centerline is valid?  [True, True]
Translation: X:47.39, Y:2.99, Z:-0.50
[[ 9.99714882e-01 -2.14323993e-02  1.05265319e-02  4.73881546e+01]
 [ 2.14289172e-02  9.99770276e-01  4.43478888e-04  2.98685958e+00]
 [-1.05336185e-02 -2.17780263e-04  9.99944496e-01 -5.01006166e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.647702638
Centerline is valid?  [True, True]
Translation: X:47.45, Y:2.99, Z:-0.50
[[ 9.99771251e-01 -1.86182133e-02  1.05265367e-02  4.74486093e+01]
 [ 1.86145765e-02  9.99826635e-01  4.43364234e-04  2.99380588e+00]
 [-1.05329664e-02 -2.47315792e-04  9.99944496e-01 -5.01645571e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.707702638
Centerline is valid?  [True, True]
Translation: X:47.51, Y:3.00, Z:-0.50
[[ 9.99801278e-01 -1.69291330e-02  1.05265404e-02  4.75110176e+01]
 [ 1.69254036e-02  9.99856657e-01  4.43277217e-04  2.99800364e+00]
 [-1.05325358e-02 -2.65023183e-04  9.99944496e-01 -5.02304344e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.767702637999996
Centerline is valid?  [True, True]
Translation: X:47.57, Y:3.00, Z:-0.50
[[ 9.99865297e-01 -1.25928021e-02  1.05265634e-02  4.75704879e+01]
 [ 1.25888383e-02  9.99920659e-01  4.42729521e-04  3.00342194e+00]
 [-1.05313034e-02 -3.10152679e-04  9.99944496e-01 -5.02932372e-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 46.827702638
Centerline is valid?  [True, True]
Translation: X:47.63, Y:3.01, Z:-0.50
[[ 9.99892104e-01 -1.02455779e-02  1.05265634e-02  4.76326227e+01]
 [ 1.02414842e-02  9.99947457e-01  4.42729521e-04  3.00742721e+00]
 [-1.05305463e-02 -3.34874119e-04  9.99944496e-01 -5.03588248e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.887702638
Centerline is valid?  [True, True]
Translation: X:47.69, Y:3.01, Z:-0.50
[[ 9.99926723e-01 -5.97832020e-03  1.05265819e-02  4.76934384e+01]
 [ 5.97399491e-03  9.99982058e-01  4.42288795e-04  3.00980004e+00]
 [-1.05290372e-02 -3.79370639e-04  9.99944496e-01 -5.04229171e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 46.947702638
Centerline is valid?  [True, True]
Translation: X:47.75, Y:3.02, Z:-0.50
[[ 9.99941767e-01 -2.37761070e-03  1.05265830e-02  4.77545802e+01]
 [ 2.37308645e-03  9.99997086e-01  4.42262586e-04  3.01649214e+00]
 [-1.05276039e-02 -4.17256340e-04  9.99944496e-01 -5.04875760e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.007702638
Centerline is valid?  [True, True]
Translation: X:47.82, Y:3.02, Z:-0.51
[[ 9.99944530e-01  3.57445009e-04  1.05265921e-02  4.78152393e+01]
 [-3.62118292e-04  9.99999837e-01  4.42047579e-04  3.01968206e+00]
 [-1.05264323e-02 -4.45834930e-04  9.99944496e-01 -5.05515571e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.067702638
Centerline is valid?  [True, True]
Translation: X:47.88, Y:3.02, Z:-0.51
[[ 9.99942894e-01  1.84385196e-03  1.05266012e-02  4.78757939e+01]
 [-1.84860516e-03  9.99998194e-01  4.41829283e-04  3.02161982e+00]
 [-1.05257676e-02 -4.61263581e-04  9.99944496e-01 -5.06153725e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.127702638
Centerline is valid?  [True, True]
Translation: X:47.93, Y:3.03, Z:-0.51
[[ 9.99940255e-01  2.94572680e-03  1.05266012e-02  4.79339151e+01]
 [-2.95054094e-03  9.99995550e-01  4.41829283e-04  3.02720020e+00]
 [-1.05252529e-02 -4.72862054e-04  9.99944496e-01 -5.06768043e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.187702638
Centerline is valid?  [True, True]
Translation: X:47.99, Y:3.03, Z:-0.51
[[ 9.99941305e-01  2.56449592e-03  1.05265873e-02  4.79927503e+01]
 [-2.56929246e-03  9.99996602e-01  4.42161919e-04  3.02879264e+00]
 [-1.05254176e-02 -4.69181848e-04  9.99944496e-01 -5.07388378e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.247702638
Centerline is valid?  [True, True]
Translation: X:48.05, Y:3.03, Z:-0.51
[[ 9.99944532e-01  3.52182395e-04  1.05265687e-02  4.80522223e+01]
 [-3.56861228e-04  9.99999838e-01  4.42603426e-04  3.03392943e+00]
 [-1.05264111e-02 -4.46335400e-04  9.99944496e-01 -5.08017069e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.307702638
Centerline is valid?  [True, True]
Translation: X:48.11, Y:3.04, Z:-0.51
[[ 9.99944226e-01  8.58313126e-04  1.05265597e-02  4.81115143e+01]
 [-8.63022187e-04  9.99999530e-01  4.42816152e-04  3.03823789e+00]
 [-1.05261747e-02 -4.51876109e-04  9.99944496e-01 -5.08643321e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.367702638
Centerline is valid?  [True, True]
Translation: X:48.17, Y:3.04, Z:-0.51
[[ 9.99944049e-01  1.04477674e-03  1.05265329e-02  4.81707595e+01]
 [-1.04950281e-03  9.99999351e-01  4.43453474e-04  3.04070328e+00]
 [-1.05260628e-02 -4.54476288e-04  9.99944496e-01 -5.09268598e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.427702638
Centerline is valid?  [True, True]
Translation: X:48.23, Y:3.05, Z:-0.51
[[ 9.99944044e-01  1.04889590e-03  1.05265283e-02  4.82298955e+01]
 [-1.05362336e-03  9.99999347e-01  4.43563708e-04  3.04642858e+00]
 [-1.05260561e-02 -4.54629884e-04  9.99944496e-01 -5.09893756e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.487702638
Centerline is valid?  [True, True]
Translation: X:48.29, Y:3.05, Z:-0.51
[[ 9.99941934e-01  2.30671804e-03  1.05265236e-02  4.82896302e+01]
 [-2.31151621e-03  9.99997230e-01  4.43673992e-04  3.04793393e+00]
 [-1.05254710e-02 -4.67980460e-04  9.99944496e-01 -5.10523345e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.547702638
Centerline is valid?  [True, True]
Translation: X:48.35, Y:3.05, Z:-0.51
[[ 9.99938797e-01  3.40499330e-03  1.05265147e-02  4.83487611e+01]
 [-3.40985444e-03  9.99994088e-01  4.43886276e-04  3.05043269e+00]
 [-1.05249410e-02 -4.79752992e-04  9.99944496e-01 -5.11147099e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.607702638
Centerline is valid?  [True, True]
Translation: X:48.41, Y:3.05, Z:-0.51
[[ 9.99929357e-01  5.52047650e-03  1.05264529e-02  4.84083087e+01]
 [-5.52546994e-03  9.99984635e-01  4.45346569e-04  3.05381039e+00]
 [-1.05238326e-02 -5.03478708e-04  9.99944496e-01 -5.11776620e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.667702638
Centerline is valid?  [True, True]
Translation: X:48.47, Y:3.06, Z:-0.51
[[ 9.99922099e-01  6.70742847e-03  1.05264535e-02  4.84686429e+01]
 [-6.71248737e-03  9.99977372e-01  4.45332661e-04  3.05625521e+00]
 [-1.05232282e-02 -5.15956656e-04  9.99944496e-01 -5.12412839e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.727702638
Centerline is valid?  [True, True]
Translation: X:48.53, Y:3.06, Z:-0.51
[[ 9.99920130e-01  6.99477658e-03  1.05264514e-02  4.85285009e+01]
 [-6.99985188e-03  9.99975402e-01  4.45380456e-04  3.05756889e+00]
 [-1.05230772e-02 -5.19028484e-04  9.99944496e-01 -5.13043589e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.787702638
Centerline is valid?  [True, True]
Translation: X:48.59, Y:3.06, Z:-0.51
[[ 9.99938928e-01  3.36655551e-03  1.05264467e-02  4.85876145e+01]
 [-3.37143140e-03  9.99994217e-01  4.45493151e-04  3.06108199e+00]
 [-1.05248860e-02 -4.80955137e-04  9.99944496e-01 -5.13667534e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.847702638
Centerline is valid?  [True, True]
Translation: X:48.65, Y:3.06, Z:-0.51
[[ 9.99944053e-01  1.04195216e-03  1.05264411e-02  4.86466633e+01]
 [-1.04670090e-03  9.99999353e-01  4.45625952e-04  3.06302580e+00]
 [-1.05259699e-02 -4.56619056e-04  9.99944496e-01 -5.14290114e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.907702637999996
Centerline is valid?  [True, True]
Translation: X:48.71, Y:3.07, Z:-0.51
[[ 9.99944369e-01 -6.73225556e-04  1.05264321e-02  4.87066089e+01]
 [ 6.68569453e-04  9.99999677e-01  4.45837551e-04  3.06690767e+00]
 [-1.05267288e-02 -4.38775098e-04  9.99944496e-01 -5.14923060e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 47.967702638
Centerline is valid?  [True, True]
Translation: X:48.77, Y:3.07, Z:-0.52
[[ 9.99944366e-01 -6.77024521e-04  1.05264274e-02  4.87676333e+01]
 [ 6.72367469e-04  9.99999675e-01  4.45947811e-04  3.07073232e+00]
 [-1.05267259e-02 -4.38845374e-04  9.99944496e-01 -5.15567258e-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 48.027702638
Centerline is valid?  [True, True]
Translation: X:48.83, Y:3.07, Z:-0.52
[[ 9.99944580e-01  1.76478481e-04  1.05264369e-02  4.88276152e+01]
 [-1.81180395e-04  9.99999884e-01  4.45724748e-04  3.07271383e+00]
 [-1.05263570e-02 -4.47607230e-04  9.99944496e-01 -5.16199395e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.087702637999996
Centerline is valid?  [True, True]
Translation: X:48.89, Y:3.08, Z:-0.52
[[ 9.99941820e-01  2.35596064e-03  1.05264458e-02  4.88875116e+01]
 [-2.36078085e-03  9.99997114e-01  4.45512546e-04  3.07646538e+00]
 [-1.05253659e-02 -4.70337258e-04  9.99944496e-01 -5.16831429e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.147702638
Centerline is valid?  [True, True]
Translation: X:48.95, Y:3.08, Z:-0.52
[[ 9.99930249e-01  5.35639177e-03  1.05264413e-02  4.89479443e+01]
 [-5.36137901e-03  9.99985528e-01  4.45620192e-04  3.07949984e+00]
 [-1.05239020e-02 -5.02025351e-04  9.99944496e-01 -5.17469044e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.207702638
Centerline is valid?  [True, True]
Translation: X:49.01, Y:3.08, Z:-0.52
[[ 9.99902398e-01  9.18631753e-03  1.05264414e-02  4.90075524e+01]
 [-9.19151644e-03  9.99957658e-01  4.45617334e-04  3.08048918e+00]
 [-1.05219021e-02 -5.42327800e-04  9.99944496e-01 -5.18096978e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.267702637999996
Centerline is valid?  [True, True]
Translation: X:49.07, Y:3.08, Z:-0.52
[[ 9.99872159e-01  1.20357535e-02  1.05264410e-02  4.90681298e+01]
 [-1.20411100e-02  9.99927404e-01  4.45627250e-04  3.08398693e+00]
 [-1.05203133e-02 -5.72320314e-04  9.99944496e-01 -5.18736245e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.327702638
Centerline is valid?  [True, True]
Translation: X:49.13, Y:3.08, Z:-0.52
[[ 9.99886013e-01  1.08238576e-02  1.05264409e-02  4.91270126e+01]
 [-1.08291471e-02  9.99941264e-01  4.45629978e-04  3.08467170e+00]
 [-1.05209992e-02 -5.59571558e-04  9.99944496e-01 -5.19356413e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.387702638
Centerline is valid?  [True, True]
Translation: X:49.19, Y:3.08, Z:-0.52
[[ 9.99897234e-01  9.73216413e-03  1.05264364e-02  4.91861444e+01]
 [-9.73739445e-03  9.99952491e-01  4.45736108e-04  3.08447079e+00]
 [-1.05215983e-02 -5.48190365e-04  9.99944496e-01 -5.19978889e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.447702638
Centerline is valid?  [True, True]
Translation: X:49.24, Y:3.09, Z:-0.52
[[ 9.99892531e-01  1.02039942e-02  1.05264272e-02  4.92443133e+01]
 [-1.02092529e-02  9.99947785e-01  4.45951881e-04  3.08897154e+00]
 [-1.05213271e-02 -5.53370913e-04  9.99944496e-01 -5.20593412e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.507702638
Centerline is valid?  [True, True]
Translation: X:49.30, Y:3.09, Z:-0.52
[[ 9.99891652e-01  1.02897638e-02  1.05263612e-02  4.93017533e+01]
 [-1.02950435e-02  9.99946905e-01  4.47505827e-04  3.09117374e+00]
 [-1.05211975e-02 -5.55826687e-04  9.99944496e-01 -5.21200297e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.567702638
Centerline is valid?  [True, True]
Translation: X:49.36, Y:3.09, Z:-0.52
[[ 9.99919311e-01  7.11112571e-03  1.05262958e-02  4.93607812e+01]
 [-7.11624586e-03  9.99974578e-01  4.49039384e-04  3.09163799e+00]
 [-1.05228350e-02 -5.23910860e-04  9.99944496e-01 -5.21823101e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.627702638
Centerline is valid?  [True, True]
Translation: X:49.42, Y:3.09, Z:-0.52
[[ 9.99943573e-01  1.43139062e-03  1.05262902e-02  4.94205744e+01]
 [-1.43619812e-03  9.99998868e-01  4.49168576e-04  3.09465231e+00]
 [-1.05256354e-02 -4.64261069e-04  9.99944496e-01 -5.22453992e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.687702638
Centerline is valid?  [True, True]
Translation: X:49.48, Y:3.09, Z:-0.52
[[ 9.99936743e-01 -3.96320223e-03  1.05262826e-02  4.94796514e+01]
 [ 3.95869123e-03  9.99992063e-01  4.49347583e-04  3.09497449e+00]
 [-1.05279799e-02 -4.07648856e-04  9.99944496e-01 -5.23076175e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.747702638
Centerline is valid?  [True, True]
Translation: X:49.54, Y:3.10, Z:-0.52
[[ 9.99934023e-01 -4.59850493e-03  1.05262776e-02  4.95415419e+01]
 [ 4.59402785e-03  9.99989346e-01  4.49463589e-04  3.09843906e+00]
 [-1.05282324e-02 -4.01075922e-04  9.99944496e-01 -5.23729336e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.807702638
Centerline is valid?  [True, True]
Translation: X:49.60, Y:3.10, Z:-0.52
[[ 9.99900969e-01 -9.34066698e-03  1.05263412e-02  4.96025461e+01]
 [ 9.33646803e-03  9.99956314e-01  4.47970277e-04  3.09964423e+00]
 [-1.05300657e-02 -3.49647066e-04  9.99944496e-01 -5.24370883e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.867702638
Centerline is valid?  [True, True]
Translation: X:49.66, Y:3.10, Z:-0.53
[[ 9.99875142e-01 -1.17854143e-02  1.05263400e-02  4.96649905e+01]
 [ 1.17813504e-02  9.99930497e-01  4.47999540e-04  3.10033315e+00]
 [-1.05308882e-02 -3.23929105e-04  9.99944496e-01 -5.25028563e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.927702638
Centerline is valid?  [True, True]
Translation: X:49.73, Y:3.10, Z:-0.53
[[ 9.99808926e-01 -1.64713787e-02  1.05264037e-02  4.97262994e+01]
 [ 1.64675901e-02  9.99864300e-01  4.46495547e-04  3.09833571e+00]
 [-1.05323297e-02 -2.73065731e-04  9.99944496e-01 -5.25671886e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 48.987702638
Centerline is valid?  [True, True]
Translation: X:49.79, Y:3.10, Z:-0.53
[[ 9.99798587e-01 -1.70874278e-02  1.05264131e-02  4.97881277e+01]
 [ 1.70836757e-02  9.99853964e-01  4.46274300e-04  3.10162614e+00]
 [-1.05325016e-02 -2.66354586e-04  9.99944496e-01 -5.26324049e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.047702638
Centerline is valid?  [True, True]
Translation: X:49.85, Y:3.10, Z:-0.53
[[ 9.99814131e-01 -1.61522774e-02  1.05264749e-02  4.98507900e+01]
 [ 1.61484888e-02  9.99869506e-01  4.44813018e-04  3.10026326e+00]
 [-1.05322860e-02 -2.74743679e-04  9.99944496e-01 -5.26981948e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.107702638
Centerline is valid?  [True, True]
Translation: X:49.91, Y:3.10, Z:-0.53
[[ 9.99824378e-01 -1.55049882e-02  1.05265183e-02  4.99133551e+01]
 [ 1.55011746e-02  9.99879751e-01  4.43783734e-04  3.10022880e+00]
 [-1.05321333e-02 -2.80532398e-04  9.99944496e-01 -5.27639761e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.167702638
Centerline is valid?  [True, True]
Translation: X:49.97, Y:3.10, Z:-0.53
[[ 9.99842524e-01 -1.42870361e-02  1.05265405e-02  4.99745758e+01]
 [ 1.42831605e-02  9.99897892e-01  4.43255641e-04  3.09794625e+00]
 [-1.05317985e-02 -2.92833571e-04  9.99944496e-01 -5.28282818e-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 49.227702638
Centerline is valid?  [True, True]
Translation: X:50.04, Y:3.10, Z:-0.53
[[ 9.99894069e-01 -1.00519449e-02  1.05265981e-02  5.00356264e+01]
 [ 1.00478493e-02  9.99949421e-01  4.41883592e-04  3.09922622e+00]
 [-1.05305075e-02 -3.36067111e-04  9.99944496e-01 -5.28925017e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.287702638
Centerline is valid?  [True, True]
Translation: X:50.10, Y:3.10, Z:-0.53
[[ 9.99927748e-01 -5.80426225e-03  1.05266047e-02  5.00965591e+01]
 [ 5.79993324e-03  9.99983083e-01  4.41726217e-04  3.10189924e+00]
 [-1.05289905e-02 -3.80640697e-04  9.99944496e-01 -5.29567527e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.347702638
Centerline is valid?  [True, True]
Translation: X:50.16, Y:3.10, Z:-0.53
[[ 9.99943591e-01 -1.41580958e-03  1.05266139e-02  5.01578865e+01]
 [ 1.41124005e-03  9.99998907e-01  4.41507735e-04  3.10332861e+00]
 [-1.05272275e-02 -4.26627251e-04  9.99944496e-01 -5.30213595e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.407702637999996
Centerline is valid?  [True, True]
Translation: X:50.22, Y:3.10, Z:-0.53
[[ 9.99944367e-01 -6.72801465e-04  1.05266231e-02  5.02184456e+01]
 [ 6.68193164e-04  9.99999679e-01  4.41286746e-04  3.10249838e+00]
 [-1.05269167e-02 -4.34228379e-04  9.99944496e-01 -5.30850578e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.467702638
Centerline is valid?  [True, True]
Translation: X:50.28, Y:3.10, Z:-0.53
[[ 9.99943351e-01  1.57624798e-03  1.05266289e-02  5.02791399e+01]
 [-1.58097922e-03  9.99998653e-01  4.41148201e-04  3.10408727e+00]
 [-1.05259194e-02 -4.57765592e-04  9.99944496e-01 -5.31490115e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.527702638
Centerline is valid?  [True, True]
Translation: X:50.34, Y:3.11, Z:-0.53
[[ 9.99936325e-01  4.06643578e-03  1.05266289e-02  5.03379581e+01]
 [-4.07130473e-03  9.99991615e-01  4.41148201e-04  3.10506528e+00]
 [-1.05247468e-02 -4.83977225e-04  9.99944496e-01 -5.32109738e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.587702637999996
Centerline is valid?  [True, True]
Translation: X:50.40, Y:3.10, Z:-0.53
[[ 9.99938314e-01  3.54388582e-03  1.05266197e-02  5.03976890e+01]
 [-3.54872818e-03  9.99993606e-01  4.41367838e-04  3.10345843e+00]
 [-1.05249883e-02 -4.78696723e-04  9.99944496e-01 -5.32737995e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.647702638
Centerline is valid?  [True, True]
Translation: X:50.46, Y:3.11, Z:-0.53
[[ 9.99938806e-01  3.40217420e-03  1.05266105e-02  5.04566769e+01]
 [-3.40701103e-03  9.99994099e-01  4.41588112e-04  3.10549984e+00]
 [-1.05250460e-02 -4.77425367e-04  9.99944496e-01 -5.33360041e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.707702638
Centerline is valid?  [True, True]
Translation: X:50.52, Y:3.11, Z:-0.53
[[ 9.99938431e-01  3.51075791e-03  1.05265962e-02  5.05170739e+01]
 [-3.51560434e-03  9.99993723e-01  4.41929329e-04  3.10547043e+00]
 [-1.05249786e-02 -4.78909467e-04  9.99944496e-01 -5.33996096e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.767702637999996
Centerline is valid?  [True, True]
Translation: X:50.57, Y:3.11, Z:-0.53
[[ 9.99936668e-01  3.98132301e-03  1.05265913e-02  5.05748864e+01]
 [-3.98619666e-03  9.99991957e-01  4.42044337e-04  3.10540401e+00]
 [-1.05247468e-02 -4.83977405e-04  9.99944496e-01 -5.34604756e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.827702638
Centerline is valid?  [True, True]
Translation: X:50.64, Y:3.11, Z:-0.54
[[ 9.99915955e-01  7.56800683e-03  1.05265683e-02  5.06358180e+01]
 [-7.57308453e-03  9.99971226e-01  4.42592263e-04  3.10563471e+00]
 [-1.05229159e-02 -5.22273656e-04  9.99944496e-01 -5.35246707e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.887702638
Centerline is valid?  [True, True]
Translation: X:50.69, Y:3.11, Z:-0.54
[[ 9.99900787e-01  9.35993620e-03  1.05265733e-02  5.06945376e+01]
 [-9.36511169e-03  9.99956048e-01  4.42473232e-04  3.10598841e+00]
 [-1.05219691e-02 -5.41011867e-04  9.99944496e-01 -5.35864926e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 49.947702638
Centerline is valid?  [True, True]
Translation: X:50.75, Y:3.10, Z:-0.54
[[ 9.99903683e-01  9.04526149e-03  1.05265065e-02  5.07529079e+01]
 [-9.05043622e-03  9.99958945e-01  4.44057404e-04  3.10382609e+00]
 [-1.05220577e-02 -5.39284109e-04  9.99944496e-01 -5.36479620e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.007702638
Centerline is valid?  [True, True]
Translation: X:50.81, Y:3.11, Z:-0.54
[[ 9.99906203e-01  8.76234554e-03  1.05264786e-02  5.08121139e+01]
 [-8.76751157e-03  9.99961466e-01  4.44717358e-04  3.10577465e+00]
 [-1.05221762e-02 -5.36966668e-04  9.99944496e-01 -5.37104242e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.067702638
Centerline is valid?  [True, True]
Translation: X:50.87, Y:3.11, Z:-0.54
[[ 9.99920778e-01  6.90152486e-03  1.05264600e-02  5.08710061e+01]
 [-6.90659265e-03  9.99976050e-01  4.45157776e-04  3.10512362e+00]
 [-1.05231356e-02 -5.17824480e-04  9.99944496e-01 -5.37724241e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.127702638
Centerline is valid?  [True, True]
Translation: X:50.93, Y:3.10, Z:-0.54
[[ 9.99933630e-01  4.68284349e-03  1.05264457e-02  5.09313360e+01]
 [-4.68779218e-03  9.99988913e-01  4.45495366e-04  3.10365841e+00]
 [-1.05242428e-02 -4.94811588e-04  9.99944496e-01 -5.38358933e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.187702638
Centerline is valid?  [True, True]
Translation: X:50.99, Y:3.10, Z:-0.54
[[ 9.99926381e-01  6.03547408e-03  1.05264345e-02  5.09899216e+01]
 [-6.04050031e-03  9.99981657e-01  4.45758241e-04  3.10442517e+00]
 [-1.05235511e-02 -5.09310356e-04  9.99944496e-01 -5.38976199e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.247702638
Centerline is valid?  [True, True]
Translation: X:51.05, Y:3.10, Z:-0.54
[[ 9.99938299e-01  3.54865301e-03  1.05264200e-02  5.10486142e+01]
 [-3.55354536e-03  9.99993587e-01  4.46101737e-04  3.10482332e+00]
 [-1.05247694e-02 -4.83480323e-04  9.99944496e-01 -5.39594487e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.307702638
Centerline is valid?  [True, True]
Translation: X:51.11, Y:3.10, Z:-0.54
[[ 9.99938224e-01  3.56964114e-03  1.05264103e-02  5.11077343e+01]
 [-3.57453706e-03  9.99993512e-01  4.46330740e-04  3.10287605e+00]
 [-1.05247487e-02 -4.83930211e-04  9.99944496e-01 -5.40216143e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.367702638
Centerline is valid?  [True, True]
Translation: X:51.17, Y:3.11, Z:-0.54
[[ 9.99931872e-01  5.04436888e-03  1.05263904e-02  5.11662528e+01]
 [-5.04935126e-03  9.99987152e-01  4.46799906e-04  3.10606473e+00]
 [-1.05240013e-02 -4.99920909e-04  9.99944496e-01 -5.40833932e-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 50.427702638
Centerline is valid?  [True, True]
Translation: X:51.22, Y:3.11, Z:-0.54
[[ 9.99937043e-01  3.88666009e-03  1.05263208e-02  5.12249457e+01]
 [-3.89159561e-03  9.99992327e-01  4.48432310e-04  3.10616345e+00]
 [-1.05244972e-02 -4.89368262e-04  9.99944496e-01 -5.41453019e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.487702638
Centerline is valid?  [True, True]
Translation: X:51.28, Y:3.11, Z:-0.54
[[ 9.99940277e-01  2.93920021e-03  1.05263060e-02  5.12840075e+01]
 [-2.94408699e-03  9.99995565e-01  4.48779061e-04  3.10764001e+00]
 [-1.05249403e-02 -4.79742619e-04  9.99944496e-01 -5.42075672e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.547702638
Centerline is valid?  [True, True]
Translation: X:51.34, Y:3.11, Z:-0.54
[[ 9.99937298e-01  3.82067248e-03  1.05262866e-02  5.13441574e+01]
 [-3.82561278e-03  9.99992581e-01  4.49233638e-04  3.11276768e+00]
 [-1.05244922e-02 -4.89474967e-04  9.99944496e-01 -5.42711495e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.607702638
Centerline is valid?  [True, True]
Translation: X:51.40, Y:3.11, Z:-0.54
[[ 9.99940994e-01  2.68421009e-03  1.05262818e-02  5.14043006e+01]
 [-2.68908874e-03  9.99996283e-01  4.49346761e-04  3.11378724e+00]
 [-1.05250365e-02 -4.77626353e-04  9.99944496e-01 -5.43345155e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.667702638
Centerline is valid?  [True, True]
Translation: X:51.46, Y:3.12, Z:-0.54
[[ 9.99939708e-01 -3.12710909e-03  1.05262595e-02  5.14648054e+01]
 [ 3.12254635e-03  9.99995024e-01  4.49869806e-04  3.11740041e+00]
 [-1.05276139e-02 -4.16973949e-04  9.99944496e-01 -5.43984085e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.727702638
Centerline is valid?  [True, True]
Translation: X:51.52, Y:3.12, Z:-0.54
[[ 9.99931790e-01 -5.06093562e-03  1.05262584e-02  5.15249119e+01]
 [ 5.05647961e-03  9.99987115e-01  4.49893737e-04  3.12054420e+00]
 [-1.05283997e-02 -3.96637238e-04  9.99944496e-01 -5.44618248e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.787702638
Centerline is valid?  [True, True]
Translation: X:51.59, Y:3.13, Z:-0.55
[[ 9.99904499e-01 -8.95486791e-03  1.05262682e-02  5.15855500e+01]
 [ 8.95062978e-03  9.99959841e-01  4.49665020e-04  3.12681746e+00]
 [-1.05298722e-02 -3.55405347e-04  9.99944496e-01 -5.45259232e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.847702638
Centerline is valid?  [True, True]
Translation: X:51.64, Y:3.13, Z:-0.55
[[ 9.99831397e-01 -1.50457816e-02  1.05262728e-02  5.16447174e+01]
 [ 1.50418818e-02  9.99886763e-01  4.49558199e-04  3.13255808e+00]
 [-1.05318448e-02 -2.91147451e-04  9.99944496e-01 -5.45884580e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.907702637999996
Centerline is valid?  [True, True]
Translation: X:51.71, Y:3.14, Z:-0.55
[[ 9.99698654e-01 -2.21765400e-02  1.05262743e-02  5.17071942e+01]
 [ 2.21730356e-02  9.99754047e-01  4.49522629e-04  3.13687348e+00]
 [-1.05336542e-02 -2.15987713e-04  9.99944496e-01 -5.46544179e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 50.967702638
Centerline is valid?  [True, True]
Translation: X:51.77, Y:3.14, Z:-0.55
[[ 9.99492968e-01 -3.00500079e-02  1.05263418e-02  5.17667257e+01]
 [ 3.00469566e-02  9.99548388e-01  4.47935751e-04  3.14276478e+00]
 [-1.05350485e-02 -1.31424098e-04  9.99944496e-01 -5.47172333e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.027702638
Centerline is valid?  [True, True]
Translation: X:51.83, Y:3.15, Z:-0.55
[[ 9.99333299e-01 -3.49593169e-02  1.05263418e-02  5.18275080e+01]
 [ 3.49565378e-02  9.99388733e-01  4.47935751e-04  3.14606450e+00]
 [-1.05355669e-02 -7.96726455e-05  9.99944496e-01 -5.47813662e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.087702637999996
Centerline is valid?  [True, True]
Translation: X:51.89, Y:3.15, Z:-0.55
[[ 9.99196807e-01 -3.86644053e-02  1.05263465e-02  5.18885412e+01]
 [ 3.86618330e-02  9.99252252e-01  4.47824820e-04  3.15172938e+00]
 [-1.05357904e-02 -4.04972792e-05  9.99944496e-01 -5.48458610e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.147702638
Centerline is valid?  [True, True]
Translation: X:51.95, Y:3.16, Z:-0.55
[[ 9.99175828e-01 -3.92027939e-02  1.05264071e-02  5.19504768e+01]
 [ 3.92002665e-02  9.99231274e-01  4.46396667e-04  3.15612389e+00]
 [-1.05358152e-02 -3.33907956e-05  9.99944496e-01 -5.49111505e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.207702638
Centerline is valid?  [True, True]
Translation: X:52.01, Y:3.16, Z:-0.55
[[ 9.99143380e-01 -4.00212384e-02  1.05264681e-02  5.20112677e+01]
 [ 4.00187717e-02  9.99198829e-01  4.44954507e-04  3.16047685e+00]
 [-1.05358422e-02 -2.33170280e-05  9.99944496e-01 -5.49752316e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.267702637999996
Centerline is valid?  [True, True]
Translation: X:52.07, Y:3.17, Z:-0.55
[[ 9.99073113e-01 -4.17385511e-02  1.05265028e-02  5.20730565e+01]
 [ 4.17361883e-02  9.99128567e-01  4.44131969e-04  3.16512570e+00]
 [-1.05358670e-02 -4.38420729e-06  9.99944496e-01 -5.50404223e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.327702638
Centerline is valid?  [True, True]
Translation: X:52.14, Y:3.17, Z:-0.55
[[ 9.98991595e-01 -4.36461293e-02  1.05265650e-02  5.21351808e+01]
 [ 4.36438880e-02  9.99047053e-01  4.42651992e-04  3.16758236e+00]
 [-1.05358538e-02  1.72146041e-05  9.99944496e-01 -5.51058194e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.387702638
Centerline is valid?  [True, True]
Translation: X:52.20, Y:3.17, Z:-0.55
[[ 9.98967564e-01 -4.41927162e-02  1.05266267e-02  5.21975093e+01]
 [ 4.41905207e-02  9.99023024e-01  4.41179366e-04  3.17436991e+00]
 [-1.05358394e-02  2.44532392e-05  9.99944496e-01 -5.51716233e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.447702637999996
Centerline is valid?  [True, True]
Translation: X:52.26, Y:3.18, Z:-0.55
[[ 9.99018632e-01 -4.30228242e-02  1.05266497e-02  5.22570336e+01]
 [ 4.30205696e-02  9.99074090e-01  4.40630961e-04  3.17849221e+00]
 [-1.05358601e-02  1.26639247e-05  9.99944496e-01 -5.52344263e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.507702638
Centerline is valid?  [True, True]
Translation: X:52.32, Y:3.18, Z:-0.55
[[ 9.99064138e-01 -4.19527935e-02  1.05266496e-02  5.23181910e+01]
 [ 4.19504795e-02  9.99119594e-01  4.40631727e-04  3.18471007e+00]
 [-1.05358676e-02  1.37864270e-06  9.99944496e-01 -5.52990821e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.567702638
Centerline is valid?  [True, True]
Translation: X:52.38, Y:3.19, Z:-0.55
[[ 9.99130451e-01 -4.03426722e-02  1.05266636e-02  5.23800612e+01]
 [ 4.03402723e-02  9.99185903e-01  4.40297699e-04  3.19076556e+00]
 [-1.05358567e-02 -1.52663619e-05  9.99944496e-01 -5.53644558e-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 51.627702638
Centerline is valid?  [True, True]
Translation: X:52.44, Y:3.19, Z:-0.55
[[ 9.99254761e-01 -3.71363716e-02  1.05267294e-02  5.24430181e+01]
 [ 3.71338104e-02  9.99310206e-01  4.38719199e-04  3.19425578e+00]
 [-1.05357606e-02 -4.74946748e-05  9.99944496e-01 -5.54307653e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.687702638
Centerline is valid?  [True, True]
Translation: X:52.50, Y:3.20, Z:-0.55
[[ 9.99408610e-01 -3.27355739e-02  1.05267623e-02  5.25046026e+01]
 [ 3.27327769e-02  9.99464043e-01  4.37928624e-04  3.20495802e+00]
 [-1.05354562e-02 -9.30994752e-05  9.99944496e-01 -5.54960060e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.747702638
Centerline is valid?  [True, True]
Translation: X:52.57, Y:3.21, Z:-0.56
[[ 9.99465066e-01 -3.09639966e-02  1.05267764e-02  5.25656023e+01]
 [ 3.09611049e-02  9.99520494e-01  4.37589342e-04  3.21014103e+00]
 [-1.05352783e-02 -1.11434632e-04  9.99944496e-01 -5.55604233e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.807702638
Centerline is valid?  [True, True]
Translation: X:52.63, Y:3.21, Z:-0.56
[[ 9.99370480e-01 -3.38796464e-02  1.05267856e-02  5.26256283e+01]
 [ 3.38769188e-02  9.99425917e-01  4.37367749e-04  3.21269759e+00]
 [-1.05355602e-02 -8.04773561e-05  9.99944496e-01 -5.56237095e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.867702638
Centerline is valid?  [True, True]
Translation: X:52.69, Y:3.22, Z:-0.56
[[ 9.99338736e-01 -3.48034148e-02  1.05267856e-02  5.26876169e+01]
 [ 3.48007384e-02  9.99394175e-01  4.37367749e-04  3.21998430e+00]
 [-1.05356301e-02 -7.07386216e-05  9.99944496e-01 -5.56892859e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.927702638
Centerline is valid?  [True, True]
Translation: X:52.75, Y:3.22, Z:-0.56
[[ 9.99281445e-01 -3.64112660e-02  1.05268080e-02  5.27482023e+01]
 [ 3.64086845e-02  9.99336889e-01  4.36827343e-04  3.22452298e+00]
 [-1.05357330e-02 -5.32462262e-05  9.99944496e-01 -5.57532228e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 51.987702638
Centerline is valid?  [True, True]
Translation: X:52.81, Y:3.23, Z:-0.56
[[ 9.99068298e-01 -4.18535714e-02  1.05268191e-02  5.28087594e+01]
 [ 4.18512948e-02  9.99123755e-01  4.36559544e-04  3.22637657e+00]
 [-1.05358666e-02  4.40820948e-06  9.99944496e-01 -5.58170337e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.047702638
Centerline is valid?  [True, True]
Translation: X:52.87, Y:3.23, Z:-0.56
[[ 9.98882265e-01 -4.60804333e-02  1.05268278e-02  5.28703239e+01]
 [ 4.60783936e-02  9.98937731e-01  4.36349552e-04  3.23006829e+00]
 [-1.05357527e-02  4.91974869e-05  9.99944496e-01 -5.58819900e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.107702638
Centerline is valid?  [True, True]
Translation: X:52.93, Y:3.23, Z:-0.56
[[ 9.98640435e-01 -5.10535643e-02  1.05268573e-02  5.29329975e+01]
 [ 5.10518083e-02  9.98695911e-01  4.35637221e-04  3.23326728e+00]
 [-1.05353702e-02  1.02370158e-04  9.99944496e-01 -5.59480530e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.167702638
Centerline is valid?  [True, True]
Translation: X:52.99, Y:3.24, Z:-0.56
[[ 9.98369198e-01 -5.61081896e-02  1.05268839e-02  5.29930483e+01]
 [ 5.61067212e-02  9.98424682e-01  4.34993546e-04  3.23606986e+00]
 [-1.05347074e-02  1.56344783e-04  9.99944496e-01 -5.60113430e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.227702638
Centerline is valid?  [True, True]
Translation: X:53.05, Y:3.24, Z:-0.56
[[ 9.98264075e-01 -5.79484396e-02  1.05268839e-02  5.30541608e+01]
 [ 5.79470735e-02  9.98319562e-01  4.34993546e-04  3.23809878e+00]
 [-1.05344013e-02  1.75763686e-04  9.99944496e-01 -5.60757672e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.287702638
Centerline is valid?  [True, True]
Translation: X:53.12, Y:3.24, Z:-0.56
[[ 9.98289751e-01 -5.75044117e-02  1.05268949e-02  5.31170397e+01]
 [ 5.75030237e-02  9.98345238e-01  4.34726335e-04  3.24032445e+00]
 [-1.05344741e-02  1.71345445e-04  9.99944496e-01 -5.61420388e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.347702638
Centerline is valid?  [True, True]
Translation: X:53.18, Y:3.24, Z:-0.56
[[ 9.98415257e-01 -5.52825312e-02  1.05269648e-02  5.31766293e+01]
 [ 5.52810376e-02  9.98470740e-01  4.33028362e-04  3.24288721e+00]
 [-1.05348052e-02  1.49599413e-04  9.99944496e-01 -5.62047505e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.407702637999996
Centerline is valid?  [True, True]
Translation: X:53.24, Y:3.25, Z:-0.56
[[ 9.98784416e-01 -4.81546736e-02  1.05269648e-02  5.32387116e+01]
 [ 4.81527840e-02  9.98839888e-01  4.33028362e-04  3.24916327e+00]
 [-1.05356047e-02  7.44006823e-05  9.99944496e-01 -5.62703797e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.467702638
Centerline is valid?  [True, True]
Translation: X:53.30, Y:3.26, Z:-0.56
[[ 9.99226420e-01 -3.78912201e-02  1.05269869e-02  5.33005307e+01]
 [ 3.78887664e-02  9.99281869e-01  4.32489799e-04  3.25501764e+00]
 [-1.05358147e-02 -3.33006854e-05  9.99944496e-01 -5.63356712e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.527702638
Centerline is valid?  [True, True]
Translation: X:53.36, Y:3.26, Z:-0.56
[[ 9.99405946e-01 -3.28167052e-02  1.05270494e-02  5.33628627e+01]
 [ 3.28139861e-02  9.99461383e-01  4.30963699e-04  3.25927307e+00]
 [-1.05355222e-02 -8.52732309e-05  9.99944496e-01 -5.64013553e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.587702637999996
Centerline is valid?  [True, True]
Translation: X:53.42, Y:3.26, Z:-0.56
[[ 9.99645766e-01 -2.44442815e-02  1.05271110e-02  5.34242075e+01]
 [ 2.44411140e-02  9.99701179e-01  4.29454703e-04  3.26422587e+00]
 [-1.05344629e-02 -1.72008257e-04  9.99944496e-01 -5.64660309e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.647702638
Centerline is valid?  [True, True]
Translation: X:53.49, Y:3.27, Z:-0.57
[[ 9.99710374e-01 -2.16413429e-02  1.05271236e-02  5.34857089e+01]
 [ 2.16380233e-02  9.99765778e-01  4.29144170e-04  3.26771472e+00]
 [-1.05339452e-02 -2.01233733e-04  9.99944496e-01 -5.65309029e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.707702638
Centerline is valid?  [True, True]
Translation: X:53.55, Y:3.27, Z:-0.57
[[ 9.99800496e-01 -1.69749228e-02  1.05271321e-02  5.35463740e+01]
 [ 1.69713469e-02  9.99855884e-01  4.28935866e-04  3.27222938e+00]
 [-1.05328961e-02 -2.50190681e-04  9.99944496e-01 -5.65949466e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.767702637999996
Centerline is valid?  [True, True]
Translation: X:53.61, Y:3.28, Z:-0.57
[[ 9.99843835e-01 -1.41945353e-02  1.05271405e-02  5.36076649e+01]
 [ 1.41908075e-02  9.99899214e-01  4.28729028e-04  3.27761314e+00]
 [-1.05321651e-02 -2.79273451e-04  9.99944496e-01 -5.66596864e-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 52.827702638
Centerline is valid?  [True, True]
Translation: X:53.67, Y:3.28, Z:-0.57
[[ 9.99838549e-01 -1.45620833e-02  1.05271574e-02  5.36701370e+01]
 [ 1.45583803e-02  9.99893929e-01  4.28314103e-04  3.28235954e+00]
 [-1.05322779e-02 -2.74986591e-04  9.99944496e-01 -5.67256257e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.887702638
Centerline is valid?  [True, True]
Translation: X:53.73, Y:3.29, Z:-0.57
[[ 9.99812950e-01 -1.62247519e-02  1.05272166e-02  5.37322398e+01]
 [ 1.62211563e-02  9.99868337e-01  4.26853091e-04  3.28613363e+00]
 [-1.05327562e-02 -2.56009622e-04  9.99944496e-01 -5.67910506e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 52.947702637999996
Centerline is valid?  [True, True]
Translation: X:53.79, Y:3.29, Z:-0.57
[[ 9.99773401e-01 -1.85019796e-02  1.05272770e-02  5.37940768e+01]
 [ 1.84985259e-02  9.99828797e-01  4.25358488e-04  3.29137021e+00]
 [-1.05333447e-02 -2.30522995e-04  9.99944496e-01 -5.68562548e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.007702638
Centerline is valid?  [True, True]
Translation: X:53.86, Y:3.30, Z:-0.57
[[ 9.99767170e-01 -1.88356625e-02  1.05272987e-02  5.38550288e+01]
 [ 1.88322330e-02  9.99822568e-01  4.24821428e-04  3.29654292e+00]
 [-1.05334326e-02 -2.26469974e-04  9.99944496e-01 -5.69206010e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.067702638
Centerline is valid?  [True, True]
Translation: X:53.92, Y:3.30, Z:-0.57
[[ 9.99704842e-01 -2.18953325e-02  1.05273074e-02  5.39173929e+01]
 [ 2.18920748e-02  9.99760250e-01  4.24604738e-04  3.30181042e+00]
 [-1.05340804e-02 -1.94014811e-04  9.99944496e-01 -5.69864634e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.127702638
Centerline is valid?  [True, True]
Translation: X:53.98, Y:3.31, Z:-0.57
[[ 9.99612942e-01 -2.57515426e-02  1.05273285e-02  5.39800828e+01]
 [ 2.57485041e-02  9.99668362e-01  4.24080899e-04  3.30612303e+00]
 [-1.05347580e-02 -1.52853792e-04  9.99944496e-01 -5.70526034e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.187702638
Centerline is valid?  [True, True]
Translation: X:54.04, Y:3.31, Z:-0.57
[[ 9.99423961e-01 -3.22632837e-02  1.05273969e-02  5.40410923e+01]
 [ 3.22606243e-02  9.99479401e-01  4.22376775e-04  3.31189581e+00]
 [-1.05355436e-02 -8.25130724e-05  9.99944496e-01 -5.71169398e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.247702638
Centerline is valid?  [True, True]
Translation: X:54.10, Y:3.32, Z:-0.57
[[ 9.99267918e-01 -3.67804671e-02  1.05274012e-02  5.41035487e+01]
 [ 3.67780595e-02  9.99323369e-01  4.22271239e-04  3.31578643e+00]
 [-1.05358093e-02 -3.47847154e-05  9.99944496e-01 -5.71828495e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.307702638
Centerline is valid?  [True, True]
Translation: X:54.16, Y:3.32, Z:-0.57
[[ 9.99114867e-01 -4.07265983e-02  1.05274223e-02  5.41646553e+01]
 [ 4.07244153e-02  9.99170328e-01  4.21742572e-04  3.32206656e+00]
 [-1.05358642e-02  7.35384549e-06  9.99944496e-01 -5.72474044e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.367702638
Centerline is valid?  [True, True]
Translation: X:54.22, Y:3.33, Z:-0.57
[[ 9.98858718e-01 -4.65879145e-02  1.05274309e-02  5.42243278e+01]
 [ 4.65860591e-02  9.98914191e-01  4.21529298e-04  3.32500475e+00]
 [-1.05356383e-02  6.93833029e-05  9.99944496e-01 -5.73103341e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.427702638
Centerline is valid?  [True, True]
Translation: X:54.29, Y:3.33, Z:-0.57
[[ 9.98669470e-01 -5.04822973e-02  1.05274309e-02  5.42862673e+01]
 [ 5.04806582e-02  9.98724950e-01  4.21529298e-04  3.32747757e+00]
 [-1.05352876e-02  1.10463199e-04  9.99944496e-01 -5.73756483e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.487702638
Centerline is valid?  [True, True]
Translation: X:54.35, Y:3.33, Z:-0.57
[[ 9.98637064e-01 -5.11193465e-02  1.05274522e-02  5.43470310e+01]
 [ 5.11177485e-02  9.98692545e-01  4.20997206e-04  3.33174392e+00]
 [-1.05352091e-02  1.17716237e-04  9.99944496e-01 -5.74397566e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.547702638
Centerline is valid?  [True, True]
Translation: X:54.41, Y:3.34, Z:-0.58
[[ 9.98691615e-01 -5.00422723e-02  1.05275116e-02  5.44088849e+01]
 [ 5.00406302e-02  9.98747095e-01  4.19504883e-04  3.33592143e+00]
 [-1.05353146e-02  1.07847306e-04  9.99944496e-01 -5.75049297e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.607702638
Centerline is valid?  [True, True]
Translation: X:54.47, Y:3.34, Z:-0.58
[[ 9.98683662e-01 -5.02007352e-02  1.05275245e-02  5.44713318e+01]
 [ 5.01991053e-02  9.98739142e-01  4.19181347e-04  3.34018932e+00]
 [-1.05352940e-02  1.09842748e-04  9.99944496e-01 -5.75708267e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.667702638
Centerline is valid?  [True, True]
Translation: X:54.53, Y:3.35, Z:-0.58
[[ 9.98694640e-01 -4.99818597e-02  1.05275457e-02  5.45312430e+01]
 [ 4.99802232e-02  9.98750120e-01  4.18648712e-04  3.34519939e+00]
 [-1.05353124e-02  1.08066858e-04  9.99944496e-01 -5.76340678e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.727702638
Centerline is valid?  [True, True]
Translation: X:54.59, Y:3.35, Z:-0.58
[[ 9.98752802e-01 -4.88058581e-02  1.05275457e-02  5.45916376e+01]
 [ 4.88041562e-02  9.98808279e-01  4.18648712e-04  3.34883711e+00]
 [-1.05354323e-02  9.56614100e-05  9.99944496e-01 -5.76978044e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.787702638
Centerline is valid?  [True, True]
Translation: X:54.65, Y:3.35, Z:-0.58
[[ 9.98755353e-01 -4.87536193e-02  1.05275503e-02  5.46530192e+01]
 [ 4.87519158e-02  9.98810831e-01  4.18532007e-04  3.35368584e+00]
 [-1.05354362e-02  9.52271643e-05  9.99944496e-01 -5.77626210e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.847702638
Centerline is valid?  [True, True]
Translation: X:54.71, Y:3.36, Z:-0.58
[[ 9.98806479e-01 -4.76947262e-02  1.05275834e-02  5.47148182e+01]
 [ 4.76929727e-02  9.98861955e-01  4.17699239e-04  3.35800423e+00]
 [-1.05355246e-02  8.48910392e-05  9.99944496e-01 -5.78277952e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.907702637999996
Centerline is valid?  [True, True]
Translation: X:54.77, Y:3.36, Z:-0.58
[[ 9.98856522e-01 -4.66349411e-02  1.05276417e-02  5.47747953e+01]
 [ 4.66331443e-02  9.98911996e-01  4.16223640e-04  3.36248314e+00]
 [-1.05355982e-02  7.51893370e-05  9.99944496e-01 -5.78910041e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 53.967702638
Centerline is valid?  [True, True]
Translation: X:54.84, Y:3.37, Z:-0.58
[[ 9.98869493e-01 -4.63562707e-02  1.05276417e-02  5.48368377e+01]
 [ 4.63544584e-02  9.98924968e-01  4.16223640e-04  3.36573496e+00]
 [-1.05356187e-02  7.22500326e-05  9.99944496e-01 -5.79564590e-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 54.027702638
Centerline is valid?  [True, True]
Translation: X:54.90, Y:3.37, Z:-0.58
[[ 9.98922073e-01 -4.52090679e-02  1.05276708e-02  5.48985667e+01]
 [ 4.52071997e-02  9.98977546e-01  4.15486710e-04  3.36984812e+00]
 [-1.05356905e-02  6.08876695e-05  9.99944496e-01 -5.80215582e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.087702637999996
Centerline is valid?  [True, True]
Translation: X:54.96, Y:3.38, Z:-0.58
[[ 9.98974656e-01 -4.40318550e-02  1.05277274e-02  5.49600728e+01]
 [ 4.40299365e-02  9.99030126e-01  4.14046887e-04  3.37521344e+00]
 [-1.05357481e-02  4.99128233e-05  9.99944496e-01 -5.80864153e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.147702638
Centerline is valid?  [True, True]
Translation: X:55.02, Y:3.38, Z:-0.58
[[ 9.98992667e-01 -4.36212996e-02  1.05277833e-02  5.50218643e+01]
 [ 4.36193733e-02  9.99048137e-01  4.12620716e-04  3.37827034e+00]
 [-1.05357614e-02  4.70102409e-05  9.99944496e-01 -5.81514781e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.207702638
Centerline is valid?  [True, True]
Translation: X:55.08, Y:3.38, Z:-0.58
[[ 9.98941794e-01 -4.47711685e-02  1.05278038e-02  5.50826717e+01]
 [ 4.47693116e-02  9.98997267e-01  4.12096578e-04  3.38143615e+00]
 [-1.05356973e-02  5.96620354e-05  9.99944496e-01 -5.82155849e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.267702637999996
Centerline is valid?  [True, True]
Translation: X:55.14, Y:3.38, Z:-0.58
[[ 9.98884384e-01 -4.60342621e-02  1.05278121e-02  5.51447048e+01]
 [ 4.60324776e-02  9.98939859e-01  4.11886374e-04  3.38277440e+00]
 [-1.05356120e-02  7.31944054e-05  9.99944496e-01 -5.82809332e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.327702638
Centerline is valid?  [True, True]
Translation: X:55.20, Y:3.38, Z:-0.58
[[ 9.98801174e-01 -4.78056460e-02  1.05278325e-02  5.52048082e+01]
 [ 4.78039654e-02  9.98856652e-01  4.11363702e-04  3.38391928e+00]
 [-1.05354610e-02  9.24015915e-05  9.99944496e-01 -5.83442157e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.387702638
Centerline is valid?  [True, True]
Translation: X:55.27, Y:3.39, Z:-0.58
[[ 9.98666594e-01 -5.05390908e-02  1.05278325e-02  5.52663096e+01]
 [ 5.05375621e-02  9.98722076e-01  4.11363702e-04  3.38703751e+00]
 [-1.05351687e-02  1.21235800e-04  9.99944496e-01 -5.84090952e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.447702637999996
Centerline is valid?  [True, True]
Translation: X:55.33, Y:3.39, Z:-0.58
[[ 9.98646527e-01 -5.09340683e-02  1.05278447e-02  5.53267551e+01]
 [ 5.09325648e-02  9.98702010e-01  4.11050926e-04  3.38787254e+00]
 [-1.05351161e-02  1.25715552e-04  9.99944496e-01 -5.84727430e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.507702638
Centerline is valid?  [True, True]
Translation: X:55.39, Y:3.39, Z:-0.59
[[ 9.98842110e-01 -4.69425627e-02  1.05278487e-02  5.53872014e+01]
 [ 4.69408386e-02  9.98897587e-01  4.10946884e-04  3.38728708e+00]
 [-1.05355336e-02  8.37149960e-05  9.99944496e-01 -5.85363506e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.567702638
Centerline is valid?  [True, True]
Translation: X:55.45, Y:3.39, Z:-0.59
[[ 9.99007296e-01 -4.32849539e-02  1.05278487e-02  5.54476997e+01]
 [ 4.32830266e-02  9.99062766e-01  4.10946884e-04  3.39300718e+00]
 [-1.05357695e-02  4.51382219e-05  9.99944496e-01 -5.86002810e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.627702638
Centerline is valid?  [True, True]
Translation: X:55.51, Y:3.40, Z:-0.59
[[ 9.99219639e-01 -3.80693765e-02  1.05278571e-02  5.55100387e+01]
 [ 3.80671619e-02  9.99275099e-01  4.10731787e-04  3.39684994e+00]
 [-1.05358618e-02 -9.64562553e-06  9.99944496e-01 -5.86660540e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.687702638
Centerline is valid?  [True, True]
Translation: X:55.57, Y:3.40, Z:-0.59
[[ 9.99501260e-01 -2.97723607e-02  1.05279199e-02  5.55722220e+01]
 [ 2.97697028e-02  9.99556700e-01  4.09115998e-04  3.39627411e+00]
 [-1.05354333e-02 -9.54989082e-05  9.99944496e-01 -5.87313644e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.747702638
Centerline is valid?  [True, True]
Translation: X:55.63, Y:3.40, Z:-0.59
[[ 9.99707594e-01 -2.17689603e-02  1.05279785e-02  5.56327283e+01]
 [ 2.17658746e-02  9.99763012e-01  4.07603328e-04  3.39923664e+00]
 [-1.05343566e-02 -1.78333483e-04  9.99944496e-01 -5.87950630e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.807702638
Centerline is valid?  [True, True]
Translation: X:55.69, Y:3.40, Z:-0.59
[[ 9.99826798e-01 -1.53471921e-02  1.05279836e-02  5.56947333e+01]
 [ 1.53437518e-02  9.99882195e-01  4.07470741e-04  3.40144353e+00]
 [-1.05329969e-02 -2.45861398e-04  9.99944496e-01 -5.88604242e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.867702638
Centerline is valid?  [True, True]
Translation: X:55.76, Y:3.40, Z:-0.59
[[ 9.99909941e-01 -8.32285483e-03  1.05280412e-02  5.57551537e+01]
 [ 8.31904119e-03  9.99965314e-01  4.05977959e-04  3.40455905e+00]
 [-1.05310549e-02 -3.18358189e-04  9.99944496e-01 -5.89240400e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.927702638
Centerline is valid?  [True, True]
Translation: X:55.82, Y:3.41, Z:-0.59
[[ 9.99928568e-01 -5.65848461e-03  1.05280458e-02  5.58160486e+01]
 [ 5.65452471e-03  9.99983931e-01  4.05857943e-04  3.40661644e+00]
 [-1.05301732e-02 -3.46297856e-04  9.99944496e-01 -5.89882274e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 54.987702638
Centerline is valid?  [True, True]
Translation: X:55.88, Y:3.40, Z:-0.59
[[ 9.99937289e-01 -3.81819075e-03  1.05280584e-02  5.58772930e+01]
 [ 3.81413240e-03  9.99992644e-01  4.05530579e-04  3.40468352e+00]
 [-1.05295294e-02 -3.65349739e-04  9.99944496e-01 -5.90526036e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.047702638
Centerline is valid?  [True, True]
Translation: X:55.94, Y:3.41, Z:-0.59
[[ 9.99932183e-01 -4.97892976e-03  1.05280636e-02  5.59380412e+01]
 [ 4.97493708e-03  9.99987543e-01  4.05396404e-04  3.40705854e+00]
 [-1.05299509e-02 -3.52992458e-04  9.99944496e-01 -5.91166484e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.107702638
Centerline is valid?  [True, True]
Translation: X:56.00, Y:3.40, Z:-0.59
[[ 9.99920032e-01 -7.00629192e-03  1.05281168e-02  5.59974204e+01]
 [ 7.00242609e-03  9.99975401e-01  4.04009282e-04  3.40416231e+00]
 [-1.05306885e-02 -3.30254614e-04  9.99944496e-01 -5.91789344e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.167702638
Centerline is valid?  [True, True]
Translation: X:56.06, Y:3.40, Z:-0.59
[[ 9.99884893e-01 -1.09252058e-02  1.05281129e-02  5.60581601e+01]
 [ 1.09215559e-02  9.99940276e-01  4.04112746e-04  3.40368770e+00]
 [-1.05318991e-02 -2.89082857e-04  9.99944496e-01 -5.92428747e-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 55.227702638
Centerline is valid?  [True, True]
Translation: X:56.12, Y:3.40, Z:-0.59
[[ 9.99854552e-01 -1.34176232e-02  1.05281208e-02  5.61195657e+01]
 [ 1.34141136e-02  9.99909945e-01  4.03904560e-04  3.40359789e+00]
 [-1.05325922e-02 -2.62620405e-04  9.99944496e-01 -5.93075061e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.287702638
Centerline is valid?  [True, True]
Translation: X:56.18, Y:3.40, Z:-0.59
[[ 9.99799515e-01 -1.70319727e-02  1.05281267e-02  5.61823056e+01]
 [ 1.70286649e-02  9.99854920e-01  4.03752100e-04  3.40268028e+00]
 [-1.05334760e-02 -2.24391212e-04  9.99944496e-01 -5.93735135e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.347702638
Centerline is valid?  [True, True]
Translation: X:56.25, Y:3.40, Z:-0.59
[[ 9.99743606e-01 -2.00469191e-02  1.05281838e-02  5.62450421e+01]
 [ 2.00437942e-02  9.99799022e-01  4.02256985e-04  3.40294015e+00]
 [-1.05341319e-02 -1.91129099e-04  9.99944496e-01 -5.94394552e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.407702637999996
Centerline is valid?  [True, True]
Translation: X:56.31, Y:3.40, Z:-0.60
[[ 9.99686890e-01 -2.26997472e-02  1.05282041e-02  5.63055582e+01]
 [ 2.26967749e-02  9.99742314e-01  4.01724729e-04  3.40040973e+00]
 [-1.05346102e-02 -1.62642665e-04  9.99944496e-01 -5.95030262e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.467702638
Centerline is valid?  [True, True]
Translation: X:56.37, Y:3.40, Z:-0.60
[[ 9.99694509e-01 -2.23616910e-02  1.05282121e-02  5.63681954e+01]
 [ 2.23587022e-02  9.99749932e-01  4.01516156e-04  3.40059181e+00]
 [-1.05345579e-02 -1.65996338e-04  9.99944496e-01 -5.95689659e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.527702638
Centerline is valid?  [True, True]
Translation: X:56.43, Y:3.40, Z:-0.60
[[ 9.99674491e-01 -2.32393514e-02  1.05282684e-02  5.64299565e+01]
 [ 2.32364268e-02  9.99729918e-01  4.00034422e-04  3.40235442e+00]
 [-1.05347214e-02 -1.55264869e-04  9.99944496e-01 -5.96339437e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.587702637999996
Centerline is valid?  [True, True]
Translation: X:56.49, Y:3.40, Z:-0.60
[[ 9.99662222e-01 -2.37612306e-02  1.05283241e-02  5.64920174e+01]
 [ 2.37583505e-02  9.99717651e-01  3.98562291e-04  3.40055707e+00]
 [-1.05348218e-02 -1.48292051e-04  9.99944496e-01 -5.96990962e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.647702638
Centerline is valid?  [True, True]
Translation: X:56.55, Y:3.40, Z:-0.60
[[ 9.99610770e-01 -2.58352844e-02  1.05283438e-02  5.65533826e+01]
 [ 2.58325248e-02  9.99666205e-01  3.98040781e-04  3.40145737e+00]
 [-1.05351130e-02 -1.25912149e-04  9.99944496e-01 -5.97637010e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.707702638
Centerline is valid?  [True, True]
Translation: X:56.61, Y:3.40, Z:-0.60
[[ 9.99465746e-01 -3.09414926e-02  1.05283521e-02  5.66136499e+01]
 [ 3.09390185e-02  9.99521195e-01  3.97822329e-04  3.40270606e+00]
 [-1.05356203e-02 -7.18729113e-05  9.99944496e-01 -5.98271882e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.767702637999996
Centerline is valid?  [True, True]
Translation: X:56.67, Y:3.40, Z:-0.60
[[ 9.99286565e-01 -3.62700107e-02  1.05283603e-02  5.66748376e+01]
 [ 3.62678346e-02  9.99342027e-01  3.97603486e-04  3.39843513e+00]
 [-1.05358540e-02 -1.54789912e-05  9.99944496e-01 -5.98914249e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.827702638
Centerline is valid?  [True, True]
Translation: X:56.74, Y:3.40, Z:-0.60
[[ 9.99218307e-01 -3.81041794e-02  1.05283644e-02  5.67360457e+01]
 [ 3.81021062e-02  9.99273772e-01  3.97495295e-04  3.40107318e+00]
 [-1.05358647e-02  3.96828420e-06  9.99944496e-01 -5.99559669e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.887702638
Centerline is valid?  [True, True]
Translation: X:56.80, Y:3.40, Z:-0.60
[[ 9.99177116e-01 -3.91694401e-02  1.05283725e-02  5.67978894e+01]
 [ 3.91674283e-02  9.99232583e-01  3.97281253e-04  3.40331847e+00]
 [-1.05358541e-02  1.54149385e-05  9.99944496e-01 -6.00211541e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 55.947702637999996
Centerline is valid?  [True, True]
Translation: X:56.86, Y:3.40, Z:-0.60
[[ 9.99134822e-01 -4.02338259e-02  1.05284008e-02  5.68574345e+01]
 [ 4.02318811e-02  9.99190291e-01  3.96529116e-04  3.39919115e+00]
 [-1.05358298e-02  2.73913227e-05  9.99944496e-01 -6.00836254e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.007702638
Centerline is valid?  [True, True]
Translation: X:56.92, Y:3.40, Z:-0.60
[[ 9.99129193e-01 -4.03733535e-02  1.05283968e-02  5.69179375e+01]
 [ 4.03714154e-02  9.99184663e-01  3.96635314e-04  3.40398904e+00]
 [-1.05358261e-02  2.87563609e-05  9.99944496e-01 -6.01475276e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.067702638
Centerline is valid?  [True, True]
Translation: X:56.98, Y:3.40, Z:-0.60
[[ 9.99149562e-01 -3.98661008e-02  1.05284009e-02  5.69795930e+01]
 [ 3.98641357e-02  9.99205031e-01  3.96527074e-04  3.40496599e+00]
 [-1.05358391e-02  2.35157501e-05  9.99944496e-01 -6.02124747e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.127702638
Centerline is valid?  [True, True]
Translation: X:57.04, Y:3.41, Z:-0.60
[[ 9.99181207e-01 -3.90649184e-02  1.05284301e-02  5.70403471e+01]
 [ 3.90629170e-02  9.99236675e-01  3.95749726e-04  3.40574422e+00]
 [-1.05358534e-02  1.58455029e-05  9.99944496e-01 -6.02764121e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.187702638
Centerline is valid?  [True, True]
Translation: X:57.10, Y:3.41, Z:-0.60
[[ 9.99103653e-01 -4.10005160e-02  1.05284378e-02  5.71006817e+01]
 [ 4.09986242e-02  9.99159125e-01  3.95545695e-04  3.40769772e+00]
 [-1.05358023e-02  3.64603158e-05  9.99944496e-01 -6.03399996e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.247702638
Centerline is valid?  [True, True]
Translation: X:57.16, Y:3.41, Z:-0.60
[[ 9.99013678e-01 -4.31372652e-02  1.05284401e-02  5.71608106e+01]
 [ 4.31354927e-02  9.99069153e-01  3.95483768e-04  3.40854734e+00]
 [-1.05356998e-02  5.90557579e-05  9.99944496e-01 -6.04033382e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.307702638
Centerline is valid?  [True, True]
Translation: X:57.22, Y:3.41, Z:-0.60
[[ 9.98974077e-01 -4.40448040e-02  1.05284442e-02  5.72207754e+01]
 [ 4.40430831e-02  9.99029554e-01  3.95376035e-04  3.41001526e+00]
 [-1.05356411e-02  6.87347305e-05  9.99944496e-01 -6.04665249e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.367702638
Centerline is valid?  [True, True]
Translation: X:57.28, Y:3.41, Z:-0.61
[[ 9.98948906e-01 -4.46120417e-02  1.05284623e-02  5.72833591e+01]
 [ 4.46103573e-02  9.99004384e-01  3.94893016e-04  3.41070270e+00]
 [-1.05355970e-02  7.52005181e-05  9.99944496e-01 -6.05324087e-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 56.427702638
Centerline is valid?  [True, True]
Translation: X:57.34, Y:3.41, Z:-0.61
[[ 9.98858733e-01 -4.65873732e-02  1.05284824e-02  5.73434597e+01]
 [ 4.65858041e-02  9.98914214e-01  3.94354506e-04  3.41139469e+00]
 [-1.05354227e-02  9.65733794e-05  9.99944496e-01 -6.05956739e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.487702638
Centerline is valid?  [True, True]
Translation: X:57.41, Y:3.41, Z:-0.61
[[ 9.98807498e-01 -4.76731979e-02  1.05284865e-02  5.74059162e+01]
 [ 4.76716903e-02  9.98862981e-01  3.94246036e-04  3.41154039e+00]
 [-1.05353104e-02  1.08134852e-04  9.99944496e-01 -6.06614321e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.547702638
Centerline is valid?  [True, True]
Translation: X:57.47, Y:3.41, Z:-0.61
[[ 9.98630253e-01 -5.12519996e-02  1.05285429e-02  5.74669266e+01]
 [ 5.12507068e-02  9.98685742e-01  3.92734667e-04  3.41109215e+00]
 [-1.05348341e-02  1.47398545e-04  9.99944496e-01 -6.07255350e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.607702638
Centerline is valid?  [True, True]
Translation: X:57.53, Y:3.41, Z:-0.61
[[ 9.98654051e-01 -5.07861745e-02  1.05285935e-02  5.75290970e+01]
 [ 5.07848702e-02  9.98709539e-01  3.91373983e-04  3.41060740e+00]
 [-1.05348831e-02  1.43846039e-04  9.99944496e-01 -6.07908703e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.667702638
Centerline is valid?  [True, True]
Translation: X:57.59, Y:3.41, Z:-0.61
[[ 9.98776183e-01 -4.83247834e-02  1.05286478e-02  5.75914452e+01]
 [ 4.83233578e-02  9.98831668e-01  3.89905726e-04  3.41151340e+00]
 [-1.05351890e-02  1.19351064e-04  9.99944496e-01 -6.08564394e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.727702638
Centerline is valid?  [True, True]
Translation: X:57.65, Y:3.41, Z:-0.61
[[ 9.98988066e-01 -4.37263098e-02  1.05287028e-02  5.76530582e+01]
 [ 4.37246445e-02  9.99043545e-01  3.88416689e-04  3.41464143e+00]
 [-1.05356166e-02  7.23401484e-05  9.99944496e-01 -6.09213196e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.787702638
Centerline is valid?  [True, True]
Translation: X:57.71, Y:3.42, Z:-0.61
[[ 9.99350196e-01 -3.44721888e-02  1.05287570e-02  5.77142792e+01]
 [ 3.44700253e-02  9.99405657e-01  3.86942435e-04  3.41702881e+00]
 [-1.05358380e-02 -2.37644802e-05  9.99944496e-01 -6.09857594e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.847702638
Centerline is valid?  [True, True]
Translation: X:57.78, Y:3.42, Z:-0.61
[[ 9.99593903e-01 -2.64796900e-02  1.05287687e-02  5.77761298e+01]
 [ 2.64770864e-02  9.99649346e-01  3.86623280e-04  3.41869671e+00]
 [-1.05353144e-02 -1.07695156e-04  9.99944496e-01 -6.10509238e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.907702637999996
Centerline is valid?  [True, True]
Translation: X:57.84, Y:3.42, Z:-0.61
[[ 9.99704125e-01 -2.19272925e-02  1.05288202e-02  5.78377207e+01]
 [ 2.19244513e-02  9.99759556e-01  3.85215353e-04  3.42261011e+00]
 [-1.05347353e-02 -1.54262772e-04  9.99944496e-01 -6.11158169e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 56.967702638
Centerline is valid?  [True, True]
Translation: X:57.90, Y:3.42, Z:-0.61
[[ 9.99826523e-01 -1.53644860e-02  1.05288718e-02  5.78980978e+01]
 [ 1.53612958e-02  9.99881935e-01  3.83798338e-04  3.42409192e+00]
 [-1.05335256e-02 -2.21994643e-04  9.99944496e-01 -6.11793375e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.027702638
Centerline is valid?  [True, True]
Translation: X:57.96, Y:3.43, Z:-0.61
[[ 9.99872920e-01 -1.19702001e-02  1.05288789e-02  5.79592813e+01]
 [ 1.19668239e-02  9.99928321e-01  3.83604796e-04  3.42565970e+00]
 [-1.05327160e-02 -2.57558808e-04  9.99944496e-01 -6.12438056e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.087702637999996
Centerline is valid?  [True, True]
Translation: X:58.02, Y:3.43, Z:-0.61
[[ 9.99897361e-01 -9.71652022e-03  1.05288870e-02  5.80208456e+01]
 [ 9.71302152e-03  9.99952754e-01  3.83381430e-04  3.42782501e+00]
 [-1.05321147e-02 -2.81074774e-04  9.99944496e-01 -6.13086953e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.147702638
Centerline is valid?  [True, True]
Translation: X:58.08, Y:3.43, Z:-0.61
[[ 9.99909071e-01 -8.42567385e-03  1.05288951e-02  5.80809548e+01]
 [ 8.42210597e-03  9.99964460e-01  3.83159683e-04  3.42971820e+00]
 [-1.05317493e-02 -2.94449372e-04  9.99944496e-01 -6.13720425e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.207702638
Centerline is valid?  [True, True]
Translation: X:58.14, Y:3.43, Z:-0.61
[[ 9.99909771e-01 -8.34215472e-03  1.05289032e-02  5.81431058e+01]
 [ 8.33858456e-03  9.99965160e-01  3.82936897e-04  3.42865202e+00]
 [-1.05317309e-02 -2.95106196e-04  9.99944496e-01 -6.14374262e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.267702637999996
Centerline is valid?  [True, True]
Translation: X:58.20, Y:3.43, Z:-0.62
[[ 9.99929894e-01 -5.41751232e-03  1.05289194e-02  5.82035483e+01]
 [ 5.41378486e-03  9.99985272e-01  3.82490944e-04  3.43441455e+00]
 [-1.05308365e-02 -3.25462825e-04  9.99944496e-01 -6.15012552e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.327702638
Centerline is valid?  [True, True]
Translation: X:58.26, Y:3.44, Z:-0.62
[[ 9.99941634e-01 -2.42271481e-03  1.05289233e-02  5.82641408e+01]
 [ 2.41882263e-03  9.99997002e-01  3.82383232e-04  3.43568593e+00]
 [-1.05298181e-02 -3.56893316e-04  9.99944496e-01 -6.15650964e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.387702638
Centerline is valid?  [True, True]
Translation: X:58.32, Y:3.44, Z:-0.62
[[ 9.99943958e-01 -1.10552897e-03  1.05289283e-02  5.83247425e+01]
 [ 1.10156531e-03  9.99999320e-01  3.82246031e-04  3.43824002e+00]
 [-1.05293437e-02 -3.70626307e-04  9.99944496e-01 -6.16289940e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.447702637999996
Centerline is valid?  [True, True]
Translation: X:58.39, Y:3.44, Z:-0.62
[[ 9.99943505e-01  1.45856724e-03  1.05289363e-02  5.83857906e+01]
 [-1.46267051e-03  9.99998857e-01  3.82024362e-04  3.44281915e+00]
 [-1.05283671e-02 -3.97403144e-04  9.99944496e-01 -6.16934325e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.507702638
Centerline is valid?  [True, True]
Translation: X:58.44, Y:3.45, Z:-0.62
[[ 9.99940338e-01  2.90876216e-03  1.05289403e-02  5.84447319e+01]
 [-2.91294455e-03  9.99995684e-01  3.81914382e-04  3.44768284e+00]
 [-1.05277840e-02 -4.12561816e-04  9.99944496e-01 -6.17556721e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.567702638
Centerline is valid?  [True, True]
Translation: X:58.50, Y:3.45, Z:-0.62
[[ 9.99943647e-01  1.35816234e-03  1.05289324e-02  5.85029296e+01]
 [-1.36226120e-03  9.99998999e-01  3.82133466e-04  3.45160860e+00]
 [-1.05284028e-02 -3.96455088e-04  9.99944496e-01 -6.18171186e-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 57.627702637999995
Centerline is valid?  [True, True]
Translation: X:58.56, Y:3.45, Z:-0.62
[[ 9.99941696e-01 -2.39714134e-03  1.05289162e-02  5.85625422e+01]
 [ 2.39324569e-03  9.99997063e-01  3.82578611e-04  3.45379077e+00]
 [-1.05298024e-02 -3.57358021e-04  9.99944496e-01 -6.18800059e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.687702638
Centerline is valid?  [True, True]
Translation: X:58.62, Y:3.46, Z:-0.62
[[ 9.99914428e-01 -7.76393607e-03  1.05289116e-02  5.86234874e+01]
 [ 7.76033631e-03  9.99969815e-01  3.82705338e-04  3.45739891e+00]
 [-1.05315651e-02 -3.00964695e-04  9.99944496e-01 -6.19443262e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.747702638
Centerline is valid?  [True, True]
Translation: X:58.68, Y:3.46, Z:-0.62
[[ 9.99868789e-01 -1.23104546e-02  1.05289111e-02  5.86842682e+01]
 [ 1.23071065e-02  9.99924191e-01  3.82717903e-04  3.45910398e+00]
 [-1.05328244e-02 -2.53087255e-04  9.99944496e-01 -6.20083916e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.807702638
Centerline is valid?  [True, True]
Translation: X:58.74, Y:3.46, Z:-0.62
[[ 9.99823692e-01 -1.55475573e-02  1.05289192e-02  5.87447521e+01]
 [ 1.55443910e-02  9.99879105e-01  3.82496247e-04  3.46258609e+00]
 [-1.05335932e-02 -2.18763173e-04  9.99944496e-01 -6.20721939e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.867702638
Centerline is valid?  [True, True]
Translation: X:58.81, Y:3.46, Z:-0.62
[[ 9.99721148e-01 -2.11369002e-02  1.05289203e-02  5.88055401e+01]
 [ 2.11340441e-02  9.99776578e-01  3.82464673e-04  3.46397524e+00]
 [-1.05346521e-02 -1.59839356e-04  9.99944496e-01 -6.21362514e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.927702638
Centerline is valid?  [True, True]
Translation: X:58.87, Y:3.47, Z:-0.62
[[ 9.99691041e-01 -2.25158716e-02  1.05289280e-02  5.88672373e+01]
 [ 2.25130942e-02  9.99746475e-01  3.82253207e-04  3.46606968e+00]
 [-1.05348654e-02 -1.45096358e-04  9.99944496e-01 -6.22012790e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 57.987702638
Centerline is valid?  [True, True]
Translation: X:58.93, Y:3.47, Z:-0.62
[[ 9.99710690e-01 -2.16258711e-02  1.05289442e-02  5.89268057e+01]
 [ 2.16230490e-02  9.99766122e-01  3.81807833e-04  3.47237951e+00]
 [-1.05347386e-02 -1.54029496e-04  9.99944496e-01 -6.22642078e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.047702638
Centerline is valid?  [True, True]
Translation: X:58.99, Y:3.48, Z:-0.62
[[ 9.99726239e-01 -2.08946969e-02  1.05289592e-02  5.89886885e+01]
 [ 2.08918387e-02  9.99781669e-01  3.81391196e-04  3.47546125e+00]
 [-1.05346295e-02 -1.61317468e-04  9.99944496e-01 -6.23294523e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.107702638
Centerline is valid?  [True, True]
Translation: X:59.05, Y:3.48, Z:-0.62
[[ 9.99708110e-01 -2.17447901e-02  1.05289791e-02  5.90507118e+01]
 [ 2.17419848e-02  9.99763543e-01  3.80843240e-04  3.47986334e+00]
 [-1.05347708e-02 -1.51811173e-04  9.99944496e-01 -6.23948847e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.167702638
Centerline is valid?  [True, True]
Translation: X:59.11, Y:3.48, Z:-0.62
[[ 9.99705912e-01 -2.18455679e-02  1.05290348e-02  5.91126282e+01]
 [ 2.18427845e-02  9.99761346e-01  3.79295839e-04  3.48363726e+00]
 [-1.05348079e-02 -1.49200854e-04  9.99944496e-01 -6.24601012e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.227702638
Centerline is valid?  [True, True]
Translation: X:59.17, Y:3.49, Z:-0.63
[[ 9.99785211e-01 -1.78513317e-02  1.05290908e-02  5.91742497e+01]
 [ 1.78483432e-02  9.99840634e-01  3.77735501e-04  3.49068170e+00]
 [-1.05341559e-02 -1.89727542e-04  9.99944496e-01 -6.25251293e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.287702638
Centerline is valid?  [True, True]
Translation: X:59.24, Y:3.50, Z:-0.63
[[ 9.99853934e-01 -1.34628942e-02  1.05291067e-02  5.92354156e+01]
 [ 1.34596671e-02  9.99909343e-01  3.77292408e-04  3.49878500e+00]
 [-1.05332316e-02 -2.35519027e-04  9.99944496e-01 -6.25898055e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.347702638
Centerline is valid?  [True, True]
Translation: X:59.30, Y:3.50, Z:-0.63
[[ 9.99879046e-01 -1.14469007e-02  1.05291147e-02  5.92974799e+01]
 [ 1.14435642e-02  9.99934449e-01  3.77069288e-04  3.50449072e+00]
 [-1.05327407e-02 -2.56533080e-04  9.99944496e-01 -6.26553546e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.407702637999996
Centerline is valid?  [True, True]
Translation: X:59.36, Y:3.51, Z:-0.63
[[ 9.99884578e-01 -1.09529526e-02  1.05291301e-02  5.93588403e+01]
 [ 1.09495933e-02  9.99939980e-01  3.76638783e-04  3.50760285e+00]
 [-1.05326234e-02 -2.61305618e-04  9.99944496e-01 -6.27200480e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.467702638
Centerline is valid?  [True, True]
Translation: X:59.42, Y:3.51, Z:-0.63
[[ 9.99869784e-01 -1.22291286e-02  1.05291378e-02  5.94203269e+01]
 [ 1.22258423e-02  9.99925191e-01  3.76423307e-04  3.51164882e+00]
 [-1.05329534e-02 -2.47646712e-04  9.99944496e-01 -6.27849266e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.527702638
Centerline is valid?  [True, True]
Translation: X:59.48, Y:3.52, Z:-0.63
[[ 9.99885579e-01 -1.08612200e-02  1.05291454e-02  5.94835974e+01]
 [ 1.08578602e-02  9.99940981e-01  3.76209301e-04  3.51679313e+00]
 [-1.05326101e-02 -2.61842266e-04  9.99944496e-01 -6.28517249e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.587702637999996
Centerline is valid?  [True, True]
Translation: X:59.54, Y:3.52, Z:-0.63
[[ 9.99900784e-01 -9.35730321e-03  1.05291688e-02  5.95447908e+01]
 [ 9.35386696e-03  9.99956181e-01  3.75554779e-04  3.52227350e+00]
 [-1.05322216e-02 -2.77029074e-04  9.99944496e-01 -6.29163128e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.647702638
Centerline is valid?  [True, True]
Translation: X:59.61, Y:3.53, Z:-0.63
[[ 9.99914243e-01 -7.78736842e-03  1.05291764e-02  5.96062262e+01]
 [ 7.78384745e-03  9.99969635e-01  3.75340858e-04  3.52584600e+00]
 [-1.05317796e-02 -2.93351168e-04  9.99944496e-01 -6.29811195e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.707702638
Centerline is valid?  [True, True]
Translation: X:59.67, Y:3.53, Z:-0.63
[[ 9.99935970e-01 -4.14631959e-03  1.05291836e-02  5.96662769e+01]
 [ 4.14259908e-03  9.99991349e-01  3.75137283e-04  3.53243285e+00]
 [-1.05306480e-02 -3.31495077e-04  9.99944496e-01 -6.30445820e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.767702637999996
Centerline is valid?  [True, True]
Translation: X:59.73, Y:3.54, Z:-0.63
[[ 9.99944417e-01  5.46247711e-04  1.05291880e-02  5.97254583e+01]
 [-5.50226771e-04  9.99999778e-01  3.75014539e-04  3.53934023e+00]
 [-1.05289808e-02 -3.80787135e-04  9.99944496e-01 -6.31071477e-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 58.827702638
Centerline is valid?  [True, True]
Translation: X:59.79, Y:3.55, Z:-0.63
[[ 9.99933547e-01  4.69443002e-03  1.05291904e-02  5.97850145e+01]
 [-4.69863800e-03  9.99988891e-01  3.74947802e-04  3.54631986e+00]
 [-1.05273132e-02 -4.24395740e-04  9.99944496e-01 -6.31701152e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.887702638
Centerline is valid?  [True, True]
Translation: X:59.85, Y:3.55, Z:-0.63
[[ 9.99925317e-01  6.20453970e-03  1.05291904e-02  5.98455461e+01]
 [-6.20883126e-03  9.99980655e-01  3.74947802e-04  3.55285505e+00]
 [-1.05266603e-02 -4.40293766e-04  9.99944496e-01 -6.32340986e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 58.947702637999996
Centerline is valid?  [True, True]
Translation: X:59.90, Y:3.56, Z:-0.63
[[ 9.99922026e-01  6.71396363e-03  1.05291955e-02  5.99039658e+01]
 [-6.71828187e-03  9.99977362e-01  3.74803662e-04  3.55615646e+00]
 [-1.05264407e-02 -4.45512541e-04  9.99944496e-01 -6.32957250e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.007702638
Centerline is valid?  [True, True]
Translation: X:59.96, Y:3.56, Z:-0.63
[[ 9.99931332e-01  5.14474873e-03  1.05291804e-02  5.99634931e+01]
 [-5.14898458e-03  9.99986673e-01  3.75227619e-04  3.56108026e+00]
 [-1.05271096e-02 -4.29416440e-04  9.99944496e-01 -6.33586261e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.067702638
Centerline is valid?  [True, True]
Translation: X:60.02, Y:3.57, Z:-0.63
[[ 9.99941460e-01  2.49279796e-03  1.05291730e-02  6.00209271e+01]
 [-2.49688922e-03  9.99996812e-01  3.75436381e-04  3.56657575e+00]
 [-1.05282035e-02 -4.01704581e-04  9.99944496e-01 -6.34193265e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.127702637999995
Centerline is valid?  [True, True]
Translation: X:60.08, Y:3.57, Z:-0.63
[[ 9.99944558e-01 -1.31087356e-04  1.05291543e-02  6.00810702e+01]
 [ 1.27135876e-04  9.99999921e-01  3.75957896e-04  3.56686559e+00]
 [-1.05292028e-02 -3.74598419e-04  9.99944496e-01 -6.34827104e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.187702638
Centerline is valid?  [True, True]
Translation: X:60.14, Y:3.57, Z:-0.64
[[ 9.99944205e-01  8.50791695e-04  1.05291517e-02  6.01413693e+01]
 [-8.54798314e-04  9.99999564e-01  3.76031859e-04  3.57418515e+00]
 [-1.05288272e-02 -3.85011179e-04  9.99944496e-01 -6.35464852e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.247702638
Centerline is valid?  [True, True]
Translation: X:60.20, Y:3.58, Z:-0.64
[[ 9.99941334e-01  2.54260593e-03  1.05291555e-02  6.02011400e+01]
 [-2.54670509e-03  9.99996686e-01  3.75925940e-04  3.57712104e+00]
 [-1.05281648e-02 -4.02718540e-04  9.99944496e-01 -6.36095237e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.307702638
Centerline is valid?  [True, True]
Translation: X:60.26, Y:3.58, Z:-0.64
[[ 9.99939227e-01  3.26780378e-03  1.05291516e-02  6.02597234e+01]
 [-3.27194421e-03  9.99994576e-01  3.76033439e-04  3.57866382e+00]
 [-1.05278657e-02 -4.10461383e-04  9.99944496e-01 -6.36712776e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.367702638
Centerline is valid?  [True, True]
Translation: X:60.32, Y:3.58, Z:-0.64
[[ 9.99938131e-01  3.58780163e-03  1.05291362e-02  6.03177805e+01]
 [-3.59196432e-03  9.99993478e-01  3.76466043e-04  3.58260589e+00]
 [-1.05277168e-02 -4.14263033e-04  9.99944496e-01 -6.37325950e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.427702638
Centerline is valid?  [True, True]
Translation: X:60.38, Y:3.58, Z:-0.64
[[ 9.99923631e-01  6.47069154e-03  1.05291078e-02  6.03778808e+01]
 [-6.47502210e-03  9.99978966e-01  3.77257418e-04  3.58455464e+00]
 [-1.05264452e-02 -4.45404813e-04  9.99944496e-01 -6.37960193e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.487702638
Centerline is valid?  [True, True]
Translation: X:60.44, Y:3.59, Z:-0.64
[[ 9.99880790e-01  1.12935010e-02  1.05291024e-02  6.04381187e+01]
 [-1.12981000e-02  9.99936103e-01  3.77407271e-04  3.58840804e+00]
 [-1.05241674e-02 -4.96321132e-04  9.99944496e-01 -6.38596061e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.547702638
Centerline is valid?  [True, True]
Translation: X:60.50, Y:3.59, Z:-0.64
[[ 9.99813969e-01  1.61605852e-02  1.05291055e-02  6.04985625e+01]
 [-1.61654525e-02  9.99869259e-01  3.77322880e-04  3.58924400e+00]
 [-1.05216311e-02 -5.47460441e-04  9.99944496e-01 -6.39232760e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.607702638
Centerline is valid?  [True, True]
Translation: X:60.56, Y:3.59, Z:-0.64
[[ 9.99791795e-01  1.74786737e-02  1.05291043e-02  6.05577032e+01]
 [-1.74836142e-02  9.99847079e-01  3.77356305e-04  3.58923464e+00]
 [-1.05208985e-02 -5.61364535e-04  9.99944496e-01 -6.39855517e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.667702638
Centerline is valid?  [True, True]
Translation: X:60.62, Y:3.59, Z:-0.64
[[ 9.99704419e-01  2.19137712e-02  1.05290967e-02  6.06171206e+01]
 [-2.19189592e-02  9.99759679e-01  3.77568002e-04  3.59094663e+00]
 [-1.05182924e-02 -6.08243240e-04  9.99944496e-01 -6.40481989e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.727702638
Centerline is valid?  [True, True]
Translation: X:60.68, Y:3.59, Z:-0.64
[[ 9.99633528e-01  2.49388821e-02  1.05290925e-02  6.06773388e+01]
 [-2.49442385e-02  9.99688773e-01  3.77685707e-04  3.59428827e+00]
 [-1.05163965e-02 -6.40187489e-04  9.99944496e-01 -6.41117429e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.787702638
Centerline is valid?  [True, True]
Translation: X:60.74, Y:3.60, Z:-0.64
[[ 9.99702479e-01  2.20020937e-02  1.05290928e-02  6.07375758e+01]
 [-2.20072877e-02  9.99757739e-01  3.77674776e-04  3.59539118e+00]
 [-1.05182324e-02 -6.09279185e-04  9.99944496e-01 -6.41752112e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.847702638
Centerline is valid?  [True, True]
Translation: X:60.80, Y:3.59, Z:-0.64
[[ 9.99796499e-01  1.72075219e-02  1.05290890e-02  6.07978674e+01]
 [-1.72124520e-02  9.99851783e-01  3.77782198e-04  3.59290027e+00]
 [-1.05210277e-02 -5.58936757e-04  9.99944496e-01 -6.42386113e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.907702637999996
Centerline is valid?  [True, True]
Translation: X:60.86, Y:3.60, Z:-0.64
[[ 9.99835283e-01  1.47832663e-02  1.05290881e-02  6.08567611e+01]
 [-1.47880625e-02  9.99890579e-01  3.77807367e-04  3.59608100e+00]
 [-1.05223508e-02 -5.33449949e-04  9.99944496e-01 -6.43007468e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 59.967702638
Centerline is valid?  [True, True]
Translation: X:60.92, Y:3.60, Z:-0.64
[[ 9.99886893e-01  1.07395911e-02  1.05290837e-02  6.09173044e+01]
 [-1.07441650e-02  9.99942208e-01  3.77929961e-04  3.59910442e+00]
 [-1.05244164e-02 -4.91013427e-04  9.99944496e-01 -6.43646214e-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 60.027702638
Centerline is valid?  [True, True]
Translation: X:60.98, Y:3.60, Z:-0.64
[[ 9.99927419e-01  5.85623273e-03  1.05290866e-02  6.09761437e+01]
 [-5.86053552e-03  9.99982756e-01  3.77849823e-04  3.60231109e+00]
 [-1.05266922e-02 -4.39528484e-04  9.99944496e-01 -6.44266917e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.087702637999996
Centerline is valid?  [True, True]
Translation: X:61.04, Y:3.60, Z:-0.64
[[ 9.99943625e-01 -1.37293403e-03  1.05290790e-02  6.10367129e+01]
 [ 1.36902920e-03  9.99998991e-01  3.78059342e-04  3.60415129e+00]
 [-1.05295875e-02 -3.63623413e-04  9.99944496e-01 -6.44905562e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.147702638
Centerline is valid?  [True, True]
Translation: X:61.10, Y:3.61, Z:-0.65
[[ 9.99915936e-01 -7.56700062e-03  1.05290784e-02  6.10975998e+01]
 [ 7.56343864e-03  9.99971325e-01  3.78077817e-04  3.60767224e+00]
 [-1.05316374e-02 -2.98409996e-04  9.99944496e-01 -6.45548028e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.207702638
Centerline is valid?  [True, True]
Translation: X:61.16, Y:3.61, Z:-0.65
[[ 9.99899493e-01 -9.49428796e-03  1.05290793e-02  6.11591985e+01]
 [ 9.49083302e-03  9.99954890e-01  3.78051900e-04  3.61208491e+00]
 [-1.05321937e-02 -2.78084170e-04  9.99944496e-01 -6.46198288e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.267702637999996
Centerline is valid?  [True, True]
Translation: X:61.22, Y:3.62, Z:-0.65
[[ 9.99863291e-01 -1.27490241e-02  1.05291287e-02  6.12201518e+01]
 [ 1.27457641e-02  9.99918699e-01  3.76670730e-04  3.61598277e+00]
 [-1.05330749e-02 -2.42417444e-04  9.99944496e-01 -6.46840407e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.327702638
Centerline is valid?  [True, True]
Translation: X:61.28, Y:3.62, Z:-0.65
[[ 9.99784523e-01 -1.78898231e-02  1.05291364e-02  6.12813786e+01]
 [ 1.78868502e-02  9.99839947e-01  3.76455357e-04  3.61944102e+00]
 [-1.05341859e-02 -1.88041153e-04  9.99944496e-01 -6.47486228e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.387702638
Centerline is valid?  [True, True]
Translation: X:61.34, Y:3.62, Z:-0.65
[[ 9.99733216e-01 -2.05580445e-02  1.05291406e-02  6.13436792e+01]
 [ 2.05552208e-02  9.99788648e-01  3.76337362e-04  3.62183724e+00]
 [-1.05346520e-02 -1.59808150e-04  9.99944496e-01 -6.48143038e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.447702637999996
Centerline is valid?  [True, True]
Translation: X:61.41, Y:3.63, Z:-0.65
[[ 9.99703445e-01 -2.19581147e-02  1.05291925e-02  6.14061469e+01]
 [ 2.19553840e-02  9.99758881e-01  3.74879935e-04  3.62854943e+00]
 [-1.05348854e-02 -1.43596297e-04  9.99944496e-01 -6.48802087e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.507702638
Centerline is valid?  [True, True]
Translation: X:61.47, Y:3.63, Z:-0.65
[[ 9.99730772e-01 -2.06765397e-02  1.05292147e-02  6.14658587e+01]
 [ 2.06737445e-02  9.99786205e-01  3.74255272e-04  3.63462703e+00]
 [-1.05347019e-02 -1.56476217e-04  9.99944496e-01 -6.49432582e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.567702638
Centerline is valid?  [True, True]
Translation: X:61.53, Y:3.64, Z:-0.65
[[ 9.99791870e-01 -1.74743452e-02  1.05292147e-02  6.15280871e+01]
 [ 1.74713725e-02  9.99847294e-01  3.74255272e-04  3.63921986e+00]
 [-1.05341467e-02 -1.90217546e-04  9.99944496e-01 -6.50089554e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.627702637999995
Centerline is valid?  [True, True]
Translation: X:61.59, Y:3.65, Z:-0.65
[[ 9.99839101e-01 -1.45226547e-02  1.05292420e-02  6.15891841e+01]
 [ 1.45195265e-02  9.99894516e-01  3.73486788e-04  3.64575384e+00]
 [-1.05335553e-02 -2.20547086e-04  9.99944496e-01 -6.50734673e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.687702638
Centerline is valid?  [True, True]
Translation: X:61.65, Y:3.65, Z:-0.65
[[ 9.99827827e-01 -1.52791359e-02  1.05292566e-02  6.16517923e+01]
 [ 1.52760539e-02  9.99883245e-01  3.73074931e-04  3.64737428e+00]
 [-1.05337275e-02 -2.12165207e-04  9.99944496e-01 -6.51394176e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.747702638
Centerline is valid?  [True, True]
Translation: X:61.71, Y:3.65, Z:-0.65
[[ 9.99867938e-01 -1.23790360e-02  1.05292755e-02  6.17123514e+01]
 [ 1.23757989e-02  9.99923347e-01  3.72540101e-04  3.64921901e+00]
 [-1.05330801e-02 -2.42182706e-04  9.99944496e-01 -6.52032081e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.807702638
Centerline is valid?  [True, True]
Translation: X:61.77, Y:3.65, Z:-0.65
[[ 9.99913149e-01 -7.92650265e-03  1.05292764e-02  6.17734874e+01]
 [ 7.92301912e-03  9.99968543e-01  3.72514638e-04  3.65213790e+00]
 [-1.05318979e-02 -2.89058627e-04  9.99944496e-01 -6.52676900e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.867702638
Centerline is valid?  [True, True]
Translation: X:61.83, Y:3.65, Z:-0.65
[[ 9.99944163e-01 -8.97278113e-04  1.05292800e-02  6.18328348e+01]
 [ 8.93406328e-04  9.99999532e-01  3.72413931e-04  3.65497827e+00]
 [-1.05296092e-02 -3.62986211e-04  9.99944496e-01 -6.53302790e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.927702638
Centerline is valid?  [True, True]
Translation: X:61.89, Y:3.66, Z:-0.65
[[ 9.99944325e-01  6.93788604e-04  1.05292795e-02  6.18941596e+01]
 [-6.97748631e-04  9.99999687e-01  3.72427794e-04  3.65558569e+00]
 [-1.05290178e-02 -3.79753849e-04  9.99944496e-01 -6.53948770e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 60.987702638
Centerline is valid?  [True, True]
Translation: X:61.95, Y:3.66, Z:-0.65
[[ 9.99941729e-01  2.38186063e-03  1.05292871e-02  6.19530728e+01]
 [-2.38591186e-03  9.99997084e-01  3.72213525e-04  3.65745255e+00]
 [-1.05283698e-02 -3.97313787e-04  9.99944496e-01 -6.54569629e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.047702638
Centerline is valid?  [True, True]
Translation: X:62.01, Y:3.66, Z:-0.66
[[ 9.99942176e-01  2.18625130e-03  1.05292796e-02  6.20119912e+01]
 [-2.19029393e-03  9.99997532e-01  3.72425123e-04  3.65871624e+00]
 [-1.05284394e-02 -3.95465805e-04  9.99944496e-01 -6.55190685e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.107702638
Centerline is valid?  [True, True]
Translation: X:62.07, Y:3.66, Z:-0.66
[[ 9.99940334e-01  2.90913781e-03  1.05292685e-02  6.20713832e+01]
 [-2.91322373e-03  9.99995687e-01  3.72736747e-04  3.66071787e+00]
 [-1.05281388e-02 -4.03388622e-04  9.99944496e-01 -6.55817089e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.167702638
Centerline is valid?  [True, True]
Translation: X:62.13, Y:3.66, Z:-0.66
[[ 9.99942571e-01  1.99716987e-03  1.05292617e-02  6.21318622e+01]
 [-2.00120735e-03  9.99997928e-01  3.72930758e-04  3.65955937e+00]
 [-1.05284950e-02 -3.93980576e-04  9.99944496e-01 -6.56453658e-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 61.227702638
Centerline is valid?  [True, True]
Translation: X:62.19, Y:3.66, Z:-0.66
[[ 9.99943749e-01  1.27809582e-03  1.05292605e-02  6.21909951e+01]
 [-1.28209382e-03  9.99999109e-01  3.72963204e-04  3.66278515e+00]
 [-1.05287744e-02 -3.86441724e-04  9.99944496e-01 -6.57077550e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.287702638
Centerline is valid?  [True, True]
Translation: X:62.25, Y:3.66, Z:-0.66
[[ 9.99943624e-01 -1.37260450e-03  1.05292529e-02  6.22501776e+01]
 [ 1.36875101e-03  9.99998994e-01  3.73176860e-04  3.66476857e+00]
 [-1.05297546e-02 -3.58743896e-04  9.99944496e-01 -6.57701656e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.347702638
Centerline is valid?  [True, True]
Translation: X:62.31, Y:3.67, Z:-0.66
[[ 9.99924957e-01 -6.26214717e-03  1.05292454e-02  6.23105417e+01]
 [ 6.25856223e-03  9.99980345e-01  3.73390516e-04  3.66537805e+00]
 [-1.05313766e-02 -3.07464558e-04  9.99944496e-01 -6.58337691e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.407702637999996
Centerline is valid?  [True, True]
Translation: X:62.37, Y:3.67, Z:-0.66
[[ 9.99896414e-01 -9.81309787e-03  1.05292466e-02  6.23707856e+01]
 [ 9.80971001e-03  9.99951814e-01  3.73356024e-04  3.66783567e+00]
 [-1.05324030e-02 -2.70028494e-04  9.99944496e-01 -6.58972937e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.467702638
Centerline is valid?  [True, True]
Translation: X:62.43, Y:3.67, Z:-0.66
[[ 9.99861158e-01 -1.29151155e-02  1.05292502e-02  6.24314475e+01]
 [ 1.29119007e-02  9.99916568e-01  3.73253072e-04  3.67036540e+00]
 [-1.05331924e-02 -2.37248615e-04  9.99944496e-01 -6.59612553e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.527702638
Centerline is valid?  [True, True]
Translation: X:62.49, Y:3.68, Z:-0.66
[[ 9.99859067e-01 -1.30760012e-02  1.05292573e-02  6.24933830e+01]
 [ 1.30727973e-02  9.99914478e-01  3.73054907e-04  3.67521065e+00]
 [-1.05332348e-02 -2.35355485e-04  9.99944496e-01 -6.60266361e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.587702637999996
Centerline is valid?  [True, True]
Translation: X:62.56, Y:3.67, Z:-0.66
[[ 9.99868422e-01 -1.23399139e-02  1.05292751e-02  6.25553308e+01]
 [ 1.23366745e-02  9.99923831e-01  3.72551492e-04  3.67491054e+00]
 [-1.05330703e-02 -2.42606233e-04  9.99944496e-01 -6.60918117e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.647702638
Centerline is valid?  [True, True]
Translation: X:62.61, Y:3.68, Z:-0.66
[[ 9.99894898e-01 -9.96628924e-03  1.05293269e-02  6.26147235e+01]
 [ 9.96293380e-03  9.99950300e-01  3.71081650e-04  3.67952222e+00]
 [-1.05325019e-02 -2.66139662e-04  9.99944496e-01 -6.61543965e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.707702638
Centerline is valid?  [True, True]
Translation: X:62.68, Y:3.68, Z:-0.66
[[ 9.99931603e-01 -5.09134143e-03  1.05293240e-02  6.26758126e+01]
 [ 5.08771506e-03  9.99986989e-01  3.71163854e-04  3.67918783e+00]
 [-1.05310767e-02 -3.17568267e-04  9.99944496e-01 -6.62187174e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.767702637999996
Centerline is valid?  [True, True]
Translation: X:62.74, Y:3.68, Z:-0.66
[[ 9.99943268e-01 -1.61074226e-03  1.05293315e-02  6.27358895e+01]
 [ 1.60692536e-03  9.99998640e-01  3.70951757e-04  3.68225057e+00]
 [-1.05299146e-02 -3.54010863e-04  9.99944496e-01 -6.62820733e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.827702638
Centerline is valid?  [True, True]
Translation: X:62.80, Y:3.68, Z:-0.66
[[ 9.99944505e-01  3.47948531e-04  1.05293326e-02  6.27971269e+01]
 [-3.51873548e-04  9.99999869e-01  3.70919592e-04  3.68131214e+00]
 [-1.05292021e-02 -3.74604001e-04  9.99944496e-01 -6.63465182e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.887702638
Centerline is valid?  [True, True]
Translation: X:62.86, Y:3.68, Z:-0.66
[[ 9.99939256e-01  3.25834955e-03  1.05293558e-02  6.28570972e+01]
 [-3.26242875e-03  9.99994610e-01  3.70258993e-04  3.68219272e+00]
 [-1.05280926e-02 -4.04587775e-04  9.99944496e-01 -6.64096425e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 61.947702637999996
Centerline is valid?  [True, True]
Translation: X:62.92, Y:3.68, Z:-0.66
[[ 9.99921527e-01  6.78763773e-03  1.05293558e-02  6.29172185e+01]
 [-6.79191227e-03  9.99976866e-01  3.70258993e-04  3.68240582e+00]
 [-1.05265990e-02 -4.41744399e-04  9.99944496e-01 -6.64729578e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.007702638
Centerline is valid?  [True, True]
Translation: X:62.98, Y:3.68, Z:-0.67
[[ 9.99892772e-01  1.01772671e-02  1.05293551e-02  6.29773912e+01]
 [-1.01817294e-02  9.99948096e-01  3.70278220e-04  3.68260625e+00]
 [-1.05250402e-02 -4.77445561e-04  9.99944496e-01 -6.65363283e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.067702638
Centerline is valid?  [True, True]
Translation: X:63.04, Y:3.68, Z:-0.67
[[ 9.99896837e-01  9.76970811e-03  1.05293590e-02  6.30371636e+01]
 [-9.77414671e-03  9.99952163e-01  3.70167407e-04  3.68308183e+00]
 [-1.05252389e-02 -4.73044719e-04  9.99944496e-01 -6.65992765e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.127702637999995
Centerline is valid?  [True, True]
Translation: X:63.10, Y:3.68, Z:-0.67
[[ 9.99921950e-01  6.72508562e-03  1.05293545e-02  6.30960643e+01]
 [-6.72935709e-03  9.99977289e-01  3.70295784e-04  3.67994700e+00]
 [-1.05266251e-02 -4.41122668e-04  9.99944496e-01 -6.66611934e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.187702638
Centerline is valid?  [True, True]
Translation: X:63.16, Y:3.68, Z:-0.67
[[ 9.99936781e-01  3.94560718e-03  1.05293394e-02  6.31557737e+01]
 [-3.94972932e-03  9.99992131e-01  3.70724130e-04  3.68140121e+00]
 [-1.05277939e-02 -4.12288734e-04  9.99944496e-01 -6.67241571e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.247702638
Centerline is valid?  [True, True]
Translation: X:63.22, Y:3.68, Z:-0.67
[[ 9.99944534e-01  2.50771656e-04  1.05293357e-02  6.32157992e+01]
 [-2.54690348e-04  9.99999899e-01  3.70829772e-04  3.68127062e+00]
 [-1.05292417e-02 -3.73490923e-04  9.99944496e-01 -6.67873675e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.307702638
Centerline is valid?  [True, True]
Translation: X:63.28, Y:3.68, Z:-0.67
[[ 9.99937108e-01 -3.86185391e-03  1.05293300e-02  6.32765298e+01]
 [ 3.85816127e-03  9.99992488e-01  3.70990831e-04  3.67960405e+00]
 [-1.05306837e-02 -3.30343645e-04  9.99944496e-01 -6.68512681e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.367702638
Centerline is valid?  [True, True]
Translation: X:63.34, Y:3.68, Z:-0.67
[[ 9.99893507e-01 -1.01048830e-02  1.05293300e-02  6.33359612e+01]
 [ 1.01015362e-02  9.99948909e-01  3.70990831e-04  3.68132224e+00]
 [-1.05325409e-02 -2.64588915e-04  9.99944496e-01 -6.69139126e-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 62.427702638
Centerline is valid?  [True, True]
Translation: X:63.40, Y:3.68, Z:-0.67
[[ 9.99871077e-01 -1.21227706e-02  1.05293317e-02  6.33978124e+01]
 [ 1.21195361e-02  9.99926487e-01  3.70943342e-04  3.68362412e+00]
 [-1.05330545e-02 -2.43284903e-04  9.99944496e-01 -6.69791228e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.487702638
Centerline is valid?  [True, True]
Translation: X:63.46, Y:3.68, Z:-0.67
[[ 9.99796355e-01 -1.72156808e-02  1.05293823e-02  6.34600153e+01]
 [ 1.72127437e-02  9.99851781e-01  3.69503114e-04  3.68460370e+00]
 [-1.05341829e-02 -1.88188309e-04  9.99944496e-01 -6.70445377e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.547702638
Centerline is valid?  [True, True]
Translation: X:63.52, Y:3.69, Z:-0.67
[[ 9.99766113e-01 -1.88904658e-02  1.05294329e-02  6.35202178e+01]
 [ 1.88876369e-02  9.99821545e-01  3.68053140e-04  3.68689636e+00]
 [-1.05345066e-02 -1.69090951e-04  9.99944496e-01 -6.71078941e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.607702638
Centerline is valid?  [True, True]
Translation: X:63.58, Y:3.69, Z:-0.67
[[ 9.99744976e-01 -1.99778601e-02  1.05294339e-02  6.35828827e+01]
 [ 1.99750918e-02  9.99800410e-01  3.68025515e-04  3.69038240e+00]
 [-1.05346847e-02 -1.57605251e-04  9.99944496e-01 -6.71740062e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.667702638
Centerline is valid?  [True, True]
Translation: X:63.64, Y:3.69, Z:-0.67
[[ 9.99688213e-01 -2.26408149e-02  1.05294916e-02  6.36436088e+01]
 [ 2.26382117e-02  9.99743656e-01  3.66368213e-04  3.69421695e+00]
 [-1.05350873e-02 -1.27885124e-04  9.99944496e-01 -6.72379528e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.727702638
Centerline is valid?  [True, True]
Translation: X:63.71, Y:3.69, Z:-0.67
[[ 9.99624313e-01 -2.53053937e-02  1.05294988e-02  6.37057184e+01]
 [ 2.53029405e-02  9.99679762e-01  3.66160618e-04  3.69388381e+00]
 [-1.05353927e-02 -9.95957748e-05  9.99944496e-01 -6.73033251e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.787702638
Centerline is valid?  [True, True]
Translation: X:63.77, Y:3.70, Z:-0.67
[[ 9.99579990e-01 -2.69995115e-02  1.05295169e-02  6.37683863e+01]
 [ 2.69971577e-02  9.99635443e-01  3.65640080e-04  3.69799193e+00]
 [-1.05355504e-02 -8.12194801e-05  9.99944496e-01 -6.73694217e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.847702638
Centerline is valid?  [True, True]
Translation: X:63.83, Y:3.70, Z:-0.67
[[ 9.99529641e-01 -2.88032371e-02  1.05295351e-02  6.38295710e+01]
 [ 2.88009889e-02  9.99585099e-01  3.65113606e-04  3.69835235e+00]
 [-1.05356829e-02 -6.16808467e-05  9.99944496e-01 -6.74338188e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.907702637999996
Centerline is valid?  [True, True]
Translation: X:63.89, Y:3.70, Z:-0.67
[[ 9.99520905e-01 -2.91048048e-02  1.05295425e-02  6.38915952e+01]
 [ 2.91025756e-02  9.99576364e-01  3.64900998e-04  3.69967226e+00]
 [-1.05357022e-02 -5.82893689e-05  9.99944496e-01 -6.74991614e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 62.967702638
Centerline is valid?  [True, True]
Translation: X:63.95, Y:3.70, Z:-0.68
[[ 9.99530179e-01 -2.87845399e-02  1.05295937e-02  6.39525342e+01]
 [ 2.87823086e-02  9.99585637e-01  3.63416298e-04  3.70350361e+00]
 [-1.05356914e-02 -6.01795408e-05  9.99944496e-01 -6.75633463e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.027702638
Centerline is valid?  [True, True]
Translation: X:64.01, Y:3.70, Z:-0.68
[[ 9.99509034e-01 -2.95096038e-02  1.05296410e-02  6.40131183e+01]
 [ 2.95074272e-02  9.99564496e-01  3.62041419e-04  3.70325832e+00]
 [-1.05357390e-02 -5.11610543e-05  9.99944496e-01 -6.76270186e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.087702637999996
Centerline is valid?  [True, True]
Translation: X:64.07, Y:3.71, Z:-0.68
[[ 9.99500569e-01 -2.97949377e-02  1.05296480e-02  6.40741940e+01]
 [ 2.97927791e-02  9.99556031e-01  3.61836672e-04  3.70612908e+00]
 [-1.05357541e-02 -4.79484817e-05  9.99944496e-01 -6.76914194e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.147702638
Centerline is valid?  [True, True]
Translation: X:64.14, Y:3.71, Z:-0.68
[[ 9.99516921e-01 -2.92412631e-02  1.05296517e-02  6.41354013e+01]
 [ 2.92390749e-02  9.99572381e-01  3.61729835e-04  3.70633086e+00]
 [-1.05357265e-02 -5.36778164e-05  9.99944496e-01 -6.77558705e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.207702638
Centerline is valid?  [True, True]
Translation: X:64.20, Y:3.71, Z:-0.68
[[ 9.99521732e-01 -2.90763199e-02  1.05296977e-02  6.41972738e+01]
 [ 2.90741367e-02  9.99577193e-01  3.60385346e-04  3.70862462e+00]
 [-1.05357244e-02 -5.40711146e-05  9.99944496e-01 -6.78209944e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.267702637999996
Centerline is valid?  [True, True]
Translation: X:64.26, Y:3.71, Z:-0.68
[[ 9.99600836e-01 -2.62162861e-02  1.05297154e-02  6.42593724e+01]
 [ 2.62139497e-02  9.99656291e-01  3.59869236e-04  3.70883062e+00]
 [-1.05355306e-02 -8.37001605e-05  9.99944496e-01 -6.78863504e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.327702638
Centerline is valid?  [True, True]
Translation: X:64.32, Y:3.71, Z:-0.68
[[ 9.99673473e-01 -2.32824318e-02  1.05297651e-02  6.43201153e+01]
 [ 2.32799480e-02  9.99728921e-01  3.58407314e-04  3.71185668e+00]
 [-1.05352553e-02 -1.13157900e-04  9.99944496e-01 -6.79503015e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.387702638
Centerline is valid?  [True, True]
Translation: X:64.38, Y:3.72, Z:-0.68
[[ 9.99797649e-01 -1.71401544e-02  1.05297687e-02  6.43822265e+01]
 [ 1.71373311e-02  9.99853081e-01  3.58301627e-04  3.71526605e+00]
 [-1.05343630e-02 -1.77776991e-04  9.99944496e-01 -6.80158201e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.447702637999996
Centerline is valid?  [True, True]
Translation: X:64.44, Y:3.71, Z:-0.68
[[ 9.99859673e-01 -1.30290865e-02  1.05297867e-02  6.44438651e+01]
 [ 1.30260409e-02  9.99915094e-01  3.57771495e-04  3.71395540e+00]
 [-1.05335541e-02 -2.20559858e-04  9.99944496e-01 -6.80806366e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.507702638
Centerline is valid?  [True, True]
Translation: X:64.50, Y:3.72, Z:-0.68
[[ 9.99915702e-01 -7.59679040e-03  1.05298333e-02  6.45041582e+01]
 [ 7.59345823e-03  9.99971106e-01  3.56394478e-04  3.71706784e+00]
 [-1.05322365e-02 -2.76406585e-04  9.99944496e-01 -6.81441242e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.567702638
Centerline is valid?  [True, True]
Translation: X:64.57, Y:3.72, Z:-0.68
[[ 9.99942401e-01 -2.07757563e-03  1.05298336e-02  6.45650642e+01]
 [ 2.07393780e-03  9.99997786e-01  3.56386018e-04  3.71749486e+00]
 [-1.05305507e-02 -3.34527271e-04  9.99944496e-01 -6.82082752e-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 63.627702637999995
Centerline is valid?  [True, True]
Translation: X:64.63, Y:3.72, Z:-0.68
[[ 9.99944013e-01  1.04612017e-03  1.05298342e-02  6.46263819e+01]
 [-1.04993081e-03  9.99999385e-01  3.56368538e-04  3.71899428e+00]
 [-1.05294549e-02 -3.67404183e-04  9.99944496e-01 -6.82728973e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.687702638
Centerline is valid?  [True, True]
Translation: X:64.69, Y:3.72, Z:-0.68
[[ 9.99927476e-01  5.84508144e-03  1.05298415e-02  6.46857176e+01]
 [-5.84915551e-03  9.99982830e-01  3.56152166e-04  3.72052323e+00]
 [-1.05275790e-02 -4.17717017e-04  9.99944496e-01 -6.83354169e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.747702638
Centerline is valid?  [True, True]
Translation: X:64.75, Y:3.72, Z:-0.68
[[ 9.99864743e-01  1.26340000e-02  1.05298387e-02  6.47456211e+01]
 [-1.26384507e-02  9.99920068e-01  3.56237328e-04  3.72326452e+00]
 [-1.05244963e-02 -4.89269991e-04  9.99944496e-01 -6.83986025e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.807702638
Centerline is valid?  [True, True]
Translation: X:64.81, Y:3.72, Z:-0.68
[[ 9.99820408e-01  1.57566922e-02  1.05298355e-02  6.48061272e+01]
 [-1.57613167e-02  9.99875719e-01  3.56331338e-04  3.72297941e+00]
 [-1.05229122e-02 -5.22231415e-04  9.99944496e-01 -6.84623156e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.867702638
Centerline is valid?  [True, True]
Translation: X:64.87, Y:3.72, Z:-0.69
[[ 9.99839077e-01  1.45238877e-02  1.05298345e-02  6.48659014e+01]
 [-1.45284443e-02  9.99894393e-01  3.56360055e-04  3.72380953e+00]
 [-1.05235467e-02 -5.09284822e-04  9.99944496e-01 -6.85252923e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.927702638
Centerline is valid?  [True, True]
Translation: X:64.92, Y:3.72, Z:-0.69
[[ 9.99822485e-01  1.56243539e-02  1.05298272e-02  6.49237556e+01]
 [-1.56289736e-02  9.99877797e-01  3.56577153e-04  3.72180369e+00]
 [-1.05229691e-02 -5.21084246e-04  9.99944496e-01 -6.85861616e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 63.987702638
Centerline is valid?  [True, True]
Translation: X:64.98, Y:3.72, Z:-0.69
[[ 9.99831412e-01  1.50423038e-02  1.05298090e-02  6.49835672e+01]
 [-1.50468970e-02  9.99886725e-01  3.57113050e-04  3.72170721e+00]
 [-1.05232444e-02 -5.15493796e-04  9.99944496e-01 -6.86491862e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.04770263799999
Centerline is valid?  [True, True]
Translation: X:65.04, Y:3.72, Z:-0.69
[[ 9.99842294e-01  1.43006805e-02  1.05298019e-02  6.50427578e+01]
 [-1.43052348e-02  9.99897611e-01  3.57321497e-04  3.72155979e+00]
 [-1.05236138e-02 -5.07896434e-04  9.99944496e-01 -6.87115281e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.10770263799999
Centerline is valid?  [True, True]
Translation: X:65.10, Y:3.72, Z:-0.69
[[ 9.99826013e-01  1.53969930e-02  1.05297559e-02  6.51025282e+01]
 [-1.54016222e-02  9.99881324e-01  3.58671824e-04  3.71976019e+00]
 [-1.05229838e-02 -5.20784742e-04  9.99944496e-01 -6.87745145e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.167702638
Centerline is valid?  [True, True]
Translation: X:65.16, Y:3.72, Z:-0.69
[[ 9.99795810e-01  1.72471130e-02  1.05297559e-02  6.51624808e+01]
 [-1.72518445e-02  9.99851112e-01  3.58671824e-04  3.72011024e+00]
 [-1.05220021e-02 -5.40256299e-04  9.99944496e-01 -6.88376591e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.227702638
Centerline is valid?  [True, True]
Translation: X:65.22, Y:3.72, Z:-0.69
[[ 9.99779992e-01  1.81408794e-02  1.05297559e-02  6.52211278e+01]
 [-1.81456604e-02  9.99835290e-01  3.58671824e-04  3.71923635e+00]
 [-1.05215149e-02 -5.49662288e-04  9.99944496e-01 -6.88993850e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.28770263799998
Centerline is valid?  [True, True]
Translation: X:65.28, Y:3.72, Z:-0.69
[[ 9.99752509e-01  1.95971133e-02  1.05297044e-02  6.52792170e+01]
 [-1.96019906e-02  9.99807798e-01  3.60177156e-04  3.71901424e+00]
 [-1.05206221e-02 -5.66491182e-04  9.99944496e-01 -6.89606687e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.34770263799999
Centerline is valid?  [True, True]
Translation: X:65.34, Y:3.72, Z:-0.69
[[ 9.99795467e-01  1.72670204e-02  1.05296442e-02  6.53377957e+01]
 [-1.72717872e-02  9.99850766e-01  3.61928606e-04  3.71575237e+00]
 [-1.05218234e-02 -5.43720355e-04  9.99944496e-01 -6.90223771e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.40770263799999
Centerline is valid?  [True, True]
Translation: X:65.40, Y:3.72, Z:-0.69
[[ 9.99831788e-01  1.50174335e-02  1.05296163e-02  6.53974808e+01]
 [-1.50220844e-02  9.99887096e-01  3.62737947e-04  3.71513292e+00]
 [-1.05229801e-02 -5.20853715e-04  9.99944496e-01 -6.90852692e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.46770263799999
Centerline is valid?  [True, True]
Translation: X:65.46, Y:3.72, Z:-0.69
[[ 9.99873915e-01  1.18862275e-02  1.05296088e-02  6.54566899e+01]
 [-1.18907074e-02  9.99929237e-01  3.62955832e-04  3.71758495e+00]
 [-1.05245495e-02 -4.88114566e-04  9.99944496e-01 -6.91477241e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.527702638
Centerline is valid?  [True, True]
Translation: X:65.52, Y:3.72, Z:-0.69
[[ 9.99909066e-01  8.42536215e-03  1.05296030e-02  6.55169676e+01]
 [-8.42965234e-03  9.99964404e-01  3.63124645e-04  3.71517607e+00]
 [-1.05261687e-02 -4.51852517e-04  9.99944496e-01 -6.92111237e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.587702638
Centerline is valid?  [True, True]
Translation: X:65.58, Y:3.72, Z:-0.69
[[ 9.99935217e-01  4.32303703e-03  1.05295996e-02  6.55762697e+01]
 [-4.32710117e-03  9.99990572e-01  3.63222078e-04  3.71585391e+00]
 [-1.05279301e-02 -4.08761191e-04  9.99944496e-01 -6.92736023e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.647702638
Centerline is valid?  [True, True]
Translation: X:65.64, Y:3.72, Z:-0.69
[[ 9.99943547e-01 -1.42482956e-03  1.05295952e-02  6.56360149e+01]
 [ 1.42108231e-03  9.99998924e-01  3.63350816e-04  3.71829408e+00]
 [-1.05301016e-02 -3.48366883e-04  9.99944496e-01 -6.93366139e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.70770263799999
Centerline is valid?  [True, True]
Translation: X:65.70, Y:3.72, Z:-0.69
[[ 9.99931346e-01 -5.14111757e-03  1.05295886e-02  6.56964859e+01]
 [ 5.13757415e-03  9.99986736e-01  3.63541396e-04  3.72014366e+00]
 [-1.05313180e-02 -3.09419896e-04  9.99944496e-01 -6.94003734e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.76770263799999
Centerline is valid?  [True, True]
Translation: X:65.76, Y:3.73, Z:-0.69
[[ 9.99927010e-01 -5.92471549e-03  1.05295910e-02  6.57573032e+01]
 [ 5.92121620e-03  9.99982403e-01  3.63473401e-04  3.72517063e+00]
 [-1.05315592e-02 -3.01098887e-04  9.99944496e-01 -6.94645923e-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 64.82770263799999
Centerline is valid?  [True, True]
Translation: X:65.82, Y:3.73, Z:-0.70
[[ 9.99928069e-01 -5.74323892e-03  1.05295984e-02  6.58196214e+01]
 [ 5.73973186e-03  9.99983462e-01  3.63256747e-04  3.72847371e+00]
 [-1.05315106e-02 -3.02793546e-04  9.99944496e-01 -6.95303172e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.887702638
Centerline is valid?  [True, True]
Translation: X:65.88, Y:3.74, Z:-0.70
[[ 9.99933877e-01 -4.62262487e-03  1.05296507e-02  6.58812228e+01]
 [ 4.61907172e-03  9.99989267e-01  3.61736885e-04  3.73616891e+00]
 [-1.05312098e-02 -3.13075754e-04  9.99944496e-01 -6.95953419e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 64.947702638
Centerline is valid?  [True, True]
Translation: X:65.94, Y:3.74, Z:-0.70
[[ 9.99925211e-01 -6.22075397e-03  1.05296732e-02  6.59424163e+01]
 [ 6.21729628e-03  9.99980607e-01  3.61078832e-04  3.74170684e+00]
 [-1.05317152e-02 -2.95585730e-04  9.99944496e-01 -6.96599272e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.007702638
Centerline is valid?  [True, True]
Translation: X:66.00, Y:3.75, Z:-0.70
[[ 9.99912478e-01 -8.01001605e-03  1.05297197e-02  6.60025058e+01]
 [ 8.00667182e-03  9.99967881e-01  3.59716808e-04  3.74877654e+00]
 [-1.05322629e-02 -2.75377315e-04  9.99944496e-01 -6.97233474e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.06770263799999
Centerline is valid?  [True, True]
Translation: X:66.06, Y:3.75, Z:-0.70
[[ 9.99885806e-01 -1.08397605e-02  1.05297237e-02  6.60638037e+01]
 [ 1.08365743e-02  9.99941218e-01  3.59601757e-04  3.75325301e+00]
 [-1.05330027e-02 -2.45454560e-04  9.99944496e-01 -6.97880476e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.12770263799999
Centerline is valid?  [True, True]
Translation: X:66.13, Y:3.76, Z:-0.70
[[ 9.99869494e-01 -1.22523364e-02  1.05297751e-02  6.61256575e+01]
 [ 1.22492444e-02  9.99924911e-01  3.58089616e-04  3.75766790e+00]
 [-1.05333719e-02 -2.29061094e-04  9.99944496e-01 -6.98532166e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.18770263799999
Centerline is valid?  [True, True]
Translation: X:66.19, Y:3.76, Z:-0.70
[[ 9.99888161e-01 -1.06202489e-02  1.05297860e-02  6.61866627e+01]
 [ 1.06170698e-02  9.99943573e-01  3.57767697e-04  3.76459541e+00]
 [-1.05329915e-02 -2.45932210e-04  9.99944496e-01 -6.99176789e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.24770263799999
Centerline is valid?  [True, True]
Translation: X:66.25, Y:3.77, Z:-0.70
[[ 9.99914441e-01 -7.76106260e-03  1.05297932e-02  6.62476205e+01]
 [ 7.75772732e-03  9.99969844e-01  3.57555929e-04  3.77144581e+00]
 [-1.05322507e-02 -2.75838072e-04  9.99944496e-01 -6.99820972e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.307702638
Centerline is valid?  [True, True]
Translation: X:66.31, Y:3.78, Z:-0.70
[[ 9.99932651e-01 -4.88020685e-03  1.05298040e-02  6.63092441e+01]
 [ 4.87671531e-03  9.99988045e-01  3.57237340e-04  3.77929993e+00]
 [-1.05314215e-02 -3.05862424e-04  9.99944496e-01 -7.00472435e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.367702638
Centerline is valid?  [True, True]
Translation: X:66.37, Y:3.79, Z:-0.70
[[ 9.99936724e-01 -3.95870374e-03  1.05298252e-02  6.63712053e+01]
 [ 3.95516772e-03  9.99992115e-01  3.56612926e-04  3.78670942e+00]
 [-1.05311539e-02 -3.14943137e-04  9.99944496e-01 -7.01127033e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.42770263799999
Centerline is valid?  [True, True]
Translation: X:66.43, Y:3.80, Z:-0.70
[[ 9.99943334e-01 -1.56533963e-03  1.05298399e-02  6.64315107e+01]
 [ 1.56167563e-03  9.99998717e-01  3.56176945e-04  3.79547334e+00]
 [-1.05303840e-02 -3.39712568e-04  9.99944496e-01 -7.01764831e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.48770263799999
Centerline is valid?  [True, True]
Translation: X:66.49, Y:3.80, Z:-0.70
[[ 9.99939518e-01 -3.17529943e-03  1.05298436e-02  6.64923003e+01]
 [ 3.17172574e-03  9.99994907e-01  3.56069198e-04  3.80444908e+00]
 [-1.05309206e-02 -3.22649886e-04  9.99944496e-01 -7.02408077e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.54770263799999
Centerline is valid?  [True, True]
Translation: X:66.55, Y:3.81, Z:-0.70
[[ 9.99915638e-01 -7.60514528e-03  1.05298891e-02  6.65529622e+01]
 [ 7.60183124e-03  9.99971043e-01  3.54716565e-04  3.80747136e+00]
 [-1.05322819e-02 -2.74640200e-04  9.99944496e-01 -7.03046794e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.60770263799999
Centerline is valid?  [True, True]
Translation: X:66.61, Y:3.81, Z:-0.70
[[ 9.99887391e-01 -1.06923393e-02  1.05298892e-02  6.66136999e+01]
 [ 1.06891963e-02  9.99942806e-01  3.54715433e-04  3.81339742e+00]
 [-1.05330797e-02 -2.42119436e-04  9.99944496e-01 -7.03688492e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.667702638
Centerline is valid?  [True, True]
Translation: X:66.67, Y:3.82, Z:-0.70
[[ 9.99828231e-01 -1.52521988e-02  1.05299344e-02  6.66737204e+01]
 [ 1.52493228e-02  9.99883660e-01  3.53367566e-04  3.81891870e+00]
 [-1.05340990e-02 -1.92732499e-04  9.99944496e-01 -7.04321335e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.727702638
Centerline is valid?  [True, True]
Translation: X:66.73, Y:3.82, Z:-0.70
[[ 9.99770284e-01 -1.86681243e-02  1.05299348e-02  6.67334454e+01]
 [ 1.86654378e-02  9.99825723e-01  3.53356972e-04  3.82472054e+00]
 [-1.05346962e-02 -1.56729958e-04  9.99944496e-01 -7.04952311e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.78770263799998
Centerline is valid?  [True, True]
Translation: X:66.80, Y:3.83, Z:-0.71
[[ 9.99711675e-01 -2.15798080e-02  1.05299385e-02  6.67958195e+01]
 [ 2.15772841e-02  9.99767121e-01  3.53246656e-04  3.82869661e+00]
 [-1.05351093e-02 -1.25937332e-04  9.99944496e-01 -7.05610453e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.84770263799999
Centerline is valid?  [True, True]
Translation: X:66.86, Y:3.83, Z:-0.71
[[ 9.99678727e-01 -2.30556290e-02  1.05299867e-02  6.68575700e+01]
 [ 2.30532022e-02  9.99734178e-01  3.51802033e-04  3.83355618e+00]
 [-1.05352986e-02 -1.08939095e-04  9.99944496e-01 -7.06261178e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.90770263799999
Centerline is valid?  [True, True]
Translation: X:66.92, Y:3.83, Z:-0.71
[[ 9.99528725e-01 -2.88348181e-02  1.05300024e-02  6.69185109e+01]
 [ 2.88327169e-02  9.99584189e-01  3.51332573e-04  3.83489180e+00]
 [-1.05357545e-02 -4.75584210e-05  9.99944496e-01 -7.06902983e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 65.96770263799999
Centerline is valid?  [True, True]
Translation: X:66.98, Y:3.84, Z:-0.71
[[ 9.99488675e-01 -3.01911603e-02  1.05300291e-02  6.69810649e+01]
 [ 3.01891428e-02  9.99544142e-01  3.50531094e-04  3.83641844e+00]
 [-1.05358118e-02 -3.24593075e-05  9.99944496e-01 -7.07561555e-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 66.027702638
Centerline is valid?  [True, True]
Translation: X:67.04, Y:3.84, Z:-0.71
[[ 9.99360643e-01 -3.41675552e-02  1.05300740e-02  6.70414843e+01]
 [ 3.41657726e-02  9.99416119e-01  3.49175112e-04  3.83763297e+00]
 [-1.05358562e-02  1.08162507e-05  9.99944496e-01 -7.08197058e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.087702638
Centerline is valid?  [True, True]
Translation: X:67.10, Y:3.84, Z:-0.71
[[ 9.99338219e-01 -3.48172485e-02  1.05300805e-02  6.71041797e+01]
 [ 3.48155041e-02  9.99393696e-01  3.48980708e-04  3.83809530e+00]
 [-1.05358466e-02  1.78603008e-05  9.99944496e-01 -7.08857275e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.147702638
Centerline is valid?  [True, True]
Translation: X:67.17, Y:3.84, Z:-0.71
[[ 9.99364937e-01 -3.40417336e-02  1.05300968e-02  6.71656158e+01]
 [ 3.40399514e-02  9.99420412e-01  3.48486638e-04  3.84089183e+00]
 [-1.05358568e-02  1.01786570e-05  9.99944496e-01 -7.09504786e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.20770263799999
Centerline is valid?  [True, True]
Translation: X:67.23, Y:3.84, Z:-0.71
[[ 9.99448513e-01 -3.14926356e-02  1.05301034e-02  6.72273357e+01]
 [ 3.14907139e-02  9.99503984e-01  3.48288150e-04  3.84470105e+00]
 [-1.05358488e-02 -1.64955996e-05  9.99944496e-01 -7.10155894e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.26770263799999
Centerline is valid?  [True, True]
Translation: X:67.29, Y:3.85, Z:-0.71
[[ 9.99461694e-01 -3.10715139e-02  1.05301255e-02  6.72886647e+01]
 [ 3.10695759e-02  9.99517164e-01  3.47617621e-04  3.84608385e+00]
 [-1.05358422e-02 -2.02639613e-05  9.99944496e-01 -7.10801631e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.32770263799999
Centerline is valid?  [True, True]
Translation: X:67.35, Y:3.85, Z:-0.71
[[ 9.99407340e-01 -3.27732372e-02  1.05301354e-02  6.73505490e+01]
 [ 3.27713969e-02  9.99462813e-01  3.47318026e-04  3.84625344e+00]
 [-1.05358615e-02 -2.02493816e-06  9.99944496e-01 -7.11453116e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.387702638
Centerline is valid?  [True, True]
Translation: X:67.41, Y:3.85, Z:-0.71
[[ 9.99313409e-01 -3.55222088e-02  1.05301527e-02  6.74113719e+01]
 [ 3.55205265e-02  9.99368887e-01  3.46793525e-04  3.84777861e+00]
 [-1.05358258e-02  2.74811485e-05  9.99944496e-01 -7.12093701e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.447702638
Centerline is valid?  [True, True]
Translation: X:67.47, Y:3.85, Z:-0.71
[[ 9.99294777e-01 -3.60425326e-02  1.05301562e-02  6.74726765e+01]
 [ 3.60408803e-02  9.99350256e-01  3.46687392e-04  3.84858863e+00]
 [-1.05358098e-02  3.30731987e-05  9.99944496e-01 -7.12739473e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.507702638
Centerline is valid?  [True, True]
Translation: X:67.53, Y:3.85, Z:-0.71
[[ 9.99197538e-01 -3.86444732e-02  1.05301595e-02  6.75338632e+01]
 [ 3.86429665e-02  9.99253022e-01  3.46585780e-04  3.84913584e+00]
 [-1.05356873e-02  6.06089435e-05  9.99944496e-01 -7.13383916e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.56770263799999
Centerline is valid?  [True, True]
Translation: X:67.59, Y:3.85, Z:-0.71
[[ 9.99120864e-01 -4.05785098e-02  1.05301630e-02  6.75934075e+01]
 [ 4.05771116e-02  9.99176350e-01  3.46480945e-04  3.84983453e+00]
 [-1.05355495e-02  8.11072575e-05  9.99944496e-01 -7.14011114e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.62770263799999
Centerline is valid?  [True, True]
Translation: X:67.65, Y:3.85, Z:-0.71
[[ 9.99052212e-01 -4.22349741e-02  1.05301630e-02  6.76543779e+01]
 [ 4.22336679e-02  9.99107701e-01  3.46480945e-04  3.85099473e+00]
 [-1.05354005e-02  9.85748513e-05  9.99944496e-01 -7.14653580e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.68770263799999
Centerline is valid?  [True, True]
Translation: X:67.72, Y:3.85, Z:-0.72
[[ 9.98934376e-01 -4.49358108e-02  1.05301697e-02  6.77157559e+01]
 [ 4.49346568e-02  9.98989868e-01  3.46275051e-04  3.85063714e+00]
 [-1.05350930e-02  1.27263512e-04  9.99944496e-01 -7.15299636e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.74770263799999
Centerline is valid?  [True, True]
Translation: X:67.78, Y:3.85, Z:-0.72
[[ 9.98874780e-01 -4.62416361e-02  1.05301765e-02  6.77783669e+01]
 [ 4.62405568e-02  9.98930273e-01  3.46068190e-04  3.85084887e+00]
 [-1.05349149e-02  1.41242439e-04  9.99944496e-01 -7.15958873e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.807702638
Centerline is valid?  [True, True]
Translation: X:67.84, Y:3.85, Z:-0.72
[[ 9.98727186e-01 -4.93266803e-02  1.05302223e-02  6.78406337e+01]
 [ 4.93257872e-02  9.98782683e-01  3.44669603e-04  3.85160308e+00]
 [-1.05344051e-02  1.75180602e-04  9.99944496e-01 -7.16613656e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.867702638
Centerline is valid?  [True, True]
Translation: X:67.90, Y:3.85, Z:-0.72
[[ 9.98625065e-01 -5.13526347e-02  1.05302380e-02  6.79014121e+01]
 [ 5.13518593e-02  9.98680564e-01  3.44188965e-04  3.85067604e+00]
 [-1.05340191e-02  1.97031574e-04  9.99944496e-01 -7.17252972e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.92770263799999
Centerline is valid?  [True, True]
Translation: X:67.96, Y:3.85, Z:-0.72
[[ 9.98357747e-01 -5.63109488e-02  1.05302436e-02  6.79636529e+01]
 [ 5.63104508e-02  9.98413249e-01  3.44018903e-04  3.84645168e+00]
 [-1.05329067e-02  2.49508826e-04  9.99944496e-01 -7.17906821e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 66.98770263799999
Centerline is valid?  [True, True]
Translation: X:68.02, Y:3.85, Z:-0.72
[[ 9.98337137e-01 -5.66751719e-02  1.05302569e-02  6.80243802e+01]
 [ 5.66746983e-02  9.98392638e-01  3.43610969e-04  3.84633622e+00]
 [-1.05328052e-02  2.53759542e-04  9.99944496e-01 -7.18545946e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.04770263799999
Centerline is valid?  [True, True]
Translation: X:68.09, Y:3.84, Z:-0.72
[[ 9.98436607e-01 -5.48949415e-02  1.05302635e-02  6.80871831e+01]
 [ 5.48943712e-02  9.98492108e-01  3.43407992e-04  3.84349986e+00]
 [-1.05332364e-02  2.35181083e-04  9.99944496e-01 -7.19206169e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.10770263799999
Centerline is valid?  [True, True]
Translation: X:68.15, Y:3.84, Z:-0.72
[[ 9.98686945e-01 -5.01348076e-02  1.05303092e-02  6.81490904e+01]
 [ 5.01339875e-02  9.98742442e-01  3.42001408e-04  3.84450106e+00]
 [-1.05342129e-02  1.86374049e-04  9.99944496e-01 -7.19857272e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.167702638
Centerline is valid?  [True, True]
Translation: X:68.21, Y:3.84, Z:-0.72
[[ 9.99102026e-01 -4.10396681e-02  1.05303222e-02  6.82104561e+01]
 [ 4.10383470e-02  9.99157514e-01  3.41602116e-04  3.84063248e+00]
 [-1.05354697e-02  9.08516483e-05  9.99944496e-01 -7.20501852e-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 67.227702638
Centerline is valid?  [True, True]
Translation: X:68.27, Y:3.84, Z:-0.72
[[ 9.99460587e-01 -3.11070152e-02  1.05303287e-02  6.82717447e+01]
 [ 3.11051447e-02  9.99516060e-01  3.41401464e-04  3.83976744e+00]
 [-1.05358526e-02 -1.36699114e-05  9.99944496e-01 -7.21146815e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.28770263799998
Centerline is valid?  [True, True]
Translation: X:68.33, Y:3.84, Z:-0.72
[[ 9.99774336e-01 -1.84496442e-02  1.05303319e-02  6.83319249e+01]
 [ 1.84470725e-02  9.99829780e-01  3.41300240e-04  3.84090858e+00]
 [-1.05348363e-02 -1.46969423e-04  9.99944496e-01 -7.21780874e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.34770263799999
Centerline is valid?  [True, True]
Translation: X:68.39, Y:3.84, Z:-0.72
[[ 9.99918107e-01 -7.27257338e-03  1.05303366e-02  6.83924002e+01]
 [ 7.26938360e-03  9.99973519e-01  3.41157710e-04  3.83826881e+00]
 [-1.05325388e-02 -2.64580716e-04  9.99944496e-01 -7.22416715e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.40770263799999
Centerline is valid?  [True, True]
Translation: X:68.45, Y:3.83, Z:-0.72
[[ 9.99944457e-01  4.40314129e-04  1.05303443e-02  6.84529256e+01]
 [-4.43928694e-04  9.99999843e-01  3.40917350e-04  3.83492428e+00]
 [-1.05301926e-02 -3.45573137e-04  9.99944496e-01 -7.23052766e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.46770263799999
Centerline is valid?  [True, True]
Translation: X:68.51, Y:3.84, Z:-0.72
[[ 9.99938505e-01  3.47826557e-03  1.05303453e-02  6.85134560e+01]
 [-3.48204808e-03  9.99993880e-01  3.40888653e-04  3.83521530e+00]
 [-1.05290951e-02 -3.77534858e-04  9.99944496e-01 -7.23690283e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.527702638
Centerline is valid?  [True, True]
Translation: X:68.57, Y:3.83, Z:-0.72
[[ 9.99905625e-01  8.82337966e-03  1.05303453e-02  6.85741253e+01]
 [-8.82745813e-03  9.99960979e-01  3.40888653e-04  3.83077049e+00]
 [-1.05269266e-02 -4.33812664e-04  9.99944496e-01 -7.24327672e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.587702638
Centerline is valid?  [True, True]
Translation: X:68.63, Y:3.83, Z:-0.72
[[ 9.99917722e-01  7.32537543e-03  1.05303452e-02  6.86328061e+01]
 [-7.32937100e-03  9.99973082e-01  3.40891391e-04  3.83046347e+00]
 [-1.05275646e-02 -4.18044150e-04  9.99944496e-01 -7.24945533e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.647702638
Centerline is valid?  [True, True]
Translation: X:68.69, Y:3.82, Z:-0.73
[[ 9.99932251e-01  4.96045116e-03  1.05303350e-02  6.86932207e+01]
 [-4.96431909e-03  9.99987619e-01  3.41206536e-04  3.82209789e+00]
 [-1.05285121e-02 -3.93459363e-04  9.99944496e-01 -7.25579154e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.70770263799999
Centerline is valid?  [True, True]
Translation: X:68.75, Y:3.82, Z:-0.73
[[ 9.99940251e-01  2.93354037e-03  1.05303341e-02  6.87523433e+01]
 [-2.93729636e-03  9.99995628e-01  3.41234495e-04  3.82133064e+00]
 [-1.05292870e-02 -3.72144818e-04  9.99944496e-01 -7.26201529e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.76770263799999
Centerline is valid?  [True, True]
Translation: X:68.81, Y:3.82, Z:-0.73
[[ 9.99940438e-01  2.86928845e-03  1.05303201e-02  6.88109760e+01]
 [-2.87304540e-03  9.99995814e-01  3.41665095e-04  3.81782071e+00]
 [-1.05292957e-02 -3.71898833e-04  9.99944496e-01 -7.26818128e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.82770263799999
Centerline is valid?  [True, True]
Translation: X:68.87, Y:3.81, Z:-0.73
[[ 9.99931703e-01  5.06974431e-03  1.05303145e-02  6.88711597e+01]
 [-5.07362493e-03  9.99987071e-01  3.41837366e-04  3.81052455e+00]
 [-1.05284453e-02 -3.95240886e-04  9.99944496e-01 -7.27449557e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.887702638
Centerline is valid?  [True, True]
Translation: X:68.93, Y:3.81, Z:-0.73
[[ 9.99926908e-01  5.94065298e-03  1.05303136e-02  6.89298147e+01]
 [-5.94458211e-03  9.99982272e-01  3.41865137e-04  3.81105654e+00]
 [-1.05280960e-02 -4.04438463e-04  9.99944496e-01 -7.28067451e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 67.947702638
Centerline is valid?  [True, True]
Translation: X:68.99, Y:3.81, Z:-0.73
[[ 9.99881700e-01  1.12115855e-02  1.05302646e-02  6.89898083e+01]
 [-1.12158222e-02  9.99937042e-01  3.43368397e-04  3.81107439e+00]
 [-1.05257519e-02 -4.61433352e-04  9.99944496e-01 -7.28700411e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.007702638
Centerline is valid?  [True, True]
Translation: X:69.05, Y:3.81, Z:-0.73
[[ 9.99835563e-01  1.47634746e-02  1.05302647e-02  6.90486888e+01]
 [-1.47679079e-02  9.99890890e-01  3.43364571e-04  3.80837030e+00]
 [-1.05240465e-02 -4.98818088e-04  9.99944496e-01 -7.29319542e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.06770263799999
Centerline is valid?  [True, True]
Translation: X:69.11, Y:3.80, Z:-0.73
[[ 9.99829247e-01  1.51851923e-02  1.05302612e-02  6.91077725e+01]
 [-1.51896500e-02  9.99884572e-01  3.43471307e-04  3.80261574e+00]
 [-1.05238301e-02 -5.03363640e-04  9.99944496e-01 -7.29939849e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.12770263799999
Centerline is valid?  [True, True]
Translation: X:69.17, Y:3.80, Z:-0.73
[[ 9.99806539e-01  1.66131831e-02  1.05302542e-02  6.91667789e+01]
 [-1.66177221e-02  9.99861857e-01  3.43686110e-04  3.80328943e+00]
 [-1.05230898e-02 -5.18608458e-04  9.99944496e-01 -7.30561631e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.18770263799999
Centerline is valid?  [True, True]
Translation: X:69.23, Y:3.80, Z:-0.73
[[ 9.99862598e-01  1.28022840e-02  1.05302529e-02  6.92272839e+01]
 [-1.28066125e-02  9.99917933e-01  3.43726131e-04  3.79820479e+00]
 [-1.05249882e-02 -4.78535772e-04  9.99944496e-01 -7.31197082e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.24770263799999
Centerline is valid?  [True, True]
Translation: X:69.29, Y:3.79, Z:-0.73
[[ 9.99916519e-01  7.48798127e-03  1.05302444e-02  6.92884638e+01]
 [-7.49201837e-03  9.99971875e-01  3.43986191e-04  3.79328734e+00]
 [-1.05273725e-02 -4.22850259e-04  9.99944496e-01 -7.31839863e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.307702638
Centerline is valid?  [True, True]
Translation: X:69.35, Y:3.79, Z:-0.73
[[ 9.99936884e-01  3.91680060e-03  1.05302432e-02  6.93488265e+01]
 [-3.92064036e-03  9.99992255e-01  3.44022562e-04  3.79354308e+00]
 [-1.05288142e-02 -3.85286146e-04  9.99944496e-01 -7.32475647e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.367702638
Centerline is valid?  [True, True]
Translation: X:69.41, Y:3.79, Z:-0.73
[[ 9.99941848e-01 -2.32691078e-03  1.05302463e-02  6.94082773e+01]
 [ 2.32341782e-03  9.99997242e-01  3.43929216e-04  3.78977098e+00]
 [-1.05310175e-02 -3.19443054e-04  9.99944496e-01 -7.33100346e-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 68.42770263799999
Centerline is valid?  [True, True]
Translation: X:69.47, Y:3.78, Z:-0.73
[[ 9.99905846e-01 -8.79849309e-03  1.05302389e-02  6.94687226e+01]
 [ 8.79535632e-03  9.99961261e-01  3.44156095e-04  3.78377171e+00]
 [-1.05328590e-02 -2.51506488e-04  9.99944496e-01 -7.33734988e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.48770263799999
Centerline is valid?  [True, True]
Translation: X:69.53, Y:3.78, Z:-0.73
[[ 9.99890046e-01 -1.04407999e-02  1.05302425e-02  6.95300444e+01]
 [ 1.04377553e-02  9.99945466e-01  3.44045387e-04  3.78287311e+00]
 [-1.05332603e-02 -2.34095463e-04  9.99944496e-01 -7.34380366e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.54770263799999
Centerline is valid?  [True, True]
Translation: X:69.59, Y:3.78, Z:-0.74
[[ 9.99871562e-01 -1.20819342e-02  1.05302499e-02  6.95917534e+01]
 [ 1.20789830e-02  9.99926987e-01  3.43817587e-04  3.78043808e+00]
 [-1.05336351e-02 -2.16578718e-04  9.99944496e-01 -7.35029210e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.60770263799999
Centerline is valid?  [True, True]
Translation: X:69.65, Y:3.78, Z:-0.74
[[ 9.99830023e-01 -1.51339984e-02  1.05302675e-02  6.96528374e+01]
 [ 1.51312221e-02  9.99885458e-01  3.43276873e-04  3.77535887e+00]
 [-1.05342565e-02 -1.83882708e-04  9.99944496e-01 -7.35670340e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.667702638
Centerline is valid?  [True, True]
Translation: X:69.71, Y:3.78, Z:-0.74
[[ 9.99798465e-01 -1.70922093e-02  1.05302746e-02  6.97129349e+01]
 [ 1.70895439e-02  9.99853904e-01  3.43059276e-04  3.77562186e+00]
 [-1.05345998e-02 -1.63032547e-04  9.99944496e-01 -7.36303153e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.727702638
Centerline is valid?  [True, True]
Translation: X:69.77, Y:3.77, Z:-0.74
[[ 9.99715682e-01 -2.13931727e-02  1.05302840e-02  6.97723484e+01]
 [ 2.13907487e-02  9.99771133e-01  3.42772734e-04  3.77265929e+00]
 [-1.05352069e-02 -1.17424620e-04  9.99944496e-01 -7.36927607e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.78770263799998
Centerline is valid?  [True, True]
Translation: X:69.83, Y:3.77, Z:-0.74
[[ 9.99677941e-01 -2.30895381e-02  1.05302840e-02  6.98347761e+01]
 [ 2.30872083e-02  9.99733396e-01  3.42772734e-04  3.77159277e+00]
 [-1.05353910e-02 -9.95474821e-05  9.99944496e-01 -7.37584659e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.84770263799999
Centerline is valid?  [True, True]
Translation: X:69.90, Y:3.78, Z:-0.74
[[ 9.99727807e-01 -2.08188451e-02  1.05303369e-02  6.98965962e+01]
 [ 2.08164066e-02  9.99783257e-01  3.41137266e-04  3.77728613e+00]
 [-1.05351566e-02 -1.21840635e-04  9.99944496e-01 -7.38236464e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.90770263799999
Centerline is valid?  [True, True]
Translation: X:69.96, Y:3.78, Z:-0.74
[[ 9.99779531e-01 -1.81659333e-02  1.05303554e-02  6.99588409e+01]
 [ 1.81633537e-02  9.99834975e-01  3.40566256e-04  3.77739843e+00]
 [-1.05348043e-02 -1.49224602e-04  9.99944496e-01 -7.38891591e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 68.96770263799999
Centerline is valid?  [True, True]
Translation: X:70.02, Y:3.78, Z:-0.74
[[ 9.99844921e-01 -1.41153721e-02  1.05304071e-02  7.00205098e+01]
 [ 1.41125848e-02  9.99900355e-01  3.38960933e-04  3.78073362e+00]
 [-1.05341423e-02 -1.90297105e-04  9.99944496e-01 -7.39541015e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.027702638
Centerline is valid?  [True, True]
Translation: X:70.08, Y:3.78, Z:-0.74
[[ 9.99867896e-01 -1.23814999e-02  1.05304184e-02  7.00819088e+01]
 [ 1.23786201e-02  9.99923325e-01  3.38610014e-04  3.78279544e+00]
 [-1.05338034e-02 -2.08213233e-04  9.99944496e-01 -7.40188056e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.087702638
Centerline is valid?  [True, True]
Translation: X:70.14, Y:3.78, Z:-0.74
[[ 9.99901440e-01 -9.28553868e-03  1.05304329e-02  7.01431970e+01]
 [ 9.28249206e-03  9.99956860e-01  3.38156203e-04  3.78190107e+00]
 [-1.05331186e-02 -2.40374214e-04  9.99944496e-01 -7.40832856e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.147702638
Centerline is valid?  [True, True]
Translation: X:70.20, Y:3.78, Z:-0.74
[[ 9.99936729e-01 -3.95561014e-03  1.05304440e-02  7.02036658e+01]
 [ 3.95227177e-03  9.99992133e-01  3.37812241e-04  3.78444572e+00]
 [-1.05316974e-02 -2.96171691e-04  9.99944496e-01 -7.41470271e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.20770263799999
Centerline is valid?  [True, True]
Translation: X:70.26, Y:3.79, Z:-0.74
[[ 9.99940774e-01  2.74917001e-03  1.05304455e-02  7.02641608e+01]
 [-2.75287930e-03  9.99996154e-01  3.37765431e-04  3.78941487e+00]
 [-1.05294764e-02 -3.66734472e-04  9.99944496e-01 -7.42108991e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.26770263799999
Centerline is valid?  [True, True]
Translation: X:70.32, Y:3.79, Z:-0.74
[[ 9.99915063e-01  7.67960012e-03  1.05304461e-02  7.03237040e+01]
 [-7.68358221e-03  9.99970424e-01  3.37744965e-04  3.79167616e+00]
 [-1.05275409e-02 -4.18627827e-04  9.99944496e-01 -7.42736792e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.32770263799999
Centerline is valid?  [True, True]
Translation: X:70.38, Y:3.80, Z:-0.74
[[ 9.99892687e-01  1.01845101e-02  1.05304401e-02  7.03839343e+01]
 [-1.01886328e-02  9.99948037e-01  3.37933474e-04  3.79559877e+00]
 [-1.05264512e-02 -4.45187997e-04  9.99944496e-01 -7.43372538e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.387702638
Centerline is valid?  [True, True]
Translation: X:70.44, Y:3.80, Z:-0.74
[[ 9.99875910e-01  1.17164402e-02  1.05304389e-02  7.04420482e+01]
 [-1.17206481e-02  9.99931254e-01  3.37970571e-04  3.79926659e+00]
 [-1.05257551e-02 -4.61352201e-04  9.99944496e-01 -7.43985804e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.447702638
Centerline is valid?  [True, True]
Translation: X:70.50, Y:3.80, Z:-0.74
[[ 9.99897044e-01  9.74737623e-03  1.05304112e-02  7.05011207e+01]
 [-9.75148421e-03  9.99952396e-01  3.38829802e-04  3.80180024e+00]
 [-1.05266072e-02 -4.41482056e-04  9.99944496e-01 -7.44609371e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.507702638
Centerline is valid?  [True, True]
Translation: X:70.56, Y:3.81, Z:-0.75
[[ 9.99895834e-01  9.87078932e-03  1.05303967e-02  7.05589818e+01]
 [-9.87490886e-03  9.99951184e-01  3.39280213e-04  3.80782246e+00]
 [-1.05265337e-02 -4.43231579e-04  9.99944496e-01 -7.45221071e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.56770263799999
Centerline is valid?  [True, True]
Translation: X:70.62, Y:3.81, Z:-0.75
[[ 9.99901284e-01  9.30235944e-03  1.05303466e-02  7.06173993e+01]
 [-9.30646381e-03  9.99956636e-01  3.40829755e-04  3.81137718e+00]
 [-1.05267194e-02 -4.38796399e-04  9.99944496e-01 -7.45838593e-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 69.62770263799999
Centerline is valid?  [True, True]
Translation: X:70.68, Y:3.81, Z:-0.75
[[ 9.99922670e-01  6.61568736e-03  1.05302989e-02  7.06764836e+01]
 [-6.61965840e-03  9.99978031e-01  3.42296189e-04  3.81393724e+00]
 [-1.05278030e-02 -4.11976701e-04  9.99944496e-01 -7.46462741e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.68770263799999
Centerline is valid?  [True, True]
Translation: X:70.74, Y:3.82, Z:-0.75
[[ 9.99904131e-01  8.99122332e-03  1.05302945e-02  7.07364060e+01]
 [-8.99532729e-03  9.99959483e-01  3.42431250e-04  3.82194256e+00]
 [-1.05267890e-02 -4.37121867e-04  9.99944496e-01 -7.47096616e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.74770263799999
Centerline is valid?  [True, True]
Translation: X:70.79, Y:3.83, Z:-0.75
[[ 9.99888036e-01  1.06314876e-02  1.05302908e-02  7.07949904e+01]
 [-1.06356836e-02  9.99943381e-01  3.42545476e-04  3.82594855e+00]
 [-1.05260528e-02 -4.54503964e-04  9.99944496e-01 -7.47715017e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.807702638
Centerline is valid?  [True, True]
Translation: X:70.86, Y:3.83, Z:-0.75
[[ 9.99864391e-01  1.26614651e-02  1.05302630e-02  7.08553079e+01]
 [-1.26657824e-02  9.99919727e-01  3.43397998e-04  3.82739668e+00]
 [-1.05250698e-02 -4.76725449e-04  9.99944496e-01 -7.48351333e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.867702638
Centerline is valid?  [True, True]
Translation: X:70.91, Y:3.83, Z:-0.75
[[ 9.99851282e-01  1.36575127e-02  1.05302632e-02  7.09138522e+01]
 [-1.36618851e-02  9.99906613e-01  3.43392594e-04  3.83175593e+00]
 [-1.05245899e-02 -4.87204770e-04  9.99944496e-01 -7.48969347e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.92770263799999
Centerline is valid?  [True, True]
Translation: X:70.97, Y:3.84, Z:-0.75
[[ 9.99795822e-01  1.72461331e-02  1.05302095e-02  7.09729455e+01]
 [-1.72507212e-02  9.99851136e-01  3.45030218e-04  3.83854280e+00]
 [-1.05226915e-02 -5.26613480e-04  9.99944496e-01 -7.49595192e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 69.98770263799999
Centerline is valid?  [True, True]
Translation: X:71.03, Y:3.84, Z:-0.75
[[ 9.99813777e-01  1.61717630e-02  1.05302097e-02  7.10310708e+01]
 [-1.61762916e-02  9.99869096e-01  3.45023390e-04  3.83845005e+00]
 [-1.05232517e-02 -5.15298882e-04  9.99944496e-01 -7.50207260e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.04770263799999
Centerline is valid?  [True, True]
Translation: X:71.09, Y:3.84, Z:-0.75
[[ 9.99876774e-01  1.16426613e-02  1.05301914e-02  7.10913986e+01]
 [-1.16469451e-02  9.99932112e-01  3.45581717e-04  3.84462493e+00]
 [-1.05254531e-02 -4.68183694e-04  9.99944496e-01 -7.50845105e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.10770263799999
Centerline is valid?  [True, True]
Translation: X:71.15, Y:3.85, Z:-0.75
[[ 9.99891609e-01  1.02900243e-02  1.05301891e-02  7.11506515e+01]
 [-1.02942341e-02  9.99946953e-01  3.45652770e-04  3.85031592e+00]
 [-1.05260737e-02 -4.54015536e-04  9.99944496e-01 -7.51471104e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.167702638
Centerline is valid?  [True, True]
Translation: X:71.21, Y:3.85, Z:-0.75
[[ 9.99929984e-01  5.39842348e-03  1.05301816e-02  7.12105539e+01]
 [-5.40236481e-03  9.99985347e-01  3.45880585e-04  3.85219185e+00]
 [-1.05281601e-02 -4.02744250e-04  9.99944496e-01 -7.52102741e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.227702638
Centerline is valid?  [True, True]
Translation: X:71.27, Y:3.86, Z:-0.75
[[ 9.99944158e-01  8.92477480e-04  1.05301779e-02  7.12705681e+01]
 [-8.96170486e-04  9.99999539e-01  3.45993569e-04  3.85686282e+00]
 [-1.05298642e-02 -3.55411082e-04  9.99944496e-01 -7.52736437e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.28770263799998
Centerline is valid?  [True, True]
Translation: X:71.33, Y:3.86, Z:-0.75
[[ 9.99941399e-01 -2.51264480e-03  1.05301758e-02  7.13301332e+01]
 [ 2.50913972e-03  9.99996792e-01  3.46058319e-04  3.86331400e+00]
 [-1.05310115e-02 -3.19616358e-04  9.99944496e-01 -7.53365983e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.34770263799999
Centerline is valid?  [True, True]
Translation: X:71.39, Y:3.87, Z:-0.75
[[ 9.99926401e-01 -6.02554540e-03  1.05301685e-02  7.13924435e+01]
 [ 6.02223262e-03  9.99981806e-01  3.46278953e-04  3.86590185e+00]
 [-1.05320634e-02 -2.82838343e-04  9.99944496e-01 -7.54023220e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.40770263799999
Centerline is valid?  [True, True]
Translation: X:71.45, Y:3.87, Z:-0.75
[[ 9.99923761e-01 -6.44870176e-03  1.05302188e-02  7.14525198e+01]
 [ 6.44542861e-03  9.99979169e-01  3.44741447e-04  3.87171829e+00]
 [-1.05322226e-02 -2.76843390e-04  9.99944496e-01 -7.54656719e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.46770263799999
Centerline is valid?  [True, True]
Translation: X:71.51, Y:3.88, Z:-0.76
[[ 9.99924626e-01 -6.31326896e-03  1.05302224e-02  7.15141832e+01]
 [ 6.30998946e-03  9.99980032e-01  3.44632045e-04  3.87770638e+00]
 [-1.05321879e-02 -2.78160476e-04  9.99944496e-01 -7.55308066e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.527702638
Centerline is valid?  [True, True]
Translation: X:71.58, Y:3.88, Z:-0.76
[[ 9.99920272e-01 -6.96875268e-03  1.05302688e-02  7.15766438e+01]
 [ 6.96552449e-03  9.99975682e-01  3.43208436e-04  3.87997604e+00]
 [-1.05324045e-02 -2.69832227e-04  9.99944496e-01 -7.55965525e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.587702638
Centerline is valid?  [True, True]
Translation: X:71.64, Y:3.89, Z:-0.76
[[ 9.99898848e-01 -9.56071435e-03  1.05302859e-02  7.16372976e+01]
 [ 9.55763533e-03  9.99954266e-01  3.42682296e-04  3.88743934e+00]
 [-1.05330806e-02 -2.42003000e-04  9.99944496e-01 -7.56606419e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.64770263799998
Centerline is valid?  [True, True]
Translation: X:71.70, Y:3.89, Z:-0.76
[[ 9.99886473e-01 -1.07774812e-02  1.05302871e-02  7.16971012e+01]
 [ 1.07744701e-02  9.99941895e-01  3.42646315e-04  3.89269544e+00]
 [-1.05333681e-02 -2.29149152e-04  9.99944496e-01 -7.57237977e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.70770263799999
Centerline is valid?  [True, True]
Translation: X:71.76, Y:3.90, Z:-0.76
[[ 9.99836579e-01 -1.46945003e-02  1.05302871e-02  7.17574120e+01]
 [ 1.46917062e-02  9.99892012e-01  3.42646315e-04  3.89572112e+00]
 [-1.05341850e-02 -1.87882434e-04  9.99944496e-01 -7.57874139e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.76770263799999
Centerline is valid?  [True, True]
Translation: X:71.82, Y:3.90, Z:-0.76
[[ 9.99853008e-01 -1.35305484e-02  1.05302905e-02  7.18190776e+01]
 [ 1.35276909e-02  9.99908438e-01  3.42542685e-04  3.90319439e+00]
 [-1.05339611e-02 -2.00041819e-04  9.99944496e-01 -7.58526012e-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 70.82770263799999
Centerline is valid?  [True, True]
Translation: X:71.88, Y:3.91, Z:-0.76
[[ 9.99882774e-01 -1.11152826e-02  1.05303373e-02  7.18786554e+01]
 [ 1.11123065e-02  9.99938198e-01  3.41095899e-04  3.90815412e+00]
 [-1.05334779e-02 -2.24039578e-04  9.99944496e-01 -7.59153989e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.887702638
Centerline is valid?  [True, True]
Translation: X:71.94, Y:3.92, Z:-0.76
[[ 9.99904673e-01 -8.93071540e-03  1.05303406e-02  7.19394683e+01]
 [ 8.92761924e-03  9.99960090e-01  3.40994362e-04  3.91698019e+00]
 [-1.05329657e-02 -2.46950984e-04  9.99944496e-01 -7.59797336e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 70.947702638
Centerline is valid?  [True, True]
Translation: X:72.00, Y:3.92, Z:-0.76
[[ 9.99866499e-01 -1.24938202e-02  1.05303441e-02  7.19997078e+01]
 [ 1.24909226e-02  9.99921927e-01  3.40886830e-04  3.91947270e+00]
 [-1.05337810e-02 -2.09307607e-04  9.99944496e-01 -7.60432479e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.007702638
Centerline is valid?  [True, True]
Translation: X:72.06, Y:3.92, Z:-0.76
[[ 9.99798680e-01 -1.70795589e-02  1.05303649e-02  7.20612824e+01]
 [ 1.70769224e-02  9.99854121e-01  3.40242657e-04  3.92152849e+00]
 [-1.05346400e-02 -1.60347934e-04  9.99944496e-01 -7.61081111e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.06770263799999
Centerline is valid?  [True, True]
Translation: X:72.12, Y:3.93, Z:-0.76
[[ 9.99643832e-01 -2.45218501e-02  1.05303752e-02  7.21206723e+01]
 [ 2.45196298e-02  9.99699291e-01  3.39923434e-04  3.92813391e+00]
 [-1.05355442e-02 -8.16014619e-05  9.99944496e-01 -7.61708537e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.12770263799999
Centerline is valid?  [True, True]
Translation: X:72.18, Y:3.93, Z:-0.76
[[ 9.99570946e-01 -2.73319271e-02  1.05303748e-02  7.21826515e+01]
 [ 2.73298625e-02  9.99626412e-01  3.39937323e-04  3.93000636e+00]
 [-1.05357319e-02 -5.19977760e-05  9.99944496e-01 -7.62361885e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.18770263799999
Centerline is valid?  [True, True]
Translation: X:72.24, Y:3.93, Z:-0.76
[[ 9.99422149e-01 -3.23184131e-02  1.05303894e-02  7.22447947e+01]
 [ 3.23166300e-02  9.99477624e-01  3.39484212e-04  3.93155816e+00]
 [-1.05358602e-02  1.01865722e-06  9.99944496e-01 -7.63016482e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.24770263799999
Centerline is valid?  [True, True]
Translation: X:72.31, Y:3.94, Z:-0.76
[[ 9.99358019e-01 -3.42441240e-02  1.05304373e-02  7.23067550e+01]
 [ 3.42424636e-02  9.99413498e-01  3.37991474e-04  3.93658238e+00]
 [-1.05358354e-02  2.28136259e-05  9.99944496e-01 -7.63669505e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.307702638
Centerline is valid?  [True, True]
Translation: X:72.37, Y:3.94, Z:-0.76
[[ 9.99406314e-01 -3.28044195e-02  1.05304546e-02  7.23675360e+01]
 [ 3.28026848e-02  9.99461790e-01  3.37451760e-04  3.94068218e+00]
 [-1.05358569e-02  8.17576363e-06  9.99944496e-01 -7.64310547e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.367702638
Centerline is valid?  [True, True]
Translation: X:72.43, Y:3.94, Z:-0.76
[[ 9.99467011e-01 -3.08998782e-02  1.05304581e-02  7.24285778e+01]
 [ 3.08980390e-02  9.99522485e-01  3.37342549e-04  3.94364532e+00]
 [-1.05358535e-02 -1.17922443e-05  9.99944496e-01 -7.64954293e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.42770263799999
Centerline is valid?  [True, True]
Translation: X:72.49, Y:3.95, Z:-0.77
[[ 9.99506366e-01 -2.95995702e-02  1.05304682e-02  7.24897377e+01]
 [ 2.95976621e-02  9.99561836e-01  3.37027477e-04  3.94601545e+00]
 [-1.05358300e-02 -2.51838686e-05  9.99944496e-01 -7.65598919e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.48770263799999
Centerline is valid?  [True, True]
Translation: X:72.55, Y:3.95, Z:-0.77
[[ 9.99548053e-01 -2.81566815e-02  1.05305116e-02  7.25508358e+01]
 [ 2.81547077e-02  9.99603521e-01  3.35665029e-04  3.94832189e+00]
 [-1.05357877e-02 -3.90298497e-05  9.99944496e-01 -7.66242037e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.54770263799999
Centerline is valid?  [True, True]
Translation: X:72.61, Y:3.95, Z:-0.77
[[ 9.99666968e-01 -2.35597336e-02  1.05305183e-02  7.26120522e+01]
 [ 2.35575069e-02  9.99722427e-01  3.35453755e-04  3.95449477e+00]
 [-1.05354986e-02 -8.72692797e-05  9.99944496e-01 -7.66888615e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.60770263799999
Centerline is valid?  [True, True]
Translation: X:72.67, Y:3.96, Z:-0.77
[[ 9.99705226e-01 -2.18762053e-02  1.05305251e-02  7.26723902e+01]
 [ 2.18738875e-02  9.99760682e-01  3.35241747e-04  3.95603610e+00]
 [-1.05353388e-02 -1.04799406e-04  9.99944496e-01 -7.67524388e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.667702638
Centerline is valid?  [True, True]
Translation: X:72.73, Y:3.96, Z:-0.77
[[ 9.99779548e-01 -1.81649019e-02  1.05305285e-02  7.27340145e+01]
 [ 1.81623794e-02  9.99834994e-01  3.35136140e-04  3.96075094e+00]
 [-1.05348786e-02 -1.43802806e-04  9.99944496e-01 -7.68174856e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.727702638
Centerline is valid?  [True, True]
Translation: X:72.80, Y:3.97, Z:-0.77
[[ 9.99829004e-01 -1.52009811e-02  1.05305419e-02  7.27959007e+01]
 [ 1.51982987e-02  9.99884443e-01  3.34714229e-04  3.96595727e+00]
 [-1.05344130e-02 -1.74610674e-04  9.99944496e-01 -7.68827990e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.78770263799998
Centerline is valid?  [True, True]
Translation: X:72.86, Y:3.97, Z:-0.77
[[ 9.99892376e-01 -1.02148848e-02  1.05305900e-02  7.28568835e+01]
 [ 1.02119420e-02  9.99947801e-01  3.33193431e-04  3.97047318e+00]
 [-1.05334438e-02 -2.25619797e-04  9.99944496e-01 -7.69470488e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.84770263799999
Centerline is valid?  [True, True]
Translation: X:72.92, Y:3.98, Z:-0.77
[[ 9.99925764e-01 -6.12976502e-03  1.05305959e-02  7.29165528e+01]
 [ 6.12659769e-03  9.99981177e-01  3.33006728e-04  3.97608722e+00]
 [-1.05324389e-02 -2.68465282e-04  9.99944496e-01 -7.70100594e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.90770263799999
Centerline is valid?  [True, True]
Translation: X:72.98, Y:3.99, Z:-0.77
[[ 9.99944344e-01 -6.45038638e-04  1.05305972e-02  7.29760770e+01]
 [ 6.41567859e-04  9.99999739e-01  3.32964747e-04  3.98705660e+00]
 [-1.05308092e-02 -3.26190123e-04  9.99944496e-01 -7.70731072e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 71.96770263799999
Centerline is valid?  [True, True]
Translation: X:73.04, Y:3.99, Z:-0.77
[[ 9.99944486e-01 -3.62531684e-04  1.05306047e-02  7.30370139e+01]
 [ 3.59047755e-04  9.99999880e-01  3.32727131e-04  3.98988074e+00]
 [-1.05307241e-02 -3.28927670e-04  9.99944496e-01 -7.71373555e-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 72.027702638
Centerline is valid?  [True, True]
Translation: X:73.10, Y:4.00, Z:-0.77
[[ 9.99944538e-01 -1.62429148e-04  1.05306081e-02  7.30975509e+01]
 [ 1.58935258e-04  9.99999932e-01  3.32620253e-04  3.99858062e+00]
 [-1.05306614e-02 -3.30928120e-04  9.99944496e-01 -7.72013888e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.087702638
Centerline is valid?  [True, True]
Translation: X:73.16, Y:4.01, Z:-0.77
[[ 9.99941749e-01 -2.36753923e-03  1.05306114e-02  7.31578145e+01]
 [ 2.36416859e-03  9.99997150e-01  3.32516853e-04  4.00572264e+00]
 [-1.05313686e-02 -3.07601343e-04  9.99944496e-01 -7.72650824e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.14770263799998
Centerline is valid?  [True, True]
Translation: X:73.22, Y:4.01, Z:-0.77
[[ 9.99937967e-01 -3.62870894e-03  1.05306147e-02  7.32190129e+01]
 [ 3.62540929e-03  9.99993373e-01  3.32410803e-04  4.01235161e+00]
 [-1.05317511e-02 -2.94212394e-04  9.99944496e-01 -7.73297432e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.20770263799999
Centerline is valid?  [True, True]
Translation: X:73.28, Y:4.02, Z:-0.77
[[ 9.99942862e-01 -1.83790679e-03  1.05306215e-02  7.32803326e+01]
 [ 1.83451019e-03  9.99998262e-01  3.32195955e-04  4.02035860e+00]
 [-1.05312137e-02 -3.12858442e-04  9.99944496e-01 -7.73945682e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.26770263799999
Centerline is valid?  [True, True]
Translation: X:73.34, Y:4.03, Z:-0.77
[[ 9.99932399e-01  4.92988579e-03  1.05306315e-02  7.33410076e+01]
 [-4.93365393e-03  9.99987774e-01  3.31879200e-04  4.03100360e+00]
 [-1.05288666e-02 -3.83811256e-04  9.99944496e-01 -7.74587928e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.32770263799999
Centerline is valid?  [True, True]
Translation: X:73.40, Y:4.03, Z:-0.78
[[ 9.99939601e-01  3.14644852e-03  1.05306374e-02  7.33989763e+01]
 [-3.15011592e-03  9.99994983e-01  3.31691199e-04  4.03382172e+00]
 [-1.05295409e-02 -3.64843893e-04  9.99944496e-01 -7.75199183e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.387702638
Centerline is valid?  [True, True]
Translation: X:73.46, Y:4.03, Z:-0.78
[[ 9.99938876e-01  3.36915709e-03  1.05306208e-02  7.34574090e+01]
 [-3.37284237e-03  9.99994257e-01  3.32218247e-04  4.03372979e+00]
 [-1.05294410e-02 -3.67716064e-04  9.99944496e-01 -7.75814972e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.447702638
Centerline is valid?  [True, True]
Translation: X:73.52, Y:4.03, Z:-0.78
[[ 9.99938911e-01  3.35876918e-03  1.05305762e-02  7.35168620e+01]
 [-3.36246867e-03  9.99994291e-01  3.33623915e-04  4.03404033e+00]
 [-1.05293956e-02 -3.69012267e-04  9.99944496e-01 -7.76442385e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.507702638
Centerline is valid?  [True, True]
Translation: X:73.58, Y:4.03, Z:-0.78
[[ 9.99888632e-01  1.05749867e-02  1.05305731e-02  7.35775136e+01]
 [-1.05790868e-02  9.99943984e-01  3.33723040e-04  4.03354533e+00]
 [-1.05264541e-02 -4.45089721e-04  9.99944496e-01 -7.77081036e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.56770263799999
Centerline is valid?  [True, True]
Translation: X:73.64, Y:4.03, Z:-0.78
[[ 9.99810608e-01  1.63663020e-02  1.05305761e-02  7.36382747e+01]
 [-1.63707216e-02  9.99865935e-01  3.33628039e-04  4.03395935e+00]
 [-1.05237041e-02 -5.05957983e-04  9.99944496e-01 -7.77720978e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.62770263799999
Centerline is valid?  [True, True]
Translation: X:73.70, Y:4.04, Z:-0.78
[[ 9.99684967e-01  2.27831760e-02  1.05305764e-02  7.36971970e+01]
 [-2.27879505e-02  9.99740265e-01  3.33617960e-04  4.03629886e+00]
 [-1.05202404e-02 -5.73483114e-04  9.99944496e-01 -7.78342270e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.68770263799999
Centerline is valid?  [True, True]
Translation: X:73.76, Y:4.04, Z:-0.78
[[ 9.99558459e-01  2.77847810e-02  1.05305705e-02  7.37577668e+01]
 [-2.77898342e-02  9.99613732e-01  3.33804922e-04  4.03851074e+00]
 [-1.05172282e-02 -6.26300341e-04  9.99944496e-01 -7.78981038e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.74770263799999
Centerline is valid?  [True, True]
Translation: X:73.82, Y:4.04, Z:-0.78
[[ 9.99519852e-01  2.91405650e-02  1.05305712e-02  7.38177073e+01]
 [-2.91456928e-02  9.99575118e-01  3.33781860e-04  4.04148672e+00]
 [-1.05163704e-02 -6.40542390e-04  9.99944496e-01 -7.79613254e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.807702638
Centerline is valid?  [True, True]
Translation: X:73.88, Y:4.04, Z:-0.78
[[ 9.99571948e-01  2.72952072e-02  1.05305681e-02  7.38773202e+01]
 [-2.73002341e-02  9.99627223e-01  3.33880236e-04  4.04020499e+00]
 [-1.05175292e-02 -6.21224293e-04  9.99944496e-01 -7.80240702e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.867702638
Centerline is valid?  [True, True]
Translation: X:73.94, Y:4.04, Z:-0.78
[[ 9.99662199e-01  2.37612231e-02  1.05305673e-02  7.39379008e+01]
 [-2.37660548e-02  9.99717492e-01  3.33906752e-04  4.04266187e+00]
 [-1.05196583e-02 -5.84063997e-04  9.99944496e-01 -7.80879529e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.92770263799999
Centerline is valid?  [True, True]
Translation: X:74.00, Y:4.04, Z:-0.78
[[ 9.99732838e-01  2.05756993e-02  1.05305698e-02  7.39979577e+01]
 [-2.05803539e-02  9.99788146e-01  3.33828335e-04  4.04423876e+00]
 [-1.05214701e-02 -5.50462001e-04  9.99944496e-01 -7.81512457e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 72.98770263799999
Centerline is valid?  [True, True]
Translation: X:74.06, Y:4.05, Z:-0.78
[[ 9.99774219e-01  1.84558200e-02  1.05305681e-02  7.40569144e+01]
 [-1.84603579e-02  9.99829537e-01  3.33879586e-04  4.04562681e+00]
 [-1.05226110e-02 -5.28202258e-04  9.99944496e-01 -7.82133846e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.04770263799999
Centerline is valid?  [True, True]
Translation: X:74.12, Y:4.05, Z:-0.78
[[ 9.99811754e-01  1.62961264e-02  1.05305206e-02  7.41154618e+01]
 [-1.63005605e-02  9.99867081e-01  3.35370880e-04  4.04507824e+00]
 [-1.05236557e-02 -5.06961137e-04  9.99944496e-01 -7.82751496e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.10770263799999
Centerline is valid?  [True, True]
Translation: X:74.17, Y:4.04, Z:-0.78
[[ 9.99804919e-01  1.67102696e-02  1.05305083e-02  7.41728317e+01]
 [-1.67147307e-02  9.99860243e-01  3.35757873e-04  4.04458978e+00]
 [-1.05234260e-02 -5.11706983e-04  9.99944496e-01 -7.83355826e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.167702638
Centerline is valid?  [True, True]
Translation: X:74.23, Y:4.05, Z:-0.78
[[ 9.99774786e-01  1.84251610e-02  1.05304649e-02  7.42305254e+01]
 [-1.84297312e-02  9.99830101e-01  3.37113336e-04  4.04736112e+00]
 [-1.05224644e-02 -5.31111051e-04  9.99944496e-01 -7.83965478e-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 73.227702638
Centerline is valid?  [True, True]
Translation: X:74.29, Y:4.05, Z:-0.78
[[ 9.99763715e-01  1.90164107e-02  1.05304212e-02  7.42899861e+01]
 [-1.90210279e-02  9.99819027e-01  3.38472295e-04  4.04635003e+00]
 [-1.05220790e-02 -5.38691755e-04  9.99944496e-01 -7.84592464e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.28770263799998
Centerline is valid?  [True, True]
Translation: X:74.35, Y:4.04, Z:-0.79
[[ 9.99723013e-01  2.10477435e-02  1.05304149e-02  7.43505997e+01]
 [-2.10524752e-02  9.99778315e-01  3.38668330e-04  4.04484007e+00]
 [-1.05209523e-02 -5.60265821e-04  9.99944496e-01 -7.85230439e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.34770263799999
Centerline is valid?  [True, True]
Translation: X:74.41, Y:4.05, Z:-0.79
[[ 9.99702270e-01  2.20109630e-02  1.05304149e-02  7.44103944e+01]
 [-2.20157479e-02  9.99757567e-01  3.38668330e-04  4.04716578e+00]
 [-1.05204076e-02 -5.70402458e-04  9.99944496e-01 -7.85860924e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.40770263799999
Centerline is valid?  [True, True]
Translation: X:74.47, Y:4.04, Z:-0.79
[[ 9.99743315e-01  2.00602834e-02  1.05304083e-02  7.44693176e+01]
 [-2.00649625e-02  9.99798621e-01  3.38875284e-04  4.04409443e+00]
 [-1.05214897e-02 -5.50080547e-04  9.99944496e-01 -7.86480577e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.46770263799999
Centerline is valid?  [True, True]
Translation: X:74.53, Y:4.04, Z:-0.79
[[ 9.99766042e-01  1.88936935e-02  1.05304049e-02  7.45285672e+01]
 [-1.88983092e-02  9.99821354e-01  3.38978460e-04  4.04314745e+00]
 [-1.05221192e-02 -5.37906002e-04  9.99944496e-01 -7.87104299e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.527702638
Centerline is valid?  [True, True]
Translation: X:74.59, Y:4.04, Z:-0.79
[[ 9.99787202e-01  1.77387264e-02  1.05303613e-02  7.45859266e+01]
 [-1.77432924e-02  9.99842517e-01  3.40327619e-04  4.04149678e+00]
 [-1.05226660e-02 -5.27098478e-04  9.99944496e-01 -7.87708906e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.587702638
Centerline is valid?  [True, True]
Translation: X:74.65, Y:4.04, Z:-0.79
[[ 9.99822304e-01  1.56356171e-02  1.05303139e-02  7.46455366e+01]
 [-1.56400821e-02  9.99877628e-01  3.41790246e-04  4.03971335e+00]
 [-1.05236811e-02 -5.06424484e-04  9.99944496e-01 -7.88337253e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.64770263799998
Centerline is valid?  [True, True]
Translation: X:74.71, Y:4.04, Z:-0.79
[[ 9.99880033e-01  1.13592293e-02  1.05303070e-02  7.47061383e+01]
 [-1.13634598e-02  9.99935375e-01  3.42000563e-04  4.03779556e+00]
 [-1.05257416e-02 -4.61620255e-04  9.99944496e-01 -7.88974960e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.70770263799999
Centerline is valid?  [True, True]
Translation: X:74.77, Y:4.04, Z:-0.79
[[ 9.99921640e-01  6.76946103e-03  1.05303086e-02  7.47656527e+01]
 [-6.77343698e-03  9.99977002e-01  3.41953536e-04  4.03650932e+00]
 [-1.05277515e-02 -4.13253122e-04  9.99944496e-01 -7.89601221e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.76770263799999
Centerline is valid?  [True, True]
Translation: X:74.83, Y:4.03, Z:-0.79
[[ 9.99942205e-01  2.16770970e-03  1.05303044e-02  7.48260168e+01]
 [-2.17143218e-03  9.99997584e-01  3.42081152e-04  4.03273554e+00]
 [-1.05295374e-02 -3.64927224e-04  9.99944496e-01 -7.90235722e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.82770263799999
Centerline is valid?  [True, True]
Translation: X:74.89, Y:4.03, Z:-0.79
[[ 9.99944346e-01  6.46519434e-04  1.05302901e-02  7.48850711e+01]
 [-6.50162305e-04  9.99999730e-01  3.42522475e-04  4.03220889e+00]
 [-1.05300658e-02 -3.49349810e-04  9.99944496e-01 -7.90857792e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.887702638
Centerline is valid?  [True, True]
Translation: X:74.95, Y:4.03, Z:-0.79
[[ 9.99944497e-01 -3.40143472e-04  1.05302759e-02  7.49455473e+01]
 [ 3.36550677e-04  9.99999885e-01  3.42957253e-04  4.02794568e+00]
 [-1.05303913e-02 -3.39394247e-04  9.99944496e-01 -7.91493548e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 73.947702638
Centerline is valid?  [True, True]
Translation: X:75.01, Y:4.02, Z:-0.79
[[ 9.99944555e-01 -2.94027428e-05  1.05302759e-02  7.50063862e+01]
 [ 2.57927367e-05  9.99999941e-01  3.42957253e-04  4.02417037e+00]
 [-1.05302854e-02 -3.42666633e-04  9.99944496e-01 -7.92132939e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.007702638
Centerline is valid?  [True, True]
Translation: X:75.07, Y:4.02, Z:-0.79
[[ 9.99932786e-01  4.85152959e-03  1.05302759e-02  7.50670007e+01]
 [-4.85540991e-03  9.99988154e-01  3.42957253e-04  4.02310584e+00]
 [-1.05284873e-02 -3.94063008e-04  9.99944496e-01 -7.92770897e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.06770263799999
Centerline is valid?  [True, True]
Translation: X:75.13, Y:4.02, Z:-0.79
[[ 9.99858867e-01  1.30904359e-02  1.05302759e-02  7.51271451e+01]
 [-1.30947723e-02  9.99914201e-01  3.42957253e-04  4.02147697e+00]
 [-1.05248829e-02 -4.80800416e-04  9.99944496e-01 -7.93403711e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.12770263799999
Centerline is valid?  [True, True]
Translation: X:75.19, Y:4.02, Z:-0.79
[[ 9.99765741e-01  1.89096667e-02  1.05302783e-02  7.51875942e+01]
 [-1.89143243e-02  9.99821049e-01  3.42883630e-04  4.01976406e+00]
 [-1.05219101e-02 -5.41976405e-04  9.99944496e-01 -7.94039646e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.18770263799999
Centerline is valid?  [True, True]
Translation: X:75.25, Y:4.02, Z:-0.79
[[ 9.99701863e-01  2.20294672e-02  1.05302782e-02  7.52481286e+01]
 [-2.20342975e-02  9.99757157e-01  3.42887662e-04  4.01809154e+00]
 [-1.05201673e-02 -5.74812716e-04  9.99944496e-01 -7.94676555e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.24770263799999
Centerline is valid?  [True, True]
Translation: X:75.31, Y:4.02, Z:-0.80
[[ 9.99710052e-01  2.16546863e-02  1.05302767e-02  7.53074942e+01]
 [-2.16594963e-02  9.99765347e-01  3.42932829e-04  4.01581525e+00]
 [-1.05203796e-02 -5.70913886e-04  9.99944496e-01 -7.95300981e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.307702638
Centerline is valid?  [True, True]
Translation: X:75.37, Y:4.01, Z:-0.80
[[ 9.99710323e-01  2.16421841e-02  1.05302518e-02  7.53669150e+01]
 [-2.16470014e-02  9.99765617e-01  3.43696687e-04  4.01449044e+00]
 [-1.05203453e-02 -5.71545500e-04  9.99944496e-01 -7.95926870e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.367702638
Centerline is valid?  [True, True]
Translation: X:75.43, Y:4.01, Z:-0.80
[[ 9.99772104e-01  1.85702475e-02  1.05302444e-02  7.54266713e+01]
 [-1.85748972e-02  9.99827413e-01  3.43923436e-04  4.00781104e+00]
 [-1.05220402e-02 -5.39443264e-04  9.99944496e-01 -7.96554032e-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 74.42770263799999
Centerline is valid?  [True, True]
Translation: X:75.49, Y:4.00, Z:-0.80
[[ 9.99841848e-01  1.43315171e-02  1.05302369e-02  7.54863869e+01]
 [-1.43359347e-02  9.99897176e-01  3.44150501e-04  4.00494189e+00]
 [-1.05242220e-02 -4.95056862e-04  9.99944496e-01 -7.97182073e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.48770263799999
Centerline is valid?  [True, True]
Translation: X:75.55, Y:4.00, Z:-0.80
[[ 9.99874163e-01  1.18647210e-02  1.05302352e-02  7.55461632e+01]
 [-1.18690026e-02  9.99929502e-01  3.44202850e-04  4.00372120e+00]
 [-1.05254090e-02 -4.69142926e-04  9.99944496e-01 -7.97811185e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.54770263799999
Centerline is valid?  [True, True]
Translation: X:75.60, Y:4.00, Z:-0.80
[[ 9.99892570e-01  1.01962495e-02  1.05302278e-02  7.56047079e+01]
 [-1.02004412e-02  9.99947915e-01  3.44428244e-04  4.00118540e+00]
 [-1.05261675e-02 -4.51804212e-04  9.99944496e-01 -7.98427006e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.60770263799999
Centerline is valid?  [True, True]
Translation: X:75.66, Y:4.00, Z:-0.80
[[ 9.99896869e-01  9.76558834e-03  1.05302131e-02  7.56630233e+01]
 [-9.76976091e-03  9.99952215e-01  3.44878929e-04  4.00144029e+00]
 [-1.05263420e-02 -4.47721026e-04  9.99944496e-01 -7.99041542e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.667702638
Centerline is valid?  [True, True]
Translation: X:75.72, Y:4.00, Z:-0.80
[[ 9.99912212e-01  8.04255795e-03  1.05301946e-02  7.57221499e+01]
 [-8.04664109e-03  9.99967566e-01  3.45443838e-04  4.00062662e+00]
 [-1.05270748e-02 -4.30146209e-04  9.99944496e-01 -7.99664335e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.727702638
Centerline is valid?  [True, True]
Translation: X:75.78, Y:4.00, Z:-0.80
[[ 9.99896761e-01  9.77665146e-03  1.05301899e-02  7.57822265e+01]
 [-9.78083208e-03  9.99952107e-01  3.45586203e-04  3.99937815e+00]
 [-1.05263069e-02 -4.48544544e-04  9.99944496e-01 -8.00296663e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.78770263799998
Centerline is valid?  [True, True]
Translation: X:75.84, Y:4.00, Z:-0.80
[[ 9.99894445e-01  1.00106736e-02  1.05301861e-02  7.58414795e+01]
 [-1.00148684e-02  9.99949790e-01  3.45701383e-04  4.00185431e+00]
 [-1.05261967e-02 -4.51123321e-04  9.99944496e-01 -8.00921585e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.84770263799999
Centerline is valid?  [True, True]
Translation: X:75.90, Y:4.00, Z:-0.80
[[ 9.99907902e-01  8.56175858e-03  1.05301786e-02  7.59003240e+01]
 [-8.56587556e-03  9.99963252e-01  3.45929714e-04  4.00128250e+00]
 [-1.05268299e-02 -4.36098054e-04  9.99944496e-01 -8.01541235e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.90770263799999
Centerline is valid?  [True, True]
Translation: X:75.96, Y:4.00, Z:-0.80
[[ 9.99933292e-01  4.74634728e-03  1.05301636e-02  7.59601355e+01]
 [-4.75025784e-03  9.99988657e-01  3.46386982e-04  4.00401919e+00]
 [-1.05284000e-02 -3.96384867e-04  9.99944496e-01 -8.02172383e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 74.96770263799999
Centerline is valid?  [True, True]
Translation: X:76.02, Y:4.01, Z:-0.80
[[ 9.99944222e-01 -8.18254429e-04  1.05301575e-02  7.60183541e+01]
 [ 8.14650104e-04  9.99999608e-01  3.46570712e-04  4.00794820e+00]
 [-1.05304370e-02 -3.37972987e-04  9.99944496e-01 -8.02786966e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.027702638
Centerline is valid?  [True, True]
Translation: X:76.08, Y:4.01, Z:-0.80
[[ 9.99939906e-01 -3.04967115e-03  1.05301427e-02  7.60789913e+01]
 [ 3.04618570e-03  9.99995300e-01  3.47020291e-04  4.00981391e+00]
 [-1.05311515e-02 -3.14922667e-04  9.99944496e-01 -8.03426502e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.087702638
Centerline is valid?  [True, True]
Translation: X:76.14, Y:4.01, Z:-0.80
[[ 9.99914478e-01 -7.75580443e-03  1.05301463e-02  7.61390772e+01]
 [ 7.75258090e-03  9.99969888e-01  3.46909554e-04  4.01412271e+00]
 [-1.05325198e-02 -2.65244074e-04  9.99944496e-01 -8.04060663e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.14770263799998
Centerline is valid?  [True, True]
Translation: X:76.20, Y:4.02, Z:-0.80
[[ 9.99867281e-01 -1.24312420e-02  1.05301463e-02  7.61996724e+01]
 [ 1.24282776e-02  9.99922706e-01  3.46909554e-04  4.01558779e+00]
 [-1.05336449e-02 -2.15991931e-04  9.99944496e-01 -8.04699284e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.20770263799999
Centerline is valid?  [True, True]
Translation: X:76.26, Y:4.02, Z:-0.81
[[ 9.99846518e-01 -1.40020364e-02  1.05301511e-02  7.62621605e+01]
 [ 1.39991605e-02  9.99901947e-01  3.46765514e-04  4.02006721e+00]
 [-1.05339740e-02 -1.99299016e-04  9.99944496e-01 -8.05358775e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.26770263799999
Centerline is valid?  [True, True]
Translation: X:76.32, Y:4.02, Z:-0.81
[[ 9.99807534e-01 -1.65532388e-02  1.05302037e-02  7.63228510e+01]
 [ 1.65505213e-02  9.99862971e-01  3.45161691e-04  4.02221250e+00]
 [-1.05344743e-02 -1.70814899e-04  9.99944496e-01 -8.05997430e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.32770263799999
Centerline is valid?  [True, True]
Translation: X:76.38, Y:4.03, Z:-0.81
[[ 9.99733501e-01 -2.05436777e-02  1.05302072e-02  7.63846113e+01]
 [ 2.05411826e-02  9.99788948e-01  3.45054625e-04  4.02943536e+00]
 [-1.05350734e-02 -1.28659760e-04  9.99944496e-01 -8.06650227e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.387702638
Centerline is valid?  [True, True]
Translation: X:76.45, Y:4.03, Z:-0.81
[[ 9.99733290e-01 -2.05539160e-02  1.05302180e-02  7.64454066e+01]
 [ 2.05514250e-02  9.99788738e-01  3.44723389e-04  4.03495978e+00]
 [-1.05350788e-02 -1.28220462e-04  9.99944496e-01 -8.07292105e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.447702638
Centerline is valid?  [True, True]
Translation: X:76.51, Y:4.04, Z:-0.81
[[ 9.99732838e-01 -2.05758566e-02  1.05302465e-02  7.65077334e+01]
 [ 2.05733760e-02  9.99788287e-01  3.43852244e-04  4.03683796e+00]
 [-1.05350921e-02 -1.27117660e-04  9.99944496e-01 -8.07948442e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.507702638
Centerline is valid?  [True, True]
Translation: X:76.57, Y:4.04, Z:-0.81
[[ 9.99707428e-01 -2.17754745e-02  1.05302633e-02  7.65701024e+01]
 [ 2.17730659e-02  9.99762880e-01  3.43336226e-04  4.03983533e+00]
 [-1.05352427e-02 -1.13959659e-04  9.99944496e-01 -8.08605878e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.56770263799999
Centerline is valid?  [True, True]
Translation: X:76.63, Y:4.05, Z:-0.81
[[ 9.99734731e-01 -2.04836638e-02  1.05303147e-02  7.66318154e+01]
 [ 2.04812002e-02  9.99790180e-01  3.41752872e-04  4.04588593e+00]
 [-1.05351055e-02 -1.25988733e-04  9.99944496e-01 -8.09256636e-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 75.62770263799999
Centerline is valid?  [True, True]
Translation: X:76.69, Y:4.05, Z:-0.81
[[ 9.99762387e-01 -1.90861425e-02  1.05303253e-02  7.66930029e+01]
 [ 1.90836048e-02  9.99817833e-01  3.41424786e-04  4.04881548e+00]
 [-1.05349235e-02 -1.40387092e-04  9.99944496e-01 -8.09901745e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.68770263799999
Centerline is valid?  [True, True]
Translation: X:76.75, Y:4.06, Z:-0.81
[[ 9.99825657e-01 -1.54197009e-02  1.05303395e-02  7.67545666e+01]
 [ 1.54169645e-02  9.99881093e-01  3.40986705e-04  4.05874968e+00]
 [-1.05343453e-02 -1.78581386e-04  9.99944496e-01 -8.10553120e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.74770263799999
Centerline is valid?  [True, True]
Translation: X:76.82, Y:4.06, Z:-0.81
[[ 9.99849835e-01 -1.37629613e-02  1.05303848e-02  7.68160690e+01]
 [ 1.37601478e-02  9.99905267e-01  3.39580126e-04  4.06261810e+00]
 [-1.05340609e-02 -1.94629481e-04  9.99944496e-01 -8.11201026e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.807702638
Centerline is valid?  [True, True]
Translation: X:76.88, Y:4.07, Z:-0.81
[[ 9.99846267e-01 -1.40197374e-02  1.05304299e-02  7.68777318e+01]
 [ 1.40169530e-02  9.99901701e-01  3.38176056e-04  4.06537893e+00]
 [-1.05341359e-02 -1.90519526e-04  9.99944496e-01 -8.11850244e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.867702638
Centerline is valid?  [True, True]
Translation: X:76.94, Y:4.08, Z:-0.81
[[ 9.99893118e-01 -1.01421438e-02  1.05304406e-02  7.69389833e+01]
 [ 1.01391479e-02  9.99948540e-01  3.37842428e-04  4.07608453e+00]
 [-1.05333252e-02 -2.31036623e-04  9.99944496e-01 -8.12498644e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.92770263799999
Centerline is valid?  [True, True]
Translation: X:77.00, Y:4.08, Z:-0.81
[[ 9.99922589e-01 -6.62770327e-03  1.05304545e-02  7.69986534e+01]
 [ 6.62451719e-03  9.99978001e-01  3.37410965e-04  4.08125829e+00]
 [-1.05324591e-02 -2.67625669e-04  9.99944496e-01 -8.13128439e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 75.98770263799999
Centerline is valid?  [True, True]
Translation: X:77.06, Y:4.08, Z:-0.81
[[ 9.99933634e-01 -4.67300001e-03  1.05304515e-02  7.70605449e+01]
 [ 4.66970465e-03  9.99989040e-01  3.37502412e-04  4.08389813e+00]
 [-1.05319133e-02 -2.88305915e-04  9.99944496e-01 -8.13781184e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.04770263799999
Centerline is valid?  [True, True]
Translation: X:77.12, Y:4.10, Z:-0.81
[[ 9.99944305e-01  7.04899118e-04  1.05304655e-02  7.71198455e+01]
 [-7.08487831e-04  9.99999692e-01  3.37066749e-04  4.09570565e+00]
 [-1.05302246e-02 -3.44508683e-04  9.99944496e-01 -8.14409318e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.10770263799999
Centerline is valid?  [True, True]
Translation: X:77.18, Y:4.10, Z:-0.82
[[ 9.99937956e-01  3.63217630e-03  1.05304626e-02  7.71798666e+01]
 [-3.63592809e-03  9.99993333e-01  3.37156746e-04  4.09638007e+00]
 [-1.05291678e-02 -3.75423833e-04  9.99944496e-01 -8.15041703e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.167702638
Centerline is valid?  [True, True]
Translation: X:77.24, Y:4.10, Z:-0.82
[[ 9.99924647e-01  6.30947385e-03  1.05304626e-02  7.72402482e+01]
 [-6.31337389e-03  9.99980014e-01  3.37156746e-04  4.10149383e+00]
 [-1.05281249e-02 -4.03614088e-04  9.99944496e-01 -8.15679308e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.227702638
Centerline is valid?  [True, True]
Translation: X:77.30, Y:4.11, Z:-0.82
[[ 9.99880003e-01  1.13617151e-02  1.05304604e-02  7.73004083e+01]
 [-1.13658956e-02  9.99935349e-01  3.37226232e-04  4.11292561e+00]
 [-1.05259481e-02 -4.56873879e-04  9.99944496e-01 -8.16316768e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.28770263799998
Centerline is valid?  [True, True]
Translation: X:77.36, Y:4.11, Z:-0.82
[[ 9.99861342e-01  1.28998468e-02  1.05304604e-02  7.73594404e+01]
 [-1.29041124e-02  9.99916682e-01  3.37226232e-04  4.11031854e+00]
 [-1.05252328e-02 -4.73065717e-04  9.99944496e-01 -8.16937558e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.34770263799999
Centerline is valid?  [True, True]
Translation: X:77.42, Y:4.12, Z:-0.82
[[ 9.99788627e-01  1.76581389e-02  1.05304587e-02  7.74198137e+01]
 [-1.76626683e-02  9.99843946e-01  3.37278825e-04  4.12261573e+00]
 [-1.05228597e-02 -5.23203533e-04  9.99944496e-01 -8.17577542e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.40770263799999
Centerline is valid?  [True, True]
Translation: X:77.48, Y:4.12, Z:-0.82
[[ 9.99676911e-01  2.31340384e-02  1.05304589e-02  7.74806614e+01]
 [-2.31388708e-02  9.99732204e-01  3.37271405e-04  4.12443587e+00]
 [-1.05198365e-02 -5.80825365e-04  9.99944496e-01 -8.18218940e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.46770263799999
Centerline is valid?  [True, True]
Translation: X:77.54, Y:4.13, Z:-0.82
[[ 9.99569955e-01  2.73681157e-02  1.05304575e-02  7.75406030e+01]
 [-2.73731826e-02  9.99625227e-01  3.37314671e-04  4.13267341e+00]
 [-1.05172793e-02 -6.25421748e-04  9.99944496e-01 -8.18853001e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.527702638
Centerline is valid?  [True, True]
Translation: X:77.60, Y:4.14, Z:-0.82
[[ 9.99531520e-01  2.87376001e-02  1.05304545e-02  7.76009152e+01]
 [-2.87427438e-02  9.99586785e-01  3.37409525e-04  4.13722958e+00]
 [-1.05164068e-02 -6.39925611e-04  9.99944496e-01 -8.19489767e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.587702638
Centerline is valid?  [True, True]
Translation: X:77.66, Y:4.14, Z:-0.82
[[ 9.99584715e-01  2.68236452e-02  1.05304546e-02  7.76617124e+01]
 [-2.68286830e-02  9.99639989e-01  3.37405185e-04  4.13752882e+00]
 [-1.05176131e-02 -6.19783295e-04  9.99944496e-01 -8.20130122e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.64770263799998
Centerline is valid?  [True, True]
Translation: X:77.72, Y:4.14, Z:-0.82
[[ 9.99587360e-01  2.67248829e-02  1.05304507e-02  7.77200433e+01]
 [-2.67299165e-02  9.99642635e-01  3.37528028e-04  4.14499366e+00]
 [-1.05176671e-02 -6.18866819e-04  9.99944496e-01 -8.20747027e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.70770263799999
Centerline is valid?  [True, True]
Translation: X:77.78, Y:4.15, Z:-0.82
[[ 9.99640059e-01  2.46751486e-02  1.05304027e-02  7.77796590e+01]
 [-2.46800845e-02  9.99695343e-01  3.39017577e-04  4.14633861e+00]
 [-1.05188293e-02 -5.98786780e-04  9.99944496e-01 -8.21376530e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.76770263799999
Centerline is valid?  [True, True]
Translation: X:77.84, Y:4.15, Z:-0.82
[[ 9.99679942e-01  2.30027183e-02  1.05303976e-02  7.78400999e+01]
 [-2.30075634e-02  9.99735233e-01  3.39177895e-04  4.14999115e+00]
 [-1.05198075e-02 -5.81348128e-04  9.99944496e-01 -8.22014404e-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 76.82770263799999
Centerline is valid?  [True, True]
Translation: X:77.90, Y:4.15, Z:-0.82
[[ 9.99813022e-01  1.62182419e-02  1.05304001e-02  7.79004332e+01]
 [-1.62227108e-02  9.99868346e-01  3.39098518e-04  4.15270751e+00]
 [-1.05235142e-02 -5.09866750e-04  9.99944496e-01 -8.22650627e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.887702638
Centerline is valid?  [True, True]
Translation: X:77.96, Y:4.15, Z:-0.82
[[ 9.99905028e-01  8.89076860e-03  1.05303928e-02  7.79613405e+01]
 [-8.89483438e-03  9.99960383e-01  3.39326952e-04  4.15327809e+00]
 [-1.05269587e-02 -4.32960826e-04  9.99944496e-01 -8.23292424e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 76.947702638
Centerline is valid?  [True, True]
Translation: X:78.02, Y:4.16, Z:-0.82
[[ 9.99943866e-01  1.17329637e-03  1.05303935e-02  7.80206385e+01]
 [-1.17693458e-03  9.99999250e-01  3.39306076e-04  4.15608310e+00]
 [-1.05299874e-02 -3.51680613e-04  9.99944496e-01 -8.23917825e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.007702638
Centerline is valid?  [True, True]
Translation: X:78.08, Y:4.16, Z:-0.82
[[ 9.99921156e-01 -6.84048072e-03  1.05303920e-02  7.80815258e+01]
 [ 6.83728601e-03  9.99976568e-01  3.39351218e-04  4.15810987e+00]
 [-1.05324666e-02 -2.67325160e-04  9.99944496e-01 -8.24559752e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.06770263799999
Centerline is valid?  [True, True]
Translation: X:78.14, Y:4.16, Z:-0.83
[[ 9.99869846e-01 -1.22229670e-02  1.05303949e-02  7.81422456e+01]
 [ 1.22200716e-02  9.99925275e-01  3.39262408e-04  4.15919924e+00]
 [-1.05337548e-02 -2.10536073e-04  9.99944496e-01 -8.25199487e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.12770263799999
Centerline is valid?  [True, True]
Translation: X:78.20, Y:4.16, Z:-0.83
[[ 9.99808597e-01 -1.64888133e-02  1.05303957e-02  7.82038187e+01]
 [ 1.64861546e-02  9.99864037e-01  3.39236302e-04  4.16295511e+00]
 [-1.05345576e-02 -1.65565640e-04  9.99944496e-01 -8.25849165e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.18770263799999
Centerline is valid?  [True, True]
Translation: X:78.27, Y:4.17, Z:-0.83
[[ 9.99799422e-01 -1.70360326e-02  1.05304059e-02  7.82650559e+01]
 [ 1.70334076e-02  9.99854864e-01  3.38919934e-04  4.16501214e+00]
 [-1.05346514e-02 -1.59483258e-04  9.99944496e-01 -8.26494488e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.24770263799999
Centerline is valid?  [True, True]
Translation: X:78.33, Y:4.17, Z:-0.83
[[ 9.99811415e-01 -1.63169752e-02  1.05304493e-02  7.83272886e+01]
 [ 1.63143245e-02  9.99866856e-01  3.37566806e-04  4.16854251e+00]
 [-1.05345553e-02 -1.65705979e-04  9.99944496e-01 -8.27149930e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.307702638
Centerline is valid?  [True, True]
Translation: X:78.39, Y:4.17, Z:-0.83
[[ 9.99840848e-01 -1.44009394e-02  1.05304957e-02  7.83875565e+01]
 [ 1.43981979e-02  9.99896284e-01  3.36111216e-04  4.17345197e+00]
 [-1.05342439e-02 -1.84437562e-04  9.99944496e-01 -8.27785055e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.367702638
Centerline is valid?  [True, True]
Translation: X:78.45, Y:4.17, Z:-0.83
[[ 9.99827578e-01 -1.52945390e-02  1.05304990e-02  7.84488865e+01]
 [ 1.52918481e-02  9.99883016e-01  3.36007981e-04  4.17476485e+00]
 [-1.05344062e-02 -1.74919255e-04  9.99944496e-01 -8.28431282e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.42770263799999
Centerline is valid?  [True, True]
Translation: X:78.51, Y:4.18, Z:-0.83
[[ 9.99809753e-01 -1.64184570e-02  1.05305032e-02  7.85097470e+01]
 [ 1.64158298e-02  9.99865195e-01  3.35877825e-04  4.17723154e+00]
 [-1.05345982e-02 -1.62946979e-04  9.99944496e-01 -8.29072929e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.48770263799999
Centerline is valid?  [True, True]
Translation: X:78.57, Y:4.18, Z:-0.83
[[ 9.99797822e-01 -1.71296209e-02  1.05305065e-02  7.85708682e+01]
 [ 1.71270342e-02  9.99853265e-01  3.35773432e-04  4.18417117e+00]
 [-1.05347130e-02 -1.55349201e-04  9.99944496e-01 -8.29718845e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.54770263799999
Centerline is valid?  [True, True]
Translation: X:78.63, Y:4.19, Z:-0.83
[[ 9.99759686e-01 -1.92269948e-02  1.05305529e-02  7.86331440e+01]
 [ 1.92245399e-02  9.99815136e-01  3.34312507e-04  4.18619833e+00]
 [-1.05350340e-02 -1.31787134e-04  9.99944496e-01 -8.30374130e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.60770263799999
Centerline is valid?  [True, True]
Translation: X:78.69, Y:4.19, Z:-0.83
[[ 9.99728169e-01 -2.08012998e-02  1.05305996e-02  7.86947414e+01]
 [ 2.07989477e-02  9.99783623e-01  3.32833099e-04  4.19240895e+00]
 [-1.05352444e-02 -1.13717234e-04  9.99944496e-01 -8.31023649e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.667702638
Centerline is valid?  [True, True]
Translation: X:78.76, Y:4.20, Z:-0.83
[[ 9.99725561e-01 -2.09262447e-02  1.05306518e-02  7.87564469e+01]
 [ 2.09239170e-02  9.99781016e-01  3.31174596e-04  4.19887706e+00]
 [-1.05352760e-02 -1.10741225e-04  9.99944496e-01 -8.31674226e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.727702638
Centerline is valid?  [True, True]
Translation: X:78.82, Y:4.20, Z:-0.83
[[ 9.99656451e-01 -2.40017410e-02  1.05306969e-02  7.88182663e+01]
 [ 2.39995992e-02  9.99711914e-01  3.29733113e-04  4.19917518e+00]
 [-1.05355773e-02 -7.68873283e-05  9.99944496e-01 -8.32324140e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.78770263799998
Centerline is valid?  [True, True]
Translation: X:78.88, Y:4.20, Z:-0.83
[[ 9.99604572e-01 -2.60730307e-02  1.05307121e-02  7.88794263e+01]
 [ 2.60710089e-02  9.99660039e-01  3.29248924e-04  4.20428858e+00]
 [-1.05357166e-02 -5.45724417e-05  9.99944496e-01 -8.32969507e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.84770263799999
Centerline is valid?  [True, True]
Translation: X:78.94, Y:4.21, Z:-0.83
[[ 9.99565004e-01 -2.75482432e-02  1.05307352e-02  7.89418755e+01]
 [ 2.75463110e-02  9.99620474e-01  3.28507438e-04  4.20751114e+00]
 [-1.05357883e-02 -3.82816317e-05  9.99944496e-01 -8.33627609e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.90770263799999
Centerline is valid?  [True, True]
Translation: X:79.00, Y:4.21, Z:-0.83
[[ 9.99543337e-01 -2.83234924e-02  1.05307792e-02  7.90036459e+01]
 [ 2.83216181e-02  9.99598809e-01  3.27090290e-04  4.20921587e+00]
 [-1.05358187e-02 -2.86922119e-05  9.99944496e-01 -8.34277486e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 77.96770263799999
Centerline is valid?  [True, True]
Translation: X:79.06, Y:4.21, Z:-0.83
[[ 9.99587763e-01 -2.67096861e-02  1.05307929e-02  7.90633027e+01]
 [ 2.67077270e-02  9.99643232e-01  3.26649899e-04  4.21044746e+00]
 [-1.05357605e-02 -4.52617011e-05  9.99944496e-01 -8.34905782e-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 78.027702638
Centerline is valid?  [True, True]
Translation: X:79.13, Y:4.22, Z:-0.84
[[ 9.99645774e-01 -2.44423714e-02  1.05307929e-02  7.91255344e+01]
 [ 2.44402864e-02  9.99701238e-01  3.26649899e-04  4.21534706e+00]
 [-1.05356308e-02 -6.91585973e-05  9.99944496e-01 -8.35562768e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.087702638
Centerline is valid?  [True, True]
Translation: X:79.19, Y:4.22, Z:-0.84
[[ 9.99691053e-01 -2.25144458e-02  1.05308087e-02  7.91873251e+01]
 [ 2.25122593e-02  9.99746514e-01  3.26137191e-04  4.21576480e+00]
 [-1.05354821e-02 -8.89641354e-05  9.99944496e-01 -8.36213209e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.14770263799998
Centerline is valid?  [True, True]
Translation: X:79.25, Y:4.22, Z:-0.84
[[ 9.99739014e-01 -2.02732619e-02  1.05308183e-02  7.92482848e+01]
 [ 2.02709543e-02  9.99794470e-01  3.25827374e-04  4.21800177e+00]
 [-1.05352595e-02 -1.12272600e-04  9.99944496e-01 -8.36855665e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.20770263799999
Centerline is valid?  [True, True]
Translation: X:79.31, Y:4.22, Z:-0.84
[[ 9.99790707e-01 -1.75398003e-02  1.05308307e-02  7.93100363e+01]
 [ 1.75373453e-02  9.99846156e-01  3.25425750e-04  4.22014884e+00]
 [-1.05349185e-02 -1.40674825e-04  9.99944496e-01 -8.37506352e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.26770263799999
Centerline is valid?  [True, True]
Translation: X:79.37, Y:4.22, Z:-0.84
[[ 9.99797808e-01 -1.71301958e-02  1.05308736e-02  7.93713833e+01]
 [ 1.71277328e-02  9.99853257e-01  3.24031454e-04  4.22178199e+00]
 [-1.05348790e-02 -1.43595947e-04  9.99944496e-01 -8.38151766e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.32770263799999
Centerline is valid?  [True, True]
Translation: X:79.43, Y:4.22, Z:-0.84
[[ 9.99809641e-01 -1.64250598e-02  1.05309118e-02  7.94330025e+01]
 [ 1.64225708e-02  9.99865088e-01  3.22785478e-04  4.22064948e+00]
 [-1.05347929e-02 -1.49779387e-04  9.99944496e-01 -8.38799282e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.387702638
Centerline is valid?  [True, True]
Translation: X:79.49, Y:4.22, Z:-0.84
[[ 9.99830447e-01 -1.51055408e-02  1.05309181e-02  7.94945364e+01]
 [ 1.51029808e-02  9.99885891e-01  3.22580916e-04  4.22071012e+00]
 [-1.05345892e-02 -1.63477968e-04  9.99944496e-01 -8.39447172e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.447702638
Centerline is valid?  [True, True]
Translation: X:79.56, Y:4.22, Z:-0.84
[[ 9.99878008e-01 -1.15355672e-02  1.05309276e-02  7.95560626e+01]
 [ 1.15328125e-02  9.99933443e-01  3.22272163e-04  4.22200434e+00]
 [-1.05339442e-02 -2.00781635e-04  9.99944496e-01 -8.40095292e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.507702638
Centerline is valid?  [True, True]
Translation: X:79.62, Y:4.22, Z:-0.84
[[ 9.99899711e-01 -9.46932963e-03  1.05309402e-02  7.96168859e+01]
 [ 9.46646477e-03  9.99955140e-01  3.21857230e-04  4.21872988e+00]
 [-1.05335156e-02 -2.22134176e-04  9.99944496e-01 -8.40734449e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.56770263799999
Centerline is valid?  [True, True]
Translation: X:79.68, Y:4.22, Z:-0.84
[[ 9.99921795e-01 -6.74553214e-03  1.05309626e-02  7.96794451e+01]
 [ 6.74252401e-03  9.99977217e-01  3.21123925e-04  4.21774586e+00]
 [-1.05328888e-02 -2.50093544e-04  9.99944496e-01 -8.41392361e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.62770263799999
Centerline is valid?  [True, True]
Translation: X:79.74, Y:4.22, Z:-0.84
[[ 9.99932859e-01 -4.83492750e-03  1.05309782e-02  7.97404358e+01]
 [ 4.83181887e-03  9.99988275e-01  3.20611209e-04  4.21742524e+00]
 [-1.05324049e-02 -2.69705903e-04  9.99944496e-01 -8.42034156e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.68770263799999
Centerline is valid?  [True, True]
Translation: X:79.80, Y:4.22, Z:-0.84
[[ 9.99941759e-01  2.36145303e-03  1.05309876e-02  7.98006073e+01]
 [-2.36495715e-03  9.99997152e-01  3.20303102e-04  4.21775866e+00]
 [-1.05302012e-02 -3.45189782e-04  9.99944496e-01 -8.42667705e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.74770263799999
Centerline is valid?  [True, True]
Translation: X:79.86, Y:4.22, Z:-0.84
[[ 9.99935471e-01  4.26043183e-03  1.05309882e-02  7.98609258e+01]
 [-4.26404094e-03  9.99990858e-01  3.20284227e-04  4.21559841e+00]
 [-1.05295273e-02 -3.65168124e-04  9.99944496e-01 -8.43302246e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.807702638
Centerline is valid?  [True, True]
Translation: X:79.92, Y:4.21, Z:-0.84
[[ 9.99902968e-01  9.11878598e-03  1.05309835e-02  7.99215100e+01]
 [-9.12266577e-03  9.99958336e-01  3.20437635e-04  4.21129808e+00]
 [-1.05276227e-02 -4.16477185e-04  9.99944496e-01 -8.43939042e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.867702638
Centerline is valid?  [True, True]
Translation: X:79.98, Y:4.21, Z:-0.84
[[ 9.99894875e-01  9.96677130e-03  1.05309838e-02  7.99819047e+01]
 [-9.97069793e-03  9.99950240e-01  3.20426891e-04  4.20930861e+00]
 [-1.05272662e-02 -4.25394464e-04  9.99944496e-01 -8.44574447e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.92770263799999
Centerline is valid?  [True, True]
Translation: X:80.04, Y:4.20, Z:-0.85
[[ 9.99897514e-01  9.69842159e-03  1.05309760e-02  8.00411167e+01]
 [-9.70233605e-03  9.99952880e-01  3.20682051e-04  4.20361366e+00]
 [-1.05273697e-02 -4.22824254e-04  9.99944496e-01 -8.45196424e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 78.98770263799999
Centerline is valid?  [True, True]
Translation: X:80.10, Y:4.20, Z:-0.85
[[ 9.99933289e-01  4.74505174e-03  1.05309620e-02  8.01015359e+01]
 [-4.74869672e-03  9.99988673e-01  3.21142120e-04  4.19927684e+00]
 [-1.05293189e-02 -3.71129041e-04  9.99944496e-01 -8.45831714e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.04770263799999
Centerline is valid?  [True, True]
Translation: X:80.16, Y:4.20, Z:-0.85
[[ 9.99944314e-01  6.83732505e-04  1.05309612e-02  8.01624814e+01]
 [-6.87152774e-04  9.99999712e-01  3.21167394e-04  4.19505846e+00]
 [-1.05307386e-02 -3.28385888e-04  9.99944496e-01 -8.46472229e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.10770263799999
Centerline is valid?  [True, True]
Translation: X:80.22, Y:4.19, Z:-0.85
[[ 9.99941483e-01 -2.47563355e-03  1.05309606e-02  8.02231947e+01]
 [ 2.47238811e-03  9.99996892e-01  3.21188757e-04  4.18789708e+00]
 [-1.05317230e-02 -2.95133340e-04  9.99944496e-01 -8.47109351e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.167702638
Centerline is valid?  [True, True]
Translation: X:80.28, Y:4.19, Z:-0.85
[[ 9.99944548e-01  2.10774976e-06  1.05309606e-02  8.02842194e+01]
 [-5.49048025e-06  9.99999948e-01  3.21188757e-04  4.18542705e+00]
 [-1.05309594e-02 -3.21228766e-04  9.99944496e-01 -8.47751242e-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 79.227702638
Centerline is valid?  [True, True]
Translation: X:80.34, Y:4.18, Z:-0.85
[[ 9.99936971e-01  3.89267422e-03  1.05309672e-02  8.03445820e+01]
 [-3.89627019e-03  9.99992358e-01  3.20971562e-04  4.18006981e+00]
 [-1.05296373e-02 -3.61982825e-04  9.99944496e-01 -8.48385063e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.28770263799998
Centerline is valid?  [True, True]
Translation: X:80.40, Y:4.18, Z:-0.85
[[ 9.99937617e-01  3.72291429e-03  1.05309638e-02  8.04031776e+01]
 [-3.72650203e-03  9.99993005e-01  3.21082991e-04  4.17507508e+00]
 [-1.05296948e-02 -3.60306619e-04  9.99944496e-01 -8.49000649e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.34770263799999
Centerline is valid?  [True, True]
Translation: X:80.46, Y:4.17, Z:-0.85
[[ 9.99922956e-01  6.57134810e-03  1.05309193e-02  8.04626809e+01]
 [-6.57510888e-03  9.99978332e-01  3.22535249e-04  4.17121808e+00]
 [-1.05285717e-02 -3.91752341e-04  9.99944496e-01 -8.49627187e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.40770263799999
Centerline is valid?  [True, True]
Translation: X:80.52, Y:4.17, Z:-0.85
[[ 9.99865364e-01  1.25838574e-02  1.05309125e-02  8.05236953e+01]
 [-1.25879535e-02  9.99920716e-01  3.22758591e-04  4.16821082e+00]
 [-1.05260160e-02 -4.55277772e-04  9.99944496e-01 -8.50268962e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.46770263799999
Centerline is valid?  [True, True]
Translation: X:80.58, Y:4.16, Z:-0.85
[[ 9.99692109e-01  2.24674608e-02  1.05309115e-02  8.05845731e+01]
 [-2.24721042e-02  9.99747418e-01  3.22791153e-04  4.16096353e+00]
 [-1.05209993e-02 -5.59343509e-04  9.99944496e-01 -8.50907781e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.527702638
Centerline is valid?  [True, True]
Translation: X:80.65, Y:4.15, Z:-0.85
[[ 9.99476021e-01  3.06069031e-02  1.05309117e-02  8.06453361e+01]
 [-3.06119966e-02  9.99531291e-01  3.22784400e-04  4.15289331e+00]
 [-1.05160963e-02 -6.44987501e-04  9.99944496e-01 -8.51545096e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.587702638
Centerline is valid?  [True, True]
Translation: X:80.71, Y:4.15, Z:-0.85
[[ 9.99352388e-01  3.44079164e-02  1.05309121e-02  8.07059219e+01]
 [-3.44132200e-02  9.99407638e-01  3.22769786e-04  4.14645595e+00]
 [-1.05135682e-02 -6.84963352e-04  9.99944496e-01 -8.52181067e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.64770263799998
Centerline is valid?  [True, True]
Translation: X:80.77, Y:4.14, Z:-0.85
[[ 9.99279454e-01  3.64646664e-02  1.05309122e-02  8.07650034e+01]
 [-3.64700836e-02  9.99334693e-01  3.22766644e-04  4.14098245e+00]
 [-1.05121364e-02 -7.06597326e-04  9.99944496e-01 -8.52801514e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.70770263799999
Centerline is valid?  [True, True]
Translation: X:80.82, Y:4.13, Z:-0.85
[[ 9.99228224e-01  3.78425164e-02  1.05309079e-02  8.08239163e+01]
 [-3.78480113e-02  9.99283455e-01  3.22909249e-04  4.13373159e+00]
 [-1.05111423e-02 -7.21233955e-04  9.99944496e-01 -8.53419717e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.76770263799999
Centerline is valid?  [True, True]
Translation: X:80.88, Y:4.12, Z:-0.85
[[ 9.99313610e-01  3.55163445e-02  1.05308583e-02  8.08831913e+01]
 [-3.55217277e-02  9.99368852e-01  3.24516737e-04  4.12297017e+00]
 [-1.05126861e-02 -6.98368273e-04  9.99944496e-01 -8.54041633e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.82770263799999
Centerline is valid?  [True, True]
Translation: X:80.94, Y:4.12, Z:-0.85
[[ 9.99546283e-01  2.82193286e-02  1.05308101e-02  8.09437334e+01]
 [-2.82243247e-02  9.99601561e-01  3.26075062e-04  4.11592393e+00]
 [-1.05174126e-02 -6.23152119e-04  9.99944496e-01 -8.54678031e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.887702638
Centerline is valid?  [True, True]
Translation: X:81.00, Y:4.11, Z:-0.86
[[ 9.99698975e-01  2.21599128e-02  1.05308068e-02  8.10043362e+01]
 [-2.21645747e-02  9.99754282e-01  3.26181509e-04  4.10955958e+00]
 [-1.05209910e-02 -5.59494175e-04  9.99944496e-01 -8.55314261e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 79.947702638
Centerline is valid?  [True, True]
Translation: X:81.06, Y:4.11, Z:-0.86
[[ 9.99792604e-01  1.74313317e-02  1.05308040e-02  8.10640699e+01]
 [-1.74357329e-02  9.99847933e-01  3.26271601e-04  4.10805181e+00]
 [-1.05235153e-02 -5.09816220e-04  9.99944496e-01 -8.55942910e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.007702638
Centerline is valid?  [True, True]
Translation: X:81.12, Y:4.10, Z:-0.86
[[ 9.99856811e-01  1.32461354e-02  1.05307966e-02  8.11238151e+01]
 [-1.32503075e-02  9.99912158e-01  3.26510817e-04  4.10325984e+00]
 [-1.05255465e-02 -4.66000358e-04  9.99944496e-01 -8.56570709e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.06770263799999
Centerline is valid?  [True, True]
Translation: X:81.18, Y:4.10, Z:-0.86
[[ 9.99917838e-01  7.30889578e-03  1.05307905e-02  8.11841581e+01]
 [-7.31274127e-03  9.99973208e-01  3.26705909e-04  4.10144505e+00]
 [-1.05281205e-02 -4.03688012e-04  9.99944496e-01 -8.57205743e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.12770263799999
Centerline is valid?  [True, True]
Translation: X:81.24, Y:4.10, Z:-0.86
[[ 9.99930024e-01  5.38968826e-03  1.05307905e-02  8.12426728e+01]
 [-5.39342745e-03  9.99985402e-01  3.26705126e-04  4.09802006e+00]
 [-1.05288760e-02 -3.83479319e-04  9.99944496e-01 -8.57820863e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.18770263799999
Centerline is valid?  [True, True]
Translation: X:81.30, Y:4.10, Z:-0.86
[[ 9.99943655e-01  1.33792703e-03  1.05307796e-02  8.13020733e+01]
 [-1.34144551e-03  9.99999047e-01  3.27058244e-04  4.09690242e+00]
 [-1.05303320e-02 -3.41166283e-04  9.99944496e-01 -8.58446304e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.24770263799999
Centerline is valid?  [True, True]
Translation: X:81.36, Y:4.09, Z:-0.86
[[ 9.99941363e-01 -2.52453881e-03  1.05307691e-02  8.13625792e+01]
 [ 2.52123077e-03  9.99996768e-01  3.27394495e-04  4.09497513e+00]
 [-1.05315616e-02 -3.00824798e-04  9.99944496e-01 -8.59083106e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.307702638
Centerline is valid?  [True, True]
Translation: X:81.42, Y:4.10, Z:-0.86
[[ 9.99928968e-01 -5.58236365e-03  1.05307686e-02  8.14246093e+01]
 [ 5.57922487e-03  9.99984382e-01  3.27411981e-04  4.09651410e+00]
 [-1.05324318e-02 -2.68635198e-04  9.99944496e-01 -8.59736882e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.367702638
Centerline is valid?  [True, True]
Translation: X:81.49, Y:4.10, Z:-0.86
[[ 9.99916615e-01 -7.47425078e-03  1.05308159e-02  8.14863434e+01]
 [ 7.47123295e-03  9.99972037e-01  3.25882915e-04  4.09824414e+00]
 [-1.05329572e-02 -2.47177563e-04  9.99944496e-01 -8.60386578e-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 80.42770263799999
Centerline is valid?  [True, True]
Translation: X:81.55, Y:4.10, Z:-0.86
[[ 9.99869784e-01 -1.22276833e-02  1.05308267e-02  8.15471354e+01]
 [ 1.22249326e-02  9.99925220e-01  3.25533988e-04  4.09747545e+00]
 [-1.05340197e-02 -1.96752952e-04  9.99944496e-01 -8.61026322e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.48770263799999
Centerline is valid?  [True, True]
Translation: X:81.61, Y:4.10, Z:-0.86
[[ 9.99815238e-01 -1.60807548e-02  1.05308338e-02  8.16089712e+01]
 [ 1.60782202e-02  9.99870684e-01  3.25302363e-04  4.10227286e+00]
 [-1.05347031e-02 -1.55925194e-04  9.99944496e-01 -8.61678948e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.54770263799999
Centerline is valid?  [True, True]
Translation: X:81.67, Y:4.10, Z:-0.86
[[ 9.99781693e-01 -1.80462640e-02  1.05308505e-02  8.16708693e+01]
 [ 1.80438441e-02  9.99837144e-01  3.24763602e-04  4.10474973e+00]
 [-1.05349962e-02 -1.34675680e-04  9.99944496e-01 -8.62331270e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.60770263799999
Centerline is valid?  [True, True]
Translation: X:81.73, Y:4.11, Z:-0.86
[[ 9.99728633e-01 -2.07788696e-02  1.05309004e-02  8.17312659e+01]
 [ 2.07766184e-02  9.99784091e-01  3.23136463e-04  4.10631159e+00]
 [-1.05353411e-02 -1.04252275e-04  9.99944496e-01 -8.62966760e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.667702638
Centerline is valid?  [True, True]
Translation: X:81.79, Y:4.11, Z:-0.86
[[ 9.99673440e-01 -2.32833220e-02  1.05309039e-02  8.17912830e+01]
 [ 2.32812109e-02  9.99728904e-01  3.23022684e-04  4.10774600e+00]
 [-1.05355700e-02 -7.77450035e-05  9.99944496e-01 -8.63599217e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.727702638
Centerline is valid?  [True, True]
Translation: X:81.85, Y:4.11, Z:-0.86
[[ 9.99660117e-01 -2.38484696e-02  1.05309199e-02  8.18533635e+01]
 [ 2.38463954e-02  9.99715582e-01  3.22500364e-04  4.11040103e+00]
 [-1.05356158e-02 -7.12662717e-05  9.99944496e-01 -8.64253527e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.78770263799998
Centerline is valid?  [True, True]
Translation: X:81.91, Y:4.11, Z:-0.86
[[ 9.99658723e-01 -2.39068171e-02  1.05309381e-02  8.19138539e+01]
 [ 2.39047525e-02  9.99714189e-01  3.21903414e-04  4.11240975e+00]
 [-1.05356239e-02 -7.00540869e-05  9.99944496e-01 -8.64890833e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.84770263799999
Centerline is valid?  [True, True]
Translation: X:81.97, Y:4.12, Z:-0.87
[[ 9.99645035e-01 -2.44725166e-02  1.05309381e-02  8.19744255e+01]
 [ 2.44704834e-02  9.99700501e-01  3.21903414e-04  4.11599077e+00]
 [-1.05356619e-02 -6.40920033e-05  9.99944496e-01 -8.65529897e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.90770263799999
Centerline is valid?  [True, True]
Translation: X:82.03, Y:4.12, Z:-0.87
[[ 9.99584909e-01 -2.68162044e-02  1.05309418e-02  8.20346887e+01]
 [ 2.68143024e-02  9.99640380e-01  3.21781483e-04  4.11617739e+00]
 [-1.05357837e-02 -3.92680547e-05  9.99944496e-01 -8.66164539e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 80.96770263799999
Centerline is valid?  [True, True]
Translation: X:82.10, Y:4.12, Z:-0.87
[[ 9.99437823e-01 -3.18298274e-02  1.05309454e-02  8.20965387e+01]
 [ 3.18282050e-02  9.99493303e-01  3.21664673e-04  4.11996151e+00]
 [-1.05358479e-02  1.36972488e-05  9.99944496e-01 -8.66817054e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.027702638
Centerline is valid?  [True, True]
Translation: X:82.16, Y:4.12, Z:-0.87
[[ 9.99428684e-01 -3.21154967e-02  1.05309597e-02  8.21589874e+01]
 [ 3.21138951e-02  9.99484164e-01  3.21194836e-04  4.12396313e+00]
 [-1.05358428e-02  1.71788044e-05  9.99944496e-01 -8.67475708e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.087702638
Centerline is valid?  [True, True]
Translation: X:82.22, Y:4.13, Z:-0.87
[[ 9.99455585e-01 -3.12670904e-02  1.05310098e-02  8.22201411e+01]
 [ 3.12654591e-02  9.99511065e-01  3.19543871e-04  4.12661428e+00]
 [-1.05358521e-02  9.88695044e-06  9.99944496e-01 -8.68119496e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.14770263799998
Centerline is valid?  [True, True]
Translation: X:82.28, Y:4.13, Z:-0.87
[[ 9.99492724e-01 -3.00564703e-02  1.05310366e-02  8.22830202e+01]
 [ 3.00547811e-02  9.99548202e-01  3.18658587e-04  4.13396914e+00]
 [-1.05358565e-02 -1.98893862e-06  9.99944496e-01 -8.68783467e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.20770263799999
Centerline is valid?  [True, True]
Translation: X:82.34, Y:4.14, Z:-0.87
[[ 9.99528907e-01 -2.88280973e-02  1.05310933e-02  8.23442372e+01]
 [ 2.88263597e-02  9.99584384e-01  3.16774481e-04  4.13614906e+00]
 [-1.05358484e-02 -1.30521667e-05  9.99944496e-01 -8.69427604e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.26770263799999
Centerline is valid?  [True, True]
Translation: X:82.41, Y:4.14, Z:-0.87
[[ 9.99645022e-01 -2.44729394e-02  1.05311419e-02  8.24073515e+01]
 [ 2.44709773e-02  9.99700491e-01  3.15149448e-04  4.14099921e+00]
 [-1.05357004e-02 -5.73302414e-05  9.99944496e-01 -8.70092738e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.32770263799999
Centerline is valid?  [True, True]
Translation: X:82.47, Y:4.15, Z:-0.87
[[ 9.99743344e-01 -2.00584123e-02  1.05311982e-02  8.24681543e+01]
 [ 2.00562252e-02  9.99798805e-01  3.13259160e-04  4.15019943e+00]
 [-1.05353628e-02 -1.01962678e-04  9.99944496e-01 -8.70734700e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.387702638
Centerline is valid?  [True, True]
Translation: X:82.53, Y:4.16, Z:-0.87
[[ 9.99817651e-01 -1.59297826e-02  1.05312433e-02  8.25304820e+01]
 [ 1.59273825e-02  9.99873103e-01  3.11735602e-04  4.15652188e+00]
 [-1.05348727e-02 -1.43943617e-04  9.99944496e-01 -8.71392051e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.447702638
Centerline is valid?  [True, True]
Translation: X:82.59, Y:4.16, Z:-0.87
[[ 9.99848263e-01 -1.38759760e-02  1.05312603e-02  8.25928786e+01]
 [ 1.38734681e-02  9.99903710e-01  3.11158771e-04  4.16473528e+00]
 [-1.05345639e-02 -1.65006454e-04  9.99944496e-01 -8.72051360e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.507702638
Centerline is valid?  [True, True]
Translation: X:82.65, Y:4.17, Z:-0.87
[[ 9.99865985e-01 -1.25341351e-02  1.05312745e-02  8.26537512e+01]
 [ 1.25315578e-02  9.99921429e-01  3.10678114e-04  4.17199776e+00]
 [-1.05343411e-02 -1.78663203e-04  9.99944496e-01 -8.72694384e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.56770263799999
Centerline is valid?  [True, True]
Translation: X:82.72, Y:4.18, Z:-0.87
[[ 9.99849808e-01 -1.37642157e-02  1.05312779e-02  8.27153501e+01]
 [ 1.37617079e-02  9.99905255e-01  3.10562257e-04  4.17903964e+00]
 [-1.05345548e-02 -1.65587243e-04  9.99944496e-01 -8.73345241e-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 81.62770263799999
Centerline is valid?  [True, True]
Translation: X:82.78, Y:4.18, Z:-0.87
[[ 9.99833533e-01 -1.48996048e-02  1.05313251e-02  8.27766129e+01]
 [ 1.48971769e-02  9.99888983e-01  3.08953451e-04  4.18307399e+00]
 [-1.05347592e-02 -1.52015008e-04  9.99944496e-01 -8.73990565e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.68770263799999
Centerline is valid?  [True, True]
Translation: X:82.84, Y:4.19, Z:-0.87
[[ 9.99828178e-01 -1.52546836e-02  1.05313319e-02  8.28393096e+01]
 [ 1.52522779e-02  9.99883630e-01  3.08721875e-04  4.19051774e+00]
 [-1.05348158e-02 -1.48042030e-04  9.99944496e-01 -8.74653015e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.74770263799999
Centerline is valid?  [True, True]
Translation: X:82.90, Y:4.20, Z:-0.88
[[ 9.99834104e-01 -1.48611831e-02  1.05313856e-02  8.29017615e+01]
 [ 1.48587750e-02  9.99889555e-01  3.06878089e-04  4.19877250e+00]
 [-1.05347830e-02 -1.50343690e-04  9.99944496e-01 -8.75311973e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.807702638
Centerline is valid?  [True, True]
Translation: X:82.96, Y:4.20, Z:-0.88
[[ 9.99826006e-01 -1.53963098e-02  1.05314323e-02  8.29636351e+01]
 [ 1.53939482e-02  9.99881460e-01  3.05268593e-04  4.20458402e+00]
 [-1.05348839e-02 -1.43095155e-04  9.99944496e-01 -8.75964240e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.867702638
Centerline is valid?  [True, True]
Translation: X:83.03, Y:4.21, Z:-0.88
[[ 9.99868708e-01 -1.23148228e-02  1.05314422e-02  8.30258906e+01]
 [ 1.23122939e-02  9.99924154e-01  3.04926266e-04  4.21078934e+00]
 [-1.05343985e-02 -1.75220020e-04  9.99944496e-01 -8.76621561e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.92770263799999
Centerline is valid?  [True, True]
Translation: X:83.09, Y:4.22, Z:-0.88
[[ 9.99924905e-01 -6.26683473e-03  1.05314556e-02  8.30860541e+01]
 [ 6.26397545e-03  9.99980335e-01  3.04462576e-04  4.21864690e+00]
 [-1.05331565e-02 -2.38470933e-04  9.99944496e-01 -8.77257260e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 81.98770263799999
Centerline is valid?  [True, True]
Translation: X:83.15, Y:4.23, Z:-0.88
[[ 9.99944181e-01 -8.50796811e-04  1.05314597e-02  8.31451228e+01]
 [ 8.47638866e-04  9.99999594e-01  3.04318134e-04  4.22859988e+00]
 [-1.05317144e-02 -2.95374273e-04  9.99944496e-01 -8.77882297e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.04770263799999
Centerline is valid?  [True, True]
Translation: X:83.20, Y:4.23, Z:-0.88
[[ 9.99937274e-01  3.81255599e-03  1.05314616e-02  8.32049239e+01]
 [-3.81597165e-03  9.99992673e-01  3.04253702e-04  4.23141628e+00]
 [-1.05302245e-02 -3.44422377e-04  9.99944496e-01 -8.78512934e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.10770263799999
Centerline is valid?  [True, True]
Translation: X:83.26, Y:4.24, Z:-0.88
[[ 9.99927886e-01  5.77158986e-03  1.05314616e-02  8.32644781e+01]
 [-5.77511405e-03  9.99983278e-01  3.04253702e-04  4.24125453e+00]
 [-1.05295295e-02 -3.65052153e-04  9.99944496e-01 -8.79143154e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.167702638
Centerline is valid?  [True, True]
Translation: X:83.32, Y:4.25, Z:-0.88
[[ 9.99913636e-01  7.86191220e-03  1.05314599e-02  8.33231651e+01]
 [-7.86555282e-03  9.99969020e-01  3.04314488e-04  4.24510474e+00]
 [-1.05287411e-02 -3.87123960e-04  9.99944496e-01 -8.79762466e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.227702638
Centerline is valid?  [True, True]
Translation: X:83.38, Y:4.25, Z:-0.88
[[ 9.99908002e-01  8.54845109e-03  1.05314533e-02  8.33816101e+01]
 [-8.55213211e-03  9.99963383e-01  3.04540777e-04  4.25373719e+00]
 [-1.05284643e-02 -3.94579139e-04  9.99944496e-01 -8.80380812e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.28770263799998
Centerline is valid?  [True, True]
Translation: X:83.44, Y:4.26, Z:-0.88
[[ 9.99894703e-01  9.98362740e-03  1.05314101e-02  8.34415780e+01]
 [-9.98740353e-03  9.99950078e-01  3.06026823e-04  4.25728315e+00]
 [-1.05278291e-02 -4.11176042e-04  9.99944496e-01 -8.81014610e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.34770263799999
Centerline is valid?  [True, True]
Translation: X:83.50, Y:4.26, Z:-0.88
[[ 9.99888460e-01  1.05903756e-02  1.05314068e-02  8.35015019e+01]
 [-1.05941866e-02  9.99943833e-01  3.06142567e-04  4.26207022e+00]
 [-1.05275731e-02 -4.17680108e-04  9.99944496e-01 -8.81647283e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.40770263799999
Centerline is valid?  [True, True]
Translation: X:83.56, Y:4.27, Z:-0.88
[[ 9.99894616e-01  9.99227833e-03  1.05314035e-02  8.35598693e+01]
 [-9.99605735e-03  9.99949991e-01  3.06255408e-04  4.26572021e+00]
 [-1.05278166e-02 -4.11495647e-04  9.99944496e-01 -8.82263212e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.46770263799999
Centerline is valid?  [True, True]
Translation: X:83.62, Y:4.27, Z:-0.88
[[ 9.99903703e-01  9.03743418e-03  1.05313903e-02  8.36183803e+01]
 [-9.04116507e-03  9.99959081e-01  3.06707251e-04  4.26837233e+00]
 [-1.05281875e-02 -4.01893755e-04  9.99944496e-01 -8.82880609e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.527702638
Centerline is valid?  [True, True]
Translation: X:83.68, Y:4.27, Z:-0.88
[[ 9.99909476e-01  8.37436249e-03  1.05313838e-02  8.36775579e+01]
 [-8.37805902e-03  9.99964856e-01  3.06932232e-04  4.27351221e+00]
 [-1.05284433e-02 -3.95137002e-04  9.99944496e-01 -8.83505617e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.587702638
Centerline is valid?  [True, True]
Translation: X:83.74, Y:4.28, Z:-0.88
[[ 9.99917410e-01  7.36637147e-03  1.05313772e-02  8.37372995e+01]
 [-7.37001453e-03  9.99972794e-01  3.07157099e-04  4.27592628e+00]
 [-1.05288281e-02 -3.84748134e-04  9.99944496e-01 -8.84135728e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.64770263799998
Centerline is valid?  [True, True]
Translation: X:83.80, Y:4.28, Z:-0.88
[[ 9.99933011e-01  4.80239523e-03  1.05313741e-02  8.37972866e+01]
 [-4.80589738e-03  9.99988404e-01  3.07262786e-04  4.27968512e+00]
 [-1.05297764e-02 -3.57854906e-04  9.99944496e-01 -8.84768747e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.70770263799999
Centerline is valid?  [True, True]
Translation: X:83.86, Y:4.29, Z:-0.89
[[ 9.99929814e-01  5.42741476e-03  1.05313735e-02  8.38568179e+01]
 [-5.43095176e-03  9.99985205e-01  3.07284021e-04  4.28855688e+00]
 [-1.05295499e-02 -3.64457836e-04  9.99944496e-01 -8.85398471e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.76770263799999
Centerline is valid?  [True, True]
Translation: X:83.92, Y:4.29, Z:-0.89
[[ 9.99930064e-01  5.38117363e-03  1.05313672e-02  8.39162087e+01]
 [-5.38471035e-03  9.99985455e-01  3.07501045e-04  4.28973612e+00]
 [-1.05295593e-02 -3.64187902e-04  9.99944496e-01 -8.86024504e-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 82.82770263799999
Centerline is valid?  [True, True]
Translation: X:83.98, Y:4.29, Z:-0.89
[[ 9.99920722e-01  6.90223679e-03  1.05313609e-02  8.39758589e+01]
 [-6.90586002e-03  9.99976107e-01  3.07715306e-04  4.29447561e+00]
 [-1.05289854e-02 -3.80419015e-04  9.99944496e-01 -8.86654363e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.887702638
Centerline is valid?  [True, True]
Translation: X:84.03, Y:4.30, Z:-0.89
[[ 9.99900431e-01  9.39249275e-03  1.05313581e-02  8.40332908e+01]
 [-9.39625491e-03  9.99955807e-01  3.07811153e-04  4.30030557e+00]
 [-1.05280016e-02 -4.06735830e-04  9.99944496e-01 -8.87261103e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 82.947702638
Centerline is valid?  [True, True]
Translation: X:84.09, Y:4.30, Z:-0.89
[[ 9.99866042e-01  1.25295113e-02  1.05313116e-02  8.40930802e+01]
 [-1.25334638e-02  9.99921405e-01  3.09394179e-04  4.30197452e+00]
 [-1.05266073e-02 -4.41346546e-04  9.99944496e-01 -8.87892564e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.007702638
Centerline is valid?  [True, True]
Translation: X:84.15, Y:4.31, Z:-0.89
[[ 9.99836147e-01  1.47231195e-02  1.05313084e-02  8.41536431e+01]
 [-1.47271946e-02  9.99891501e-01  3.09502426e-04  4.30777707e+00]
 [-1.05256089e-02 -4.64548342e-04  9.99944496e-01 -8.88532288e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.06770263799999
Centerline is valid?  [True, True]
Translation: X:84.21, Y:4.31, Z:-0.89
[[ 9.99819106e-01  1.58381411e-02  1.05313084e-02  8.42132583e+01]
 [-1.58422779e-02  9.99874455e-01  3.09502426e-04  4.31096414e+00]
 [-1.05250843e-02 -4.76286354e-04  9.99944496e-01 -8.89161135e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.12770263799999
Centerline is valid?  [True, True]
Translation: X:84.27, Y:4.31, Z:-0.89
[[ 9.99809704e-01  1.64209225e-02  1.05313052e-02  8.42708863e+01]
 [-1.64250928e-02  9.99865051e-01  3.09610851e-04  4.31261325e+00]
 [-1.05247999e-02 -4.82529599e-04  9.99944496e-01 -8.89768664e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.18770263799999
Centerline is valid?  [True, True]
Translation: X:84.33, Y:4.32, Z:-0.89
[[ 9.99795703e-01  1.72523927e-02  1.05312570e-02  8.43289190e+01]
 [-1.72566261e-02  9.99851045e-01  3.11242657e-04  4.31785492e+00]
 [-1.05243186e-02 -4.92913036e-04  9.99944496e-01 -8.90382784e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.24770263799999
Centerline is valid?  [True, True]
Translation: X:84.39, Y:4.32, Z:-0.89
[[ 9.99806581e-01  1.66100196e-02  1.05312441e-02  8.43875857e+01]
 [-1.66142221e-02  9.99861926e-01  3.11677497e-04  4.32161711e+00]
 [-1.05246131e-02 -4.86585641e-04  9.99944496e-01 -8.91002171e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.307702638
Centerline is valid?  [True, True]
Translation: X:84.45, Y:4.32, Z:-0.89
[[ 9.99826479e-01  1.53657515e-02  1.05312002e-02  8.44471541e+01]
 [-1.53699006e-02  9.99881827e-01  3.13154804e-04  4.32411589e+00]
 [-1.05251438e-02 -4.74963965e-04  9.99944496e-01 -8.91631498e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.367702638
Centerline is valid?  [True, True]
Translation: X:84.51, Y:4.33, Z:-0.89
[[ 9.99855186e-01  1.33679045e-02  1.05311908e-02  8.45078424e+01]
 [-1.33719463e-02  9.99910542e-01  3.13471030e-04  4.32894956e+00]
 [-1.05260582e-02 -4.54248154e-04  9.99944496e-01 -8.92272422e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.42770263799999
Centerline is valid?  [True, True]
Translation: X:84.57, Y:4.33, Z:-0.89
[[ 9.99916703e-01  7.46201000e-03  1.05311902e-02  8.45671387e+01]
 [-7.46572497e-03  9.99972082e-01  3.13489981e-04  4.33112591e+00]
 [-1.05285570e-02 -3.92086838e-04  9.99944496e-01 -8.92897615e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.48770263799999
Centerline is valid?  [True, True]
Translation: X:84.63, Y:4.33, Z:-0.89
[[ 9.99928521e-01  5.66098363e-03  1.05311848e-02  8.46266033e+01]
 [-5.66460075e-03  9.99983907e-01  3.13670737e-04  4.33456911e+00]
 [-1.05292397e-02 -3.73303274e-04  9.99944496e-01 -8.93525108e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.54770263799999
Centerline is valid?  [True, True]
Translation: X:84.68, Y:4.34, Z:-0.89
[[ 9.99936626e-01  3.97962819e-03  1.05311816e-02  8.46841269e+01]
 [-3.98315332e-03  9.99992018e-01  3.13779224e-04  4.33874541e+00]
 [-1.05298488e-02 -3.55706650e-04  9.99944496e-01 -8.94132331e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.60770263799999
Centerline is valid?  [True, True]
Translation: X:84.74, Y:4.34, Z:-0.89
[[ 9.99939005e-01  3.32871952e-03  1.05311654e-02  8.47434243e+01]
 [-3.33221430e-03  9.99994399e-01  3.14321911e-04  4.34038257e+00]
 [-1.05300601e-02 -3.49394839e-04  9.99944496e-01 -8.94757790e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.667702638
Centerline is valid?  [True, True]
Translation: X:84.80, Y:4.35, Z:-0.90
[[ 9.99934220e-01  4.54431198e-03  1.05311559e-02  8.48010120e+01]
 [-4.54787746e-03  9.99989609e-01  3.14641712e-04  4.34596810e+00]
 [-1.05296166e-02 -3.62515421e-04  9.99944496e-01 -8.95366305e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.727702638
Centerline is valid?  [True, True]
Translation: X:84.86, Y:4.35, Z:-0.90
[[ 9.99934306e-01  4.52531279e-03  1.05311405e-02  8.48608271e+01]
 [-4.52888263e-03  9.99989695e-01  3.15155548e-04  4.34655930e+00]
 [-1.05296058e-02 -3.62829143e-04  9.99944496e-01 -8.95996866e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.78770263799998
Centerline is valid?  [True, True]
Translation: X:84.92, Y:4.35, Z:-0.90
[[ 9.99935621e-01  4.22483647e-03  1.05311343e-02  8.49193774e+01]
 [-4.22839182e-03  9.99991011e-01  3.15361577e-04  4.34936154e+00]
 [-1.05297073e-02 -3.59871037e-04  9.99944496e-01 -8.96614552e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.84770263799999
Centerline is valid?  [True, True]
Translation: X:84.98, Y:4.35, Z:-0.90
[[ 9.99933677e-01  4.66231448e-03  1.05311214e-02  8.49781288e+01]
 [-4.66589860e-03  9.99989065e-01  3.15791643e-04  4.35301522e+00]
 [-1.05295339e-02 -3.64907843e-04  9.99944496e-01 -8.97234807e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.90770263799999
Centerline is valid?  [True, True]
Translation: X:85.04, Y:4.36, Z:-0.90
[[ 9.99932174e-01  4.97440288e-03  1.05310756e-02  8.50355597e+01]
 [-4.97802027e-03  9.99987559e-01  3.17311198e-04  4.35521296e+00]
 [-1.05293662e-02 -3.69713584e-04  9.99944496e-01 -8.97841585e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 83.96770263799999
Centerline is valid?  [True, True]
Translation: X:85.09, Y:4.36, Z:-0.90
[[ 9.99932747e-01  4.85783286e-03  1.05310593e-02  8.50939237e+01]
 [-4.86144947e-03  9.99988133e-01  3.17851621e-04  4.35885159e+00]
 [-1.05293903e-02 -3.69026457e-04  9.99944496e-01 -8.98457851e-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 84.027702638
Centerline is valid?  [True, True]
Translation: X:85.15, Y:4.36, Z:-0.90
[[ 9.99923595e-01  6.47315746e-03  1.05310172e-02  8.51534818e+01]
 [-6.47687814e-03  9.99978974e-01  3.19239770e-04  4.36222644e+00]
 [-1.05287293e-02 -3.87423494e-04  9.99944496e-01 -8.99087305e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.087702638
Centerline is valid?  [True, True]
Translation: X:85.21, Y:4.37, Z:-0.90
[[ 9.99920764e-01  6.89667030e-03  1.05310139e-02  8.52119268e+01]
 [-6.90041558e-03  9.99976141e-01  3.19348598e-04  4.36565493e+00]
 [-1.05285602e-02 -3.91991667e-04  9.99944496e-01 -8.99704008e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.14770263799998
Centerline is valid?  [True, True]
Translation: X:85.27, Y:4.37, Z:-0.90
[[ 9.99928395e-01  5.68366533e-03  1.05309670e-02  8.52695887e+01]
 [-5.68735963e-03  9.99983775e-01  3.20888754e-04  4.37049408e+00]
 [-1.05289723e-02 -3.80759173e-04  9.99944496e-01 -9.00314093e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.20770263799999
Centerline is valid?  [True, True]
Translation: X:85.33, Y:4.37, Z:-0.90
[[ 9.99941606e-01  2.42555940e-03  1.05309500e-02  8.53286714e+01]
 [-2.42907911e-03  9.99996998e-01  3.21447331e-04  4.37315666e+00]
 [-1.05301387e-02 -3.47009071e-04  9.99944496e-01 -9.00937641e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.26770263799999
Centerline is valid?  [True, True]
Translation: X:85.39, Y:4.38, Z:-0.90
[[ 9.99943287e-01 -1.58794835e-03  1.05309402e-02  8.53888585e+01]
 [ 1.58464762e-03  9.99998693e-01  3.21767868e-04  4.37910760e+00]
 [-1.05314373e-02 -3.05061791e-04  9.99944496e-01 -9.01573682e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.32770263799999
Centerline is valid?  [True, True]
Translation: X:85.45, Y:4.38, Z:-0.90
[[ 9.99929615e-01 -5.46489434e-03  1.05309369e-02  8.54500992e+01]
 [ 5.46180732e-03  9.99985032e-01  3.21876215e-04  4.38033509e+00]
 [-1.05325383e-02 -2.64335612e-04  9.99944496e-01 -9.02219124e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.387702638
Centerline is valid?  [True, True]
Translation: X:85.51, Y:4.38, Z:-0.90
[[ 9.99902369e-01 -9.18426412e-03  1.05309466e-02  8.55104808e+01]
 [ 9.18138662e-03  9.99957798e-01  3.21556747e-04  4.38372431e+00]
 [-1.05334554e-02 -2.24836661e-04  9.99944496e-01 -9.02855860e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.447702638
Centerline is valid?  [True, True]
Translation: X:85.57, Y:4.39, Z:-0.90
[[ 9.99874536e-01 -1.18326195e-02  1.05309465e-02  8.55728899e+01]
 [ 1.18298888e-02  9.99929973e-01  3.21559045e-04  4.38762819e+00]
 [-1.05340140e-02 -1.96938774e-04  9.99944496e-01 -9.03514381e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.50770263799998
Centerline is valid?  [True, True]
Translation: X:85.63, Y:4.39, Z:-0.90
[[ 9.99861936e-01 -1.28533018e-02  1.05309595e-02  8.56337818e+01]
 [ 1.28506321e-02  9.99917376e-01  3.21134961e-04  4.39243704e+00]
 [-1.05342170e-02 -1.85761138e-04  9.99944496e-01 -9.04156859e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.56770263799999
Centerline is valid?  [True, True]
Translation: X:85.70, Y:4.40, Z:-0.90
[[ 9.99857763e-01 -1.31739514e-02  1.05309627e-02  8.56955862e+01]
 [ 1.31713007e-02  9.99913203e-01  3.21029662e-04  4.39666468e+00]
 [-1.05342779e-02 -1.82277524e-04  9.99944496e-01 -9.04809024e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.62770263799999
Centerline is valid?  [True, True]
Translation: X:85.76, Y:4.40, Z:-0.91
[[ 9.99865911e-01 -1.25402409e-02  1.05309785e-02  8.57565224e+01]
 [ 1.25375605e-02  9.99921350e-01  3.20511010e-04  4.39817361e+00]
 [-1.05341695e-02 -1.88435254e-04  9.99944496e-01 -9.05450828e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.68770263799999
Centerline is valid?  [True, True]
Translation: X:85.82, Y:4.40, Z:-0.91
[[ 9.99882133e-01 -1.11722255e-02  1.05309875e-02  8.58185177e+01]
 [ 1.11694723e-02  9.99937568e-01  3.20213260e-04  4.40260282e+00]
 [-1.05339075e-02 -2.02549944e-04  9.99944496e-01 -9.06104905e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.74770263799999
Centerline is valid?  [True, True]
Translation: X:85.88, Y:4.41, Z:-0.91
[[ 9.99878478e-01 -1.14946264e-02  1.05310005e-02  8.58804874e+01]
 [ 1.14918956e-02  9.99933915e-01  3.19787005e-04  4.40589135e+00]
 [-1.05339804e-02 -1.98726986e-04  9.99944496e-01 -9.06758238e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.807702638
Centerline is valid?  [True, True]
Translation: X:85.94, Y:4.41, Z:-0.91
[[ 9.99841397e-01 -1.43624315e-02  1.05310166e-02  8.59417701e+01]
 [ 1.43598653e-02  9.99896841e-01  3.19256373e-04  4.40648065e+00]
 [-1.05345155e-02 -1.67981759e-04  9.99944496e-01 -9.07403386e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.867702638
Centerline is valid?  [True, True]
Translation: X:86.00, Y:4.41, Z:-0.91
[[ 9.99816903e-01 -1.59767786e-02  1.05310230e-02  8.60029992e+01]
 [ 1.59743042e-02  9.99872352e-01  3.19041851e-04  4.41080039e+00]
 [-1.05347760e-02 -1.50757670e-04  9.99944496e-01 -9.08049425e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.92770263799999
Centerline is valid?  [True, True]
Translation: X:86.06, Y:4.41, Z:-0.91
[[ 9.99836741e-01 -1.46829037e-02  1.05310644e-02  8.60634251e+01]
 [ 1.46803719e-02  9.99892187e-01  3.17671319e-04  4.41221464e+00]
 [-1.05345933e-02 -1.63019514e-04  9.99944496e-01 -9.08685106e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 84.98770263799999
Centerline is valid?  [True, True]
Translation: X:86.13, Y:4.42, Z:-0.91
[[ 9.99841052e-01 -1.43863821e-02  1.05310706e-02  8.61256775e+01]
 [ 1.43838361e-02  9.99896497e-01  3.17463910e-04  4.41627007e+00]
 [-1.05345478e-02 -1.65936256e-04  9.99944496e-01 -9.09341840e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.04770263799999
Centerline is valid?  [True, True]
Translation: X:86.19, Y:4.42, Z:-0.91
[[ 9.99853141e-01 -1.35200435e-02  1.05311138e-02  8.61858559e+01]
 [ 1.35174647e-02  9.99908585e-01  3.16024163e-04  4.41746372e+00]
 [-1.05344238e-02 -1.73623793e-04  9.99944496e-01 -9.09974784e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.10770263799999
Centerline is valid?  [True, True]
Translation: X:86.25, Y:4.42, Z:-0.91
[[ 9.99871803e-01 -1.20612529e-02  1.05311145e-02  8.62469271e+01]
 [ 1.20585934e-02  9.99927243e-01  3.16000866e-04  4.41805833e+00]
 [-1.05341597e-02 -1.88969927e-04  9.99944496e-01 -9.10618136e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.167702638
Centerline is valid?  [True, True]
Translation: X:86.31, Y:4.42, Z:-0.91
[[ 9.99862376e-01 -1.28189460e-02  1.05311210e-02  8.63093516e+01]
 [ 1.28163308e-02  9.99917818e-01  3.15785336e-04  4.41997478e+00]
 [-1.05343036e-02 -1.80771545e-04  9.99944496e-01 -9.11275996e-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 85.227702638
Centerline is valid?  [True, True]
Translation: X:86.37, Y:4.42, Z:-0.91
[[ 9.99876109e-01 -1.16988151e-02  1.05311338e-02  8.63711459e+01]
 [ 1.16961423e-02  9.99931548e-01  3.15358187e-04  4.42035263e+00]
 [-1.05341022e-02 -1.92145477e-04  9.99944496e-01 -9.11926556e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.28770263799998
Centerline is valid?  [True, True]
Translation: X:86.43, Y:4.42, Z:-0.91
[[ 9.99872389e-01 -1.20125187e-02  1.05311767e-02  8.64329738e+01]
 [ 1.20098784e-02  9.99927830e-01  3.13919683e-04  4.42000050e+00]
 [-1.05341876e-02 -1.87401472e-04  9.99944496e-01 -9.12576395e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.34770263799999
Centerline is valid?  [True, True]
Translation: X:86.49, Y:4.42, Z:-0.91
[[ 9.99864651e-01 -1.26401312e-02  1.05311926e-02  8.64944728e+01]
 [ 1.26375314e-02  9.99920094e-01  3.13385084e-04  4.41995764e+00]
 [-1.05343123e-02 -1.80254391e-04  9.99944496e-01 -9.13223628e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.40770263799999
Centerline is valid?  [True, True]
Translation: X:86.56, Y:4.42, Z:-0.91
[[ 9.99883563e-01 -1.10432605e-02  1.05312337e-02  8.65551130e+01]
 [ 1.10405867e-02  9.99939002e-01  3.11996309e-04  4.41921403e+00]
 [-1.05340368e-02 -1.95688982e-04  9.99944496e-01 -9.13860887e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.46770263799999
Centerline is valid?  [True, True]
Translation: X:86.62, Y:4.42, Z:-0.91
[[ 9.99903916e-01 -9.01394151e-03  1.05312398e-02  8.66165085e+01]
 [ 9.01115738e-03  9.99959350e-01  3.11790145e-04  4.41978249e+00]
 [-1.05336222e-02 -2.16861527e-04  9.99944496e-01 -9.14507499e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.527702638
Centerline is valid?  [True, True]
Translation: X:86.68, Y:4.42, Z:-0.92
[[ 9.99917843e-01 -7.30750974e-03  1.05312791e-02  8.66791455e+01]
 [ 7.30464503e-03  9.99973273e-01  3.10458974e-04  4.42172556e+00]
 [-1.05332663e-02 -2.33506212e-04  9.99944496e-01 -9.15166679e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.587702638
Centerline is valid?  [True, True]
Translation: X:86.74, Y:4.42, Z:-0.92
[[ 9.99942649e-01 -1.94707619e-03  1.05313008e-02  8.67405758e+01]
 [ 1.94392216e-03  9.99998063e-01  3.09719683e-04  4.42173136e+00]
 [-1.05318835e-02 -2.89229891e-04  9.99944496e-01 -9.15813044e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.64770263799998
Centerline is valid?  [True, True]
Translation: X:86.80, Y:4.42, Z:-0.92
[[ 9.99930400e-01  5.31860094e-03  1.05313055e-02  8.68005777e+01]
 [-5.32215586e-03  9.99985789e-01  3.09560673e-04  4.42492357e+00]
 [-1.05295094e-02 -3.65588376e-04  9.99944496e-01 -9.16445833e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.70770263799999
Centerline is valid?  [True, True]
Translation: X:86.86, Y:4.43, Z:-0.92
[[ 9.99883830e-01  1.10189624e-02  1.05313030e-02  8.68612504e+01]
 [-1.10228339e-02  9.99939199e-01  3.09646445e-04  4.42634311e+00]
 [-1.05272507e-02 -4.25695277e-04  9.99944496e-01 -9.17085342e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.76770263799999
Centerline is valid?  [True, True]
Translation: X:86.92, Y:4.42, Z:-0.92
[[ 9.99851502e-01  1.36405961e-02  1.05313063e-02  8.69211814e+01]
 [-1.36446116e-02  9.99906860e-01  3.09533728e-04  4.42480396e+00]
 [-1.05261032e-02 -4.53183347e-04  9.99944496e-01 -9.17715959e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.82770263799999
Centerline is valid?  [True, True]
Translation: X:86.98, Y:4.42, Z:-0.92
[[ 9.99802388e-01  1.68604844e-02  1.05313031e-02  8.69817058e+01]
 [-1.68646793e-02  9.99857733e-01  3.09640499e-04  4.42463583e+00]
 [-1.05245842e-02 -4.87186361e-04  9.99944496e-01 -9.18353432e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.887702638
Centerline is valid?  [True, True]
Translation: X:87.04, Y:4.42, Z:-0.92
[[ 9.99798111e-01  1.71122208e-02  1.05313065e-02  8.70403217e+01]
 [-1.71164284e-02  9.99853455e-01  3.09525360e-04  4.42228062e+00]
 [-1.05244666e-02 -4.89721225e-04  9.99944496e-01 -9.18969944e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 85.947702638
Centerline is valid?  [True, True]
Translation: X:87.10, Y:4.42, Z:-0.92
[[ 9.99781473e-01  1.80582283e-02  1.05312651e-02  8.70979852e+01]
 [-1.80625030e-02  9.99836811e-01  3.10928003e-04  4.42221433e+00]
 [-1.05239317e-02 -5.01081064e-04  9.99944496e-01 -9.19578379e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.00770263799998
Centerline is valid?  [True, True]
Translation: X:87.16, Y:4.42, Z:-0.92
[[ 9.99727172e-01  2.08488242e-02  1.05312492e-02  8.71583408e+01]
 [-2.08532591e-02  9.99782499e-01  3.11467297e-04  4.42111177e+00]
 [-1.05224649e-02 -5.30993188e-04  9.99944496e-01 -9.20214133e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.06770263799999
Centerline is valid?  [True, True]
Translation: X:87.22, Y:4.42, Z:-0.92
[[ 9.99656634e-01  2.39938947e-02  1.05312522e-02  8.72190473e+01]
 [-2.39985025e-02  9.99711946e-01  3.11364783e-04  4.41925317e+00]
 [-1.05207478e-02 -5.63992152e-04  9.99944496e-01 -9.20852821e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.12770263799999
Centerline is valid?  [True, True]
Translation: X:87.28, Y:4.42, Z:-0.92
[[ 9.99590604e-01  2.66029451e-02  1.05312398e-02  8.72776784e+01]
 [-2.66077017e-02  9.99645904e-01  3.11782863e-04  4.42068282e+00]
 [-1.05192164e-02 -5.91867308e-04  9.99944496e-01 -9.21471099e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.18770263799999
Centerline is valid?  [True, True]
Translation: X:87.34, Y:4.42, Z:-0.92
[[ 9.99597093e-01  2.63580018e-02  1.05312364e-02  8.73357950e+01]
 [-2.63627460e-02  9.99652394e-01  3.11897282e-04  4.41706701e+00]
 [-1.05193547e-02 -5.89403927e-04  9.99944496e-01 -9.22082138e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.24770263799999
Centerline is valid?  [True, True]
Translation: X:87.40, Y:4.42, Z:-0.92
[[ 9.99645013e-01  2.44732908e-02  1.05312208e-02  8.73960249e+01]
 [-2.44779363e-02  9.99700322e-01  3.12423680e-04  4.41707725e+00]
 [-1.05204188e-02 -5.70095325e-04  9.99944496e-01 -9.22716896e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.307702638
Centerline is valid?  [True, True]
Translation: X:87.46, Y:4.42, Z:-0.92
[[ 9.99688530e-01  2.26260079e-02  1.05312048e-02  8.74553409e+01]
 [-2.26305568e-02  9.99743847e-01  3.12964030e-04  4.41572342e+00]
 [-1.05214260e-02 -5.51193578e-04  9.99944496e-01 -9.23341612e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.367702638
Centerline is valid?  [True, True]
Translation: X:87.51, Y:4.41, Z:-0.92
[[ 9.99704976e-01  2.18873168e-02  1.05312006e-02  8.75142782e+01]
 [-2.18918263e-02  9.99760296e-01  3.13104382e-04  4.41454954e+00]
 [-1.05218232e-02 -5.43559223e-04  9.99944496e-01 -9.23962072e-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 86.42770263799999
Centerline is valid?  [True, True]
Translation: X:87.57, Y:4.42, Z:-0.92
[[ 9.99683459e-01  2.28489789e-02  1.05311583e-02  8.75724293e+01]
 [-2.28535565e-02  9.99738774e-01  3.14521429e-04  4.41608117e+00]
 [-1.05212208e-02 -5.55096291e-04  9.99944496e-01 -9.24576119e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.48770263799999
Centerline is valid?  [True, True]
Translation: X:87.63, Y:4.41, Z:-0.93
[[ 9.99661637e-01  2.37845866e-02  1.05311113e-02  8.76323646e+01]
 [-2.37892324e-02  9.99716946e-01  3.16085740e-04  4.41413108e+00]
 [-1.05206125e-02 -5.66505843e-04  9.99944496e-01 -9.25207975e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.54770263799999
Centerline is valid?  [True, True]
Translation: X:87.69, Y:4.41, Z:-0.93
[[ 9.99610809e-01  2.58326643e-02  1.05311079e-02  8.76913976e+01]
 [-2.58374246e-02  9.99666108e-01  3.16198545e-04  4.41462159e+00]
 [-1.05194234e-02 -5.88172190e-04  9.99944496e-01 -9.25829936e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.60770263799999
Centerline is valid?  [True, True]
Translation: X:87.75, Y:4.41, Z:-0.93
[[ 9.99562127e-01  2.76523153e-02  1.05311015e-02  8.77517503e+01]
 [-2.76571785e-02  9.99617417e-01  3.16413731e-04  4.41476653e+00]
 [-1.05183229e-02 -6.07535734e-04  9.99944496e-01 -9.26465769e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.667702638
Centerline is valid?  [True, True]
Translation: X:87.81, Y:4.41, Z:-0.93
[[ 9.99556911e-01  2.78401991e-02  1.05310982e-02  8.78116472e+01]
 [-2.78450739e-02  9.99612201e-01  3.16521088e-04  4.41212325e+00]
 [-1.05182023e-02 -6.09620050e-04  9.99944496e-01 -9.27095833e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.727702638
Centerline is valid?  [True, True]
Translation: X:87.87, Y:4.41, Z:-0.93
[[ 9.99615554e-01  2.56484067e-02  1.05310950e-02  8.78698191e+01]
 [-2.56531613e-02  9.99670853e-01  3.16627128e-04  4.41454816e+00]
 [-1.05195078e-02 -5.86661282e-04  9.99944496e-01 -9.27709332e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.78770263799998
Centerline is valid?  [True, True]
Translation: X:87.93, Y:4.41, Z:-0.93
[[ 9.99666381e-01  2.35844107e-02  1.05310501e-02  8.79304627e+01]
 [-2.35890668e-02  9.99721689e-01  3.18116387e-04  4.41356611e+00]
 [-1.05206166e-02 -5.66427900e-04  9.99944496e-01 -9.28348872e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.84770263799999
Centerline is valid?  [True, True]
Translation: X:87.99, Y:4.41, Z:-0.93
[[ 9.99745343e-01  1.99585996e-02  1.05310492e-02  8.79901434e+01]
 [-1.99630553e-02  9.99800668e-01  3.18143420e-04  4.41481177e+00]
 [-1.05226004e-02 -5.28294321e-04  9.99944496e-01 -9.28977824e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.90770263799999
Centerline is valid?  [True, True]
Translation: X:88.05, Y:4.42, Z:-0.93
[[ 9.99805540e-01  1.66726888e-02  1.05310444e-02  8.80493569e+01]
 [-1.66769643e-02  9.99860879e-01  3.18304491e-04  4.41552336e+00]
 [-1.05242723e-02 -4.93868445e-04  9.99944496e-01 -9.29601792e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 86.96770263799999
Centerline is valid?  [True, True]
Translation: X:88.11, Y:4.42, Z:-0.93
[[ 9.99826398e-01  1.53711150e-02  1.05310404e-02  8.81085021e+01]
 [-1.53753199e-02  9.99881742e-01  3.18435870e-04  4.41732684e+00]
 [-1.05249003e-02 -4.80298704e-04  9.99944496e-01 -9.30225365e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.027702638
Centerline is valid?  [True, True]
Translation: X:88.17, Y:4.41, Z:-0.93
[[ 9.99872989e-01  1.19625684e-02  1.05310143e-02  8.81690269e+01]
 [-1.19665937e-02  9.99928347e-01  3.19296812e-04  4.41497158e+00]
 [-1.05264401e-02 -4.45276628e-04  9.99944496e-01 -9.30862711e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.087702638
Centerline is valid?  [True, True]
Translation: X:88.23, Y:4.42, Z:-0.93
[[ 9.99905542e-01  8.83200939e-03  1.05310137e-02  8.82293176e+01]
 [-8.83586149e-03  9.99960912e-01  3.19314953e-04  4.41796917e+00]
 [-1.05277819e-02 -4.12335370e-04  9.99944496e-01 -9.31498641e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.14770263799998
Centerline is valid?  [True, True]
Translation: X:88.29, Y:4.42, Z:-0.93
[[ 9.99900816e-01  9.35181143e-03  1.05310137e-02  8.82880159e+01]
 [-9.35569232e-03  9.99956184e-01  3.19314953e-04  4.42087690e+00]
 [-1.05275661e-02 -4.17808207e-04  9.99944496e-01 -9.32117756e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.20770263799999
Centerline is valid?  [True, True]
Translation: X:88.35, Y:4.42, Z:-0.93
[[ 9.99895365e-01  9.91752651e-03  1.05310037e-02  8.83480775e+01]
 [-9.92144221e-03  9.99950730e-01  3.19647112e-04  4.42251409e+00]
 [-1.05273147e-02 -4.24096409e-04  9.99944496e-01 -9.32751083e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.26770263799999
Centerline is valid?  [True, True]
Translation: X:88.41, Y:4.43, Z:-0.93
[[ 9.99859154e-01  1.30679080e-02  1.05309998e-02  8.84074319e+01]
 [-1.30719994e-02  9.99914507e-01  3.19774035e-04  4.42867540e+00]
 [-1.05259207e-02 -4.57390219e-04  9.99944496e-01 -9.33378249e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.32770263799999
Centerline is valid?  [True, True]
Translation: X:88.47, Y:4.43, Z:-0.93
[[ 9.99819267e-01  1.58282082e-02  1.05309998e-02  8.84657155e+01]
 [-1.58324525e-02  9.99874608e-01  3.19774035e-04  4.43386970e+00]
 [-1.05246179e-02 -4.86447795e-04  9.99944496e-01 -9.33993729e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.387702638
Centerline is valid?  [True, True]
Translation: X:88.52, Y:4.44, Z:-0.93
[[ 9.99860358e-01  1.29755224e-02  1.05309530e-02  8.85248553e+01]
 [-1.29796249e-02  9.99915710e-01  3.21307253e-04  4.43578215e+00]
 [-1.05258962e-02 -4.57950204e-04  9.99944496e-01 -9.34618389e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.447702638
Centerline is valid?  [True, True]
Translation: X:88.58, Y:4.44, Z:-0.94
[[ 9.99901069e-01  9.32482503e-03  1.05309465e-02  8.85849592e+01]
 [-9.32872763e-03  9.99956435e-01  3.21522289e-04  4.44124371e+00]
 [-1.05274895e-02 -4.19730811e-04  9.99944496e-01 -9.35253301e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.50770263799998
Centerline is valid?  [True, True]
Translation: X:88.64, Y:4.44, Z:-0.94
[[ 9.99923571e-01  6.47704206e-03  1.05309455e-02  8.86449829e+01]
 [-6.48078729e-03  9.99978948e-01  3.21554300e-04  4.44471194e+00]
 [-1.05286411e-02 -3.89778541e-04  9.99944496e-01 -9.35886584e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.56770263799999
Centerline is valid?  [True, True]
Translation: X:88.70, Y:4.45, Z:-0.94
[[ 9.99943373e-01  1.53268202e-03  1.05309407e-02  8.87034916e+01]
 [-1.53615502e-03  9.99998768e-01  3.21709751e-04  4.44875431e+00]
 [-1.05304347e-02 -3.37868691e-04  9.99944496e-01 -9.36504194e-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 87.62770263799999
Centerline is valid?  [True, True]
Translation: X:88.76, Y:4.45, Z:-0.94
[[ 9.99940809e-01 -2.73453507e-03  1.05309396e-02  8.87634137e+01]
 [ 2.73129808e-03  9.99996218e-01  3.21748719e-04  4.45497448e+00]
 [-1.05317796e-02 -2.92966539e-04  9.99944496e-01 -9.37137298e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.68770263799999
Centerline is valid?  [True, True]
Translation: X:88.82, Y:4.46, Z:-0.94
[[ 9.99938729e-01 -3.41148637e-03  1.05309313e-02  8.88230389e+01]
 [ 3.40828404e-03  9.99994140e-01  3.22020166e-04  4.45870074e+00]
 [-1.05319681e-02 -2.86108031e-04  9.99944496e-01 -9.37766659e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.74770263799999
Centerline is valid?  [True, True]
Translation: X:88.88, Y:4.46, Z:-0.94
[[ 9.99941906e-01 -2.29864485e-03  1.05309313e-02  8.88848794e+01]
 [ 2.29538085e-03  9.99997314e-01  3.22020166e-04  4.46264397e+00]
 [-1.05316432e-02 -2.97828961e-04  9.99944496e-01 -9.38419203e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.807702638
Centerline is valid?  [True, True]
Translation: X:88.95, Y:4.47, Z:-0.94
[[ 9.99944243e-01 -7.80947321e-04  1.05309479e-02  8.89453270e+01]
 [ 7.77604953e-04  9.99999646e-01  3.21476134e-04  4.46716831e+00]
 [-1.05311952e-02 -3.13269293e-04  9.99944496e-01 -9.39056825e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.867702638
Centerline is valid?  [True, True]
Translation: X:89.00, Y:4.47, Z:-0.94
[[ 9.99942656e-01  1.94531291e-03  1.05309512e-02  8.90047855e+01]
 [-1.94880517e-03  9.99998049e-01  3.21367038e-04  4.47252608e+00]
 [-1.05303055e-02 -3.41871381e-04  9.99944496e-01 -9.39684647e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.92770263799999
Centerline is valid?  [True, True]
Translation: X:89.06, Y:4.48, Z:-0.94
[[ 9.99940165e-01  2.96062949e-03  1.05309512e-02  8.90637685e+01]
 [-2.96417799e-03  9.99995555e-01  3.21367038e-04  4.47758265e+00]
 [-1.05299529e-02 -3.52563422e-04  9.99944496e-01 -9.40307454e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 87.98770263799999
Centerline is valid?  [True, True]
Translation: X:89.12, Y:4.48, Z:-0.94
[[ 9.99932103e-01  4.98902046e-03  1.05309047e-02  8.91244369e+01]
 [-4.99269728e-03  9.99987484e-01  3.22884773e-04  4.48317872e+00]
 [-1.05291620e-02 -3.75440469e-04  9.99944496e-01 -9.40949429e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.04770263799999
Centerline is valid?  [True, True]
Translation: X:89.18, Y:4.49, Z:-0.94
[[ 9.99931722e-01  5.06478543e-03  1.05309080e-02  8.91841800e+01]
 [-5.06846529e-03  9.99987103e-01  3.22775030e-04  4.48801870e+00]
 [-1.05291374e-02 -3.76128533e-04  9.99944496e-01 -9.41580086e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.10770263799999
Centerline is valid?  [True, True]
Translation: X:89.24, Y:4.49, Z:-0.94
[[ 9.99930674e-01  5.26760354e-03  1.05309047e-02  8.92427289e+01]
 [-5.27129577e-03  9.99986054e-01  3.22883189e-04  4.49341108e+00]
 [-1.05290570e-02 -3.78372318e-04  9.99944496e-01 -9.42198523e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.167702638
Centerline is valid?  [True, True]
Translation: X:89.30, Y:4.50, Z:-0.94
[[ 9.99934167e-01  4.55667469e-03  1.05308611e-02  8.93013810e+01]
 [-4.56034244e-03  9.99989549e-01  3.24298904e-04  4.49758278e+00]
 [-1.05292733e-02 -3.72301887e-04  9.99944496e-01 -9.42818738e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.227702638
Centerline is valid?  [True, True]
Translation: X:89.36, Y:4.50, Z:-0.94
[[ 9.99933700e-01  4.65804178e-03  1.05308477e-02  8.93596201e+01]
 [-4.66171972e-03  9.99989081e-01  3.24734630e-04  4.50226062e+00]
 [-1.05292201e-02 -3.73804961e-04  9.99944496e-01 -9.43433959e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.28770263799998
Centerline is valid?  [True, True]
Translation: X:89.42, Y:4.51, Z:-0.94
[[ 9.99934866e-01  4.40067649e-03  1.05308031e-02  8.94186378e+01]
 [-4.40435533e-03  9.99990248e-01  3.26174771e-04  4.50621393e+00]
 [-1.05292650e-02 -3.72534925e-04  9.99944496e-01 -9.44057985e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.34770263799999
Centerline is valid?  [True, True]
Translation: X:89.48, Y:4.51, Z:-0.94
[[ 9.99943749e-01  1.26536547e-03  1.05307933e-02  8.94778488e+01]
 [-1.26887396e-03  9.99999142e-01  3.26489464e-04  4.51106466e+00]
 [-1.05303711e-02 -3.39833348e-04  9.99944496e-01 -9.44683405e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.40770263799999
Centerline is valid?  [True, True]
Translation: X:89.54, Y:4.52, Z:-0.95
[[ 9.99943619e-01  1.36414459e-03  1.05307900e-02  8.95370952e+01]
 [-1.36765966e-03  9.99999011e-01  3.26595208e-04  4.51754642e+00]
 [-1.05303341e-02 -3.40979331e-04  9.99944496e-01 -9.45309557e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.46770263799999
Centerline is valid?  [True, True]
Translation: X:89.60, Y:4.52, Z:-0.95
[[ 9.99944541e-01  1.34713262e-04  1.05307835e-02  8.95968141e+01]
 [-1.38162435e-04  9.99999937e-01  3.26805633e-04  4.51994335e+00]
 [-1.05307388e-02 -3.28242467e-04  9.99944496e-01 -9.45939439e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.527702638
Centerline is valid?  [True, True]
Translation: X:89.66, Y:4.53, Z:-0.95
[[ 9.99944502e-01 -3.08495396e-04  1.05307768e-02  8.96567105e+01]
 [ 3.05068521e-04  9.99999900e-01  3.27019997e-04  4.52598726e+00]
 [-1.05308767e-02 -3.23789240e-04  9.99944496e-01 -9.46572388e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.587702638
Centerline is valid?  [True, True]
Translation: X:89.72, Y:4.53, Z:-0.95
[[ 9.99943654e-01 -1.33823737e-03  1.05307735e-02  8.97173214e+01]
 [ 1.33486642e-03  9.99999056e-01  3.27127163e-04  4.53084616e+00]
 [-1.05312013e-02 -3.13051555e-04  9.99944496e-01 -9.47212383e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.64770263799998
Centerline is valid?  [True, True]
Translation: X:89.78, Y:4.53, Z:-0.95
[[ 9.99942491e-01 -2.02901912e-03  1.05307762e-02  8.97790999e+01]
 [ 2.02568735e-03  9.99997895e-01  3.27040531e-04  4.53369996e+00]
 [-1.05314176e-02 -3.05689663e-04  9.99944496e-01 -9.47863854e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.70770263799999
Centerline is valid?  [True, True]
Translation: X:89.84, Y:4.54, Z:-0.95
[[ 9.99940511e-01 -2.84188671e-03  1.05307861e-02  8.98394016e+01]
 [ 2.83860333e-03  9.99995918e-01  3.26722145e-04  4.53903077e+00]
 [-1.05316716e-02 -2.96809984e-04  9.99944496e-01 -9.48500385e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.76770263799999
Centerline is valid?  [True, True]
Translation: X:89.90, Y:4.55, Z:-0.95
[[ 9.99944548e-01  6.34311200e-05  1.05307894e-02  8.99006596e+01]
 [-6.68743487e-05  9.99999944e-01  3.26615959e-04  4.54576859e+00]
 [-1.05307681e-02 -3.27302087e-04  9.99944496e-01 -9.49147626e-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 88.82770263799999
Centerline is valid?  [True, True]
Translation: X:89.96, Y:4.55, Z:-0.95
[[ 9.99943435e-01  1.49278407e-03  1.05307957e-02  8.99609282e+01]
 [-1.49630434e-03  9.99998827e-01  3.26412730e-04  4.54943783e+00]
 [-1.05302961e-02 -3.42151542e-04  9.99944496e-01 -9.49783361e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.887702638
Centerline is valid?  [True, True]
Translation: X:90.02, Y:4.56, Z:-0.95
[[ 9.99929478e-01  5.49015178e-03  1.05307988e-02  9.00210712e+01]
 [-5.49389240e-03  9.99984855e-01  3.26311358e-04  4.55704948e+00]
 [-1.05288478e-02 -3.84143422e-04  9.99944496e-01 -9.50419146e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 88.947702638
Centerline is valid?  [True, True]
Translation: X:90.08, Y:4.56, Z:-0.95
[[ 9.99943388e-01  1.52423270e-03  1.05307973e-02  9.00809865e+01]
 [-1.52775416e-03  9.99998780e-01  3.26359992e-04  4.55711404e+00]
 [-1.05302870e-02 -3.42429985e-04  9.99944496e-01 -9.51050200e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.00770263799998
Centerline is valid?  [True, True]
Translation: X:90.14, Y:4.56, Z:-0.95
[[ 9.99940111e-01 -2.97939836e-03  1.05307973e-02  9.01417080e+01]
 [ 2.97612642e-03  9.99995518e-01  3.26359992e-04  4.55747593e+00]
 [-1.05317225e-02 -2.94999462e-04  9.99944496e-01 -9.51689800e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.06770263799999
Centerline is valid?  [True, True]
Translation: X:90.20, Y:4.56, Z:-0.95
[[ 9.99937045e-01 -3.87415396e-03  1.05307957e-02  9.02017850e+01]
 [ 3.87093104e-03  9.99992455e-01  3.26412016e-04  4.55945806e+00]
 [-1.05319808e-02 -2.85627483e-04  9.99944496e-01 -9.52323185e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.12770263799999
Centerline is valid?  [True, True]
Translation: X:90.26, Y:4.56, Z:-0.95
[[ 9.99940286e-01 -2.92003362e-03  1.05307957e-02  9.02631346e+01]
 [ 2.91675784e-03  9.99995693e-01  3.26412016e-04  4.56201505e+00]
 [-1.05317035e-02 -2.95676744e-04  9.99944496e-01 -9.52970116e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.18770263799999
Centerline is valid?  [True, True]
Translation: X:90.32, Y:4.57, Z:-0.95
[[ 9.99943048e-01 -1.73290661e-03  1.05308054e-02  9.03228835e+01]
 [ 1.72956835e-03  9.99998451e-01  3.26098379e-04  4.56500674e+00]
 [-1.05313542e-02 -3.07866059e-04  9.99944496e-01 -9.53600059e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.24770263799999
Centerline is valid?  [True, True]
Translation: X:90.38, Y:4.57, Z:-0.95
[[ 9.99944509e-01 -2.84329731e-04  1.05308054e-02  9.03836947e+01]
 [ 2.80911214e-04  9.99999907e-01  3.26098379e-04  4.56674982e+00]
 [-1.05308971e-02 -3.23122062e-04  9.99944496e-01 -9.54241054e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.307702638
Centerline is valid?  [True, True]
Translation: X:90.44, Y:4.57, Z:-0.95
[[ 9.99944275e-01  7.40718648e-04  1.05308112e-02  9.04435143e+01]
 [-7.44191971e-04  9.99999670e-01  3.25910100e-04  4.57024245e+00]
 [-1.05305663e-02 -3.33728884e-04  9.99944496e-01 -9.54872014e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.367702638
Centerline is valid?  [True, True]
Translation: X:90.50, Y:4.57, Z:-0.96
[[ 9.99943850e-01  1.18306833e-03  1.05308112e-02  9.05041422e+01]
 [-1.18656616e-03  9.99999243e-01  3.25910100e-04  4.57098681e+00]
 [-1.05304177e-02 -3.38387305e-04  9.99944496e-01 -9.55510753e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.42770263799999
Centerline is valid?  [True, True]
Translation: X:90.56, Y:4.57, Z:-0.96
[[ 9.99944472e-01  3.92389327e-04  1.05308112e-02  9.05640805e+01]
 [-3.95843353e-04  9.99999869e-01  3.25910100e-04  4.57307218e+00]
 [-1.05306820e-02 -3.30060555e-04  9.99944496e-01 -9.56142666e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.48770263799999
Centerline is valid?  [True, True]
Translation: X:90.62, Y:4.57, Z:-0.96
[[ 9.99938225e-01 -3.55636382e-03  1.05308049e-02  9.06240789e+01]
 [ 3.55312643e-03  9.99993634e-01  3.26114653e-04  4.57181148e+00]
 [-1.05318976e-02 -2.88677226e-04  9.99944496e-01 -9.56774299e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.54770263799999
Centerline is valid?  [True, True]
Translation: X:90.68, Y:4.57, Z:-0.96
[[ 9.99928345e-01 -5.69265299e-03  1.05308085e-02  9.06834355e+01]
 [ 5.68953523e-03  9.99983761e-01  3.25996756e-04  4.57271385e+00]
 [-1.05324933e-02 -2.66057991e-04  9.99944496e-01 -9.57399599e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.60770263799999
Centerline is valid?  [True, True]
Translation: X:90.75, Y:4.57, Z:-0.96
[[ 9.99904684e-01 -8.92892885e-03  1.05308053e-02  9.07453663e+01]
 [ 8.92598935e-03  9.99960109e-01  3.26101907e-04  4.57296778e+00]
 [-1.05332969e-02 -2.32072969e-04  9.99944496e-01 -9.58051990e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.667702638
Centerline is valid?  [True, True]
Translation: X:90.81, Y:4.57, Z:-0.96
[[ 9.99874924e-01 -1.17999223e-02  1.05308496e-02  9.08083987e+01]
 [ 1.17971571e-02  9.99930358e-01  3.24663270e-04  4.57353071e+00]
 [-1.05339473e-02 -2.00388575e-04  9.99944496e-01 -9.58714757e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.727702638
Centerline is valid?  [True, True]
Translation: X:90.87, Y:4.57, Z:-0.96
[[ 9.99813219e-01 -1.62057957e-02  1.05309003e-02  9.08694647e+01]
 [ 1.62032922e-02  9.99868666e-01  3.23013186e-04  4.57262773e+00]
 [-1.05347519e-02 -1.52317600e-04  9.99944496e-01 -9.59356165e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.78770263799998
Centerline is valid?  [True, True]
Translation: X:90.93, Y:4.57, Z:-0.96
[[ 9.99682891e-01 -2.28739559e-02  1.05309141e-02  9.09308035e+01]
 [ 2.28718270e-02  9.99738354e-01  3.22560932e-04  4.57137749e+00]
 [-1.05355370e-02 -8.15973986e-05  9.99944496e-01 -9.60001363e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.84770263799999
Centerline is valid?  [True, True]
Translation: X:90.99, Y:4.57, Z:-0.96
[[ 9.99516503e-01 -2.92550968e-02  1.05309173e-02  9.09920510e+01]
 [ 2.92533232e-02  9.99571978e-01  3.22455527e-04  4.56940500e+00]
 [-1.05358433e-02 -1.42352930e-05  9.99944496e-01 -9.60645666e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.90770263799999
Centerline is valid?  [True, True]
Translation: X:91.05, Y:4.57, Z:-0.96
[[ 9.99436422e-01 -3.18737616e-02  1.05309619e-02  9.10535503e+01]
 [ 3.18721487e-02  9.99491902e-01  3.20992514e-04  4.56814395e+00]
 [-1.05358424e-02  1.48327744e-05  9.99944496e-01 -9.61291703e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 89.96770263799999
Centerline is valid?  [True, True]
Translation: X:91.12, Y:4.57, Z:-0.96
[[ 9.99459794e-01 -3.11322835e-02  1.05309682e-02  9.11159037e+01]
 [ 3.11306316e-02  9.99515273e-01  3.20787543e-04  4.57053112e+00]
 [-1.05358504e-02  7.22143986e-06  9.99944496e-01 -9.61948973e-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 90.027702638
Centerline is valid?  [True, True]
Translation: X:91.18, Y:4.57, Z:-0.96
[[ 9.99559508e-01 -2.77468673e-02  1.05309833e-02  9.11783227e+01]
 [ 2.77450327e-02  9.99614981e-01  3.20290360e-04  4.57146422e+00]
 [-1.05358157e-02 -2.79667979e-05  9.99944496e-01 -9.62606221e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.087702638
Centerline is valid?  [True, True]
Translation: X:91.24, Y:4.57, Z:-0.96
[[ 9.99631502e-01 -2.50191608e-02  1.05310285e-02  9.12402828e+01]
 [ 2.50171906e-02  9.99686970e-01  3.18798652e-04  4.57279440e+00]
 [-1.05357080e-02 -5.52244290e-05  9.99944496e-01 -9.63257925e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.14770263799998
Centerline is valid?  [True, True]
Translation: X:91.30, Y:4.57, Z:-0.96
[[ 9.99679524e-01 -2.30205680e-02  1.05310684e-02  9.13025100e+01]
 [ 2.30185008e-02  9.99734989e-01  3.17474848e-04  4.57234136e+00]
 [-1.05355860e-02 -7.49636991e-05  9.99944496e-01 -9.63912019e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.20770263799999
Centerline is valid?  [True, True]
Translation: X:91.36, Y:4.57, Z:-0.96
[[ 9.99715987e-01 -2.13785194e-02  1.05310807e-02  9.13647459e+01]
 [ 2.13763655e-02  9.99771449e-01  3.17063841e-04  4.57176915e+00]
 [-1.05354522e-02 -9.18575605e-05  9.99944496e-01 -9.64566940e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.26770263799999
Centerline is valid?  [True, True]
Translation: X:91.43, Y:4.57, Z:-0.97
[[ 9.99751377e-01 -1.96539950e-02  1.05311039e-02  9.14270482e+01]
 [ 1.96517535e-02  9.99806836e-01  3.16294145e-04  4.57169331e+00]
 [-1.05352861e-02 -1.09260851e-04  9.99944496e-01 -9.65222418e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.32770263799999
Centerline is valid?  [True, True]
Translation: X:91.49, Y:4.57, Z:-0.97
[[ 9.99799341e-01 -1.70403208e-02  1.05311359e-02  9.14897414e+01]
 [ 1.70379457e-02  9.99854794e-01  3.15221962e-04  4.57320776e+00]
 [-1.05349782e-02 -1.35729788e-04  9.99944496e-01 -9.65882264e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.387702638
Centerline is valid?  [True, True]
Translation: X:91.55, Y:4.57, Z:-0.97
[[ 9.99812473e-01 -1.62515529e-02  1.05311802e-02  9.15509631e+01]
 [ 1.62491497e-02  9.99867925e-01  3.13736015e-04  4.56988164e+00]
 [-1.05348880e-02 -1.42554458e-04  9.99944496e-01 -9.66524750e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.447702638
Centerline is valid?  [True, True]
Translation: X:91.61, Y:4.57, Z:-0.97
[[ 9.99834764e-01 -1.48168436e-02  1.05312236e-02  9.16125420e+01]
 [ 1.48143761e-02  9.99890212e-01  3.12271582e-04  4.56990910e+00]
 [-1.05346943e-02 -1.56206475e-04  9.99944496e-01 -9.67172077e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.50770263799998
Centerline is valid?  [True, True]
Translation: X:91.67, Y:4.57, Z:-0.97
[[ 9.99892634e-01 -1.01889035e-02  1.05312300e-02  9.16743503e+01]
 [ 1.01861816e-02  9.99948071e-01  3.12058082e-04  4.57048822e+00]
 [-1.05338626e-02 -2.04751556e-04  9.99944496e-01 -9.67823034e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.56770263799999
Centerline is valid?  [True, True]
Translation: X:91.74, Y:4.57, Z:-0.97
[[ 9.99925168e-01 -6.22499242e-03  1.05312426e-02  9.17351086e+01]
 [ 6.22205535e-03  9.99980594e-01  3.11632678e-04  4.57123071e+00]
 [-1.05329781e-02 -2.46083384e-04  9.99944496e-01 -9.68462809e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.62770263799999
Centerline is valid?  [True, True]
Translation: X:91.80, Y:4.57, Z:-0.97
[[ 9.99934688e-01 -4.43991441e-03  1.05312430e-02  9.17975846e+01]
 [ 4.43687857e-03  9.99990108e-01  3.11616139e-04  4.56921611e+00]
 [-1.05325224e-02 -2.64869940e-04  9.99944496e-01 -9.69120154e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.68770263799999
Centerline is valid?  [True, True]
Translation: X:91.86, Y:4.57, Z:-0.97
[[ 9.99933491e-01 -4.70177608e-03  1.05312616e-02  9.18588801e+01]
 [ 4.69876136e-03  9.99988912e-01  3.10987632e-04  4.56898600e+00]
 [-1.05326070e-02 -2.61483063e-04  9.99944496e-01 -9.69765119e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.74770263799999
Centerline is valid?  [True, True]
Translation: X:91.92, Y:4.57, Z:-0.97
[[ 9.99933477e-01 -4.70461386e-03  1.05312852e-02  9.19212639e+01]
 [ 4.70160774e-03  9.99988899e-01  3.10186016e-04  4.56993233e+00]
 [-1.05326276e-02 -2.60651410e-04  9.99944496e-01 -9.70421772e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.807702638
Centerline is valid?  [True, True]
Translation: X:91.98, Y:4.57, Z:-0.97
[[ 9.99933151e-01 -4.77345957e-03  1.05313013e-02  9.19823474e+01]
 [ 4.77046301e-03  9.99988573e-01  3.09640110e-04  4.57057248e+00]
 [-1.05326590e-02 -2.59380227e-04  9.99944496e-01 -9.71064847e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.867702638
Centerline is valid?  [True, True]
Translation: X:92.04, Y:4.57, Z:-0.97
[[ 9.99926076e-01 -6.07723931e-03  1.05313428e-02  9.20434444e+01]
 [ 6.07432995e-03  9.99981504e-01  3.08221815e-04  4.56902977e+00]
 [-1.05330211e-02 -2.44228179e-04  9.99944496e-01 -9.71706678e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.92770263799999
Centerline is valid?  [True, True]
Translation: X:92.10, Y:4.57, Z:-0.97
[[ 9.99883373e-01 -1.10603292e-02  1.05313459e-02  9.21046503e+01]
 [ 1.10576973e-02  9.99938814e-01  3.08113586e-04  4.56582094e+00]
 [-1.05341094e-02 -1.91625217e-04  9.99944496e-01 -9.72350218e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 90.98770263799999
Centerline is valid?  [True, True]
Translation: X:92.17, Y:4.56, Z:-0.97
[[ 9.99854840e-01 -1.33936264e-02  1.05313892e-02  9.21673712e+01]
 [ 1.33911395e-02  9.99910288e-01  3.06628753e-04  4.56282039e+00]
 [-1.05345512e-02 -1.65556942e-04  9.99944496e-01 -9.73008668e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.04770263799999
Centerline is valid?  [True, True]
Translation: X:92.23, Y:4.56, Z:-0.97
[[ 9.99846622e-01 -1.39936037e-02  1.05314338e-02  9.22272129e+01]
 [ 1.39911662e-02  9.99902072e-01  3.05089640e-04  4.55566148e+00]
 [-1.05346717e-02 -1.57695805e-04  9.99944496e-01 -9.73635497e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.10770263799999
Centerline is valid?  [True, True]
Translation: X:92.29, Y:4.55, Z:-0.97
[[ 9.99871477e-01 -1.20879788e-02  1.05314369e-02  9.22893028e+01]
 [ 1.20854368e-02  9.99926922e-01  3.04982337e-04  4.55150993e+00]
 [-1.05343539e-02 -1.77666125e-04  9.99944496e-01 -9.74288077e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.167702638
Centerline is valid?  [True, True]
Translation: X:92.35, Y:4.55, Z:-0.97
[[ 9.99877669e-01 -1.15644375e-02  1.05314492e-02  9.23507550e+01]
 [ 1.15618709e-02  9.99933113e-01  3.04557051e-04  4.54915541e+00]
 [-1.05342668e-02 -1.82756538e-04  9.99944496e-01 -9.74934240e-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 91.227702638
Centerline is valid?  [True, True]
Translation: X:92.41, Y:4.54, Z:-0.98
[[ 9.99916326e-01 -7.51201338e-03  1.05314516e-02  9.24130719e+01]
 [ 7.50922303e-03  9.99971759e-01  3.04472244e-04  4.54205431e+00]
 [-1.05334414e-02 -2.25363749e-04  9.99944496e-01 -9.75588335e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.28770263799998
Centerline is valid?  [True, True]
Translation: X:92.47, Y:4.54, Z:-0.98
[[ 9.99932494e-01 -4.90865041e-03  1.05314643e-02  9.24723832e+01]
 [ 4.90572036e-03  9.99987921e-01  3.04033661e-04  4.54199176e+00]
 [-1.05328295e-02 -2.52348718e-04  9.99944496e-01 -9.76212644e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.34770263799999
Centerline is valid?  [True, True]
Translation: X:92.54, Y:4.54, Z:-0.98
[[ 9.99941769e-01 -2.35528943e-03  1.05314677e-02  9.25350438e+01]
 [ 2.35221911e-03  9.99997187e-01  3.03914844e-04  4.53658358e+00]
 [-1.05321539e-02 -2.79124827e-04  9.99944496e-01 -9.76870853e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.40770263799999
Centerline is valid?  [True, True]
Translation: X:92.60, Y:4.53, Z:-0.98
[[ 9.99944444e-01  4.44182518e-04  1.05314835e-02  9.25953233e+01]
 [-4.47402202e-04  9.99999854e-01  3.03365885e-04  4.53104898e+00]
 [-1.05313472e-02 -3.08060840e-04  9.99944496e-01 -9.77503620e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.46770263799999
Centerline is valid?  [True, True]
Translation: X:92.66, Y:4.53, Z:-0.98
[[ 9.99942946e-01  1.78699512e-03  1.05314874e-02  9.26557706e+01]
 [-1.79028779e-03  9.99998351e-01  3.03230860e-04  4.52953402e+00]
 [-1.05309282e-02 -3.22067953e-04  9.99944496e-01 -9.78139692e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.527702638
Centerline is valid?  [True, True]
Translation: X:92.72, Y:4.52, Z:-0.98
[[ 9.99943008e-01 -1.75166220e-03  1.05314874e-02  9.27152339e+01]
 [ 1.74856562e-03  9.99998425e-01  3.03230860e-04  4.52327015e+00]
 [-1.05320020e-02 -2.84798582e-04  9.99944496e-01 -9.78764065e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.587702638
Centerline is valid?  [True, True]
Translation: X:92.78, Y:4.52, Z:-0.98
[[ 9.99936687e-01 -3.96359826e-03  1.05314834e-02  9.27753953e+01]
 [ 3.96062283e-03  9.99992111e-01  3.03368467e-04  4.51826757e+00]
 [-1.05326028e-02 -2.61638026e-04  9.99944496e-01 -9.79396274e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.64770263799998
Centerline is valid?  [True, True]
Translation: X:92.84, Y:4.52, Z:-0.98
[[ 9.99931653e-01 -5.07716744e-03  1.05314897e-02  9.28375770e+01]
 [ 5.07425601e-03  9.99987080e-01  3.03152349e-04  4.51894186e+00]
 [-1.05328927e-02 -2.49692154e-04  9.99944496e-01 -9.80051220e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.70770263799999
Centerline is valid?  [True, True]
Translation: X:92.90, Y:4.51, Z:-0.98
[[ 9.99925623e-01 -6.15097915e-03  1.05315356e-02  9.28972439e+01]
 [ 6.14814413e-03  9.99981055e-01  3.01548858e-04  4.51353179e+00]
 [-1.05331909e-02 -2.36777031e-04  9.99944496e-01 -9.80676817e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.76770263799999
Centerline is valid?  [True, True]
Translation: X:92.96, Y:4.51, Z:-0.98
[[ 9.99932991e-01 -4.80620870e-03  1.05315323e-02  9.29581321e+01]
 [ 4.80329794e-03  9.99988419e-01  3.01661540e-04  4.51445832e+00]
 [-1.05328602e-02 -2.51055238e-04  9.99944496e-01 -9.81318461e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.82770263799999
Centerline is valid?  [True, True]
Translation: X:93.02, Y:4.52, Z:-0.98
[[ 9.99943378e-01  1.52543754e-03  1.05315356e-02  9.30186508e+01]
 [-1.52869800e-03  9.99998786e-01  3.01546777e-04  4.51605611e+00]
 [-1.05310629e-02 -3.17629241e-04  9.99944496e-01 -9.81956248e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.887702638
Centerline is valid?  [True, True]
Translation: X:93.08, Y:4.52, Z:-0.98
[[ 9.99933542e-01  4.69015440e-03  1.05315389e-02  9.30790577e+01]
 [-4.69358900e-03  9.99988940e-01  3.01432111e-04  4.51594384e+00]
 [-1.05300087e-02 -3.50842793e-04  9.99944496e-01 -9.82592343e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 91.947702638
Centerline is valid?  [True, True]
Translation: X:93.14, Y:4.52, Z:-0.98
[[ 9.99889996e-01  1.04442141e-02  1.05315389e-02  9.31394809e+01]
 [-1.04479674e-02  9.99945373e-01  3.01432111e-04  4.51551897e+00]
 [-1.05278154e-02 -4.11432128e-04  9.99944496e-01 -9.83228600e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.00770263799998
Centerline is valid?  [True, True]
Translation: X:93.20, Y:4.52, Z:-0.98
[[ 9.99841521e-01  1.43533966e-02  1.05315376e-02  9.31998083e+01]
 [-1.43573669e-02  9.99896882e-01  3.01478736e-04  4.51717509e+00]
 [-1.05261243e-02 -4.52636107e-04  9.99944496e-01 -9.83864509e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.06770263799999
Centerline is valid?  [True, True]
Translation: X:93.26, Y:4.52, Z:-0.98
[[ 9.99799017e-01  1.70590773e-02  1.05315378e-02  9.32580849e+01]
 [-1.70631973e-02  9.99854368e-01  3.01471311e-04  4.51534615e+00]
 [-1.05248612e-02 -4.81112427e-04  9.99944496e-01 -9.84477728e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.12770263799999
Centerline is valid?  [True, True]
Translation: X:93.32, Y:4.52, Z:-0.99
[[ 9.99776772e-01  1.83164793e-02  1.05315128e-02  9.33164934e+01]
 [-1.83206781e-02  9.99832117e-01  3.02343041e-04  4.51877767e+00]
 [-1.05242068e-02 -4.95220005e-04  9.99944496e-01 -9.85094564e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.18770263799999
Centerline is valid?  [True, True]
Translation: X:93.38, Y:4.52, Z:-0.99
[[ 9.99749480e-01  1.97500592e-02  1.05314657e-02  9.33754800e+01]
 [-1.97543544e-02  9.99804817e-01  3.03972108e-04  4.51911680e+00]
 [-1.05234067e-02 -5.11938264e-04  9.99944496e-01 -9.85717104e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.24770263799999
Centerline is valid?  [True, True]
Translation: X:93.44, Y:4.52, Z:-0.99
[[ 9.99734440e-01  2.04972581e-02  1.05314639e-02  9.34360614e+01]
 [-2.05015953e-02  9.99789774e-01  3.04036437e-04  4.51853316e+00]
 [-1.05230180e-02 -5.19867509e-04  9.99944496e-01 -9.86355020e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.307702638
Centerline is valid?  [True, True]
Translation: X:93.49, Y:4.52, Z:-0.99
[[ 9.99770248e-01  1.86692073e-02  1.05314672e-02  9.34948540e+01]
 [-1.86734422e-02  9.99825590e-01  3.03922677e-04  4.52196477e+00]
 [-1.05239564e-02 -5.00511594e-04  9.99944496e-01 -9.86975188e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.367702638
Centerline is valid?  [True, True]
Translation: X:93.55, Y:4.52, Z:-0.99
[[ 9.99810751e-01  1.63569894e-02  1.05314586e-02  9.35533988e+01]
 [-1.63610994e-02  9.99866102e-01  3.04220237e-04  4.52199819e+00]
 [-1.05250723e-02 -4.76468904e-04  9.99944496e-01 -9.87592010e-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 92.42770263799999
Centerline is valid?  [True, True]
Translation: X:93.61, Y:4.52, Z:-0.99
[[ 9.99830330e-01  1.51129331e-02  1.05314126e-02  9.36118415e+01]
 [-1.51169909e-02  9.99885685e-01  3.05802764e-04  4.52445362e+00]
 [-1.05255871e-02 -4.64954147e-04  9.99944496e-01 -9.88209428e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.48770263799999
Centerline is valid?  [True, True]
Translation: X:93.67, Y:4.53, Z:-0.99
[[ 9.99828884e-01  1.52083015e-02  1.05313991e-02  9.36708101e+01]
 [-1.52123695e-02  9.99884238e-01  3.06266775e-04  4.52825431e+00]
 [-1.05255222e-02 -4.66421902e-04  9.99944496e-01 -9.88831985e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.54770263799999
Centerline is valid?  [True, True]
Translation: X:93.73, Y:4.53, Z:-0.99
[[ 9.99829089e-01  1.51948561e-02  1.05313547e-02  9.37289779e+01]
 [-1.51989393e-02  9.99884442e-01  3.07785558e-04  4.53029997e+00]
 [-1.05254610e-02 -4.67798375e-04  9.99944496e-01 -9.89446341e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.60770263799999
Centerline is valid?  [True, True]
Translation: X:93.79, Y:4.53, Z:-0.99
[[ 9.99801548e-01  1.69102322e-02  1.05312997e-02  9.37887241e+01]
 [-1.69144300e-02  9.99856893e-01  3.09656425e-04  4.53270848e+00]
 [-1.05245563e-02 -4.87725905e-04  9.99944496e-01 -9.90077691e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.667702638
Centerline is valid?  [True, True]
Translation: X:93.85, Y:4.54, Z:-0.99
[[ 9.99812635e-01  1.62415527e-02  1.05312787e-02  9.38482065e+01]
 [-1.62457210e-02  9.99867981e-01  3.10371791e-04  4.53534973e+00]
 [-1.05248474e-02 -4.81401852e-04  9.99944496e-01 -9.90705493e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.727702638
Centerline is valid?  [True, True]
Translation: X:93.91, Y:4.54, Z:-0.99
[[ 9.99832786e-01  1.49496886e-02  1.05312715e-02  9.39056257e+01]
 [-1.49537879e-02  9.99888138e-01  3.10613179e-04  4.53941386e+00]
 [-1.05254499e-02 -4.68043641e-04  9.99944496e-01 -9.91311663e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.78770263799998
Centerline is valid?  [True, True]
Translation: X:93.97, Y:4.54, Z:-0.99
[[ 9.99861553e-01  1.28828806e-02  1.05312232e-02  9.39661738e+01]
 [-1.28868827e-02  9.99916912e-01  3.12241980e-04  4.54465086e+00]
 [-1.05263256e-02 -4.47913389e-04  9.99944496e-01 -9.91952173e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.84770263799999
Centerline is valid?  [True, True]
Translation: X:94.02, Y:4.54, Z:-0.99
[[ 9.99870297e-01  1.21853528e-02  1.05312219e-02  9.40244779e+01]
 [-1.21893167e-02  9.99925659e-01  3.12287337e-04  4.54410845e+00]
 [-1.05266337e-02 -4.40615231e-04  9.99944496e-01 -9.92566084e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.90770263799999
Centerline is valid?  [True, True]
Translation: X:94.08, Y:4.55, Z:-0.99
[[ 9.99912685e-01  7.98218105e-03  1.05312047e-02  9.40838382e+01]
 [-7.98591826e-03  9.99968063e-01  3.12865385e-04  4.54748498e+00]
 [-1.05283710e-02 -3.96939408e-04  9.99944496e-01 -9.93192735e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 92.96770263799999
Centerline is valid?  [True, True]
Translation: X:94.14, Y:4.55, Z:-0.99
[[ 9.99931610e-01  5.08627308e-03  1.05311970e-02  9.41425690e+01]
 [-5.08985264e-03  9.99986998e-01  3.13126290e-04  4.54931951e+00]
 [-1.05294674e-02 -3.66707116e-04  9.99944496e-01 -9.93812042e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.027702638
Centerline is valid?  [True, True]
Translation: X:94.20, Y:4.55, Z:-0.99
[[ 9.99940866e-01  2.71261197e-03  1.05311832e-02  9.42031838e+01]
 [-2.71606489e-03  9.99996262e-01  3.13587160e-04  4.55305282e+00]
 [-1.05302932e-02 -3.42171994e-04  9.99944496e-01 -9.94451932e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.087702638
Centerline is valid?  [True, True]
Translation: X:94.26, Y:4.56, Z:-1.00
[[ 9.99942828e-01  1.85357296e-03  1.05311826e-02  9.42620632e+01]
 [-1.85697852e-03  9.99998227e-01  3.13609481e-04  4.55519873e+00]
 [-1.05305826e-02 -3.33147731e-04  9.99944496e-01 -9.95072726e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.14770263799998
Centerline is valid?  [True, True]
Translation: X:94.32, Y:4.56, Z:-1.00
[[ 9.99942088e-01  2.21689730e-03  1.05311689e-02  9.43219719e+01]
 [-2.22032782e-03  9.99997486e-01  3.14068433e-04  4.55672107e+00]
 [-1.05304462e-02 -3.37432892e-04  9.99944496e-01 -9.95704487e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.20770263799999
Centerline is valid?  [True, True]
Translation: X:94.38, Y:4.56, Z:-1.00
[[ 9.99944258e-01  7.59045161e-04  1.05311620e-02  9.43810616e+01]
 [-7.62397345e-04  9.99999660e-01  3.14299963e-04  4.56175617e+00]
 [-1.05309198e-02 -3.22311373e-04  9.99944496e-01 -9.96328559e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.26770263799999
Centerline is valid?  [True, True]
Translation: X:94.44, Y:4.56, Z:-1.00
[[ 9.99944533e-01 -1.62441554e-04  1.05311516e-02  9.44411676e+01]
 [ 1.59136768e-04  9.99999938e-01  3.14647748e-04  4.56419402e+00]
 [-1.05312020e-02 -3.12954402e-04  9.99944496e-01 -9.96962603e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.32770263799999
Centerline is valid?  [True, True]
Translation: X:94.50, Y:4.57, Z:-1.00
[[ 9.99944398e-01 -5.44277668e-04  1.05311482e-02  9.45015736e+01]
 [ 5.40992830e-04  9.99999804e-01  3.14762567e-04  4.56829170e+00]
 [-1.05313174e-02 -3.09047790e-04  9.99944496e-01 -9.97600158e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.387702638
Centerline is valid?  [True, True]
Translation: X:94.56, Y:4.57, Z:-1.00
[[ 9.99943561e-01 -1.40314617e-03  1.05311515e-02  9.45623130e+01]
 [ 1.39991010e-03  9.99998971e-01  3.14650832e-04  4.56876894e+00]
 [-1.05315822e-02 -2.99890408e-04  9.99944496e-01 -9.98239916e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.447702638
Centerline is valid?  [True, True]
Translation: X:94.62, Y:4.57, Z:-1.00
[[ 9.99942478e-01 -2.03376724e-03  1.05311515e-02  9.46231068e+01]
 [ 2.03056611e-03  9.99997889e-01  3.14650832e-04  4.57221502e+00]
 [-1.05317692e-02 -2.93248533e-04  9.99944496e-01 -9.98881265e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.50770263799998
Centerline is valid?  [True, True]
Translation: X:94.69, Y:4.58, Z:-1.00
[[ 9.99940940e-01 -2.68534384e-03  1.05311549e-02  9.46853075e+01]
 [ 2.68218002e-03  9.99996353e-01  3.14537291e-04  4.57606942e+00]
 [-1.05319611e-02 -2.86272261e-04  9.99944496e-01 -9.99537474e-01]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.56770263799999
Centerline is valid?  [True, True]
Translation: X:94.75, Y:4.58, Z:-1.00
[[ 9.99934251e-01 -4.53744333e-03  1.05312015e-02  9.47464177e+01]
 [ 4.53439867e-03  9.99989671e-01  3.12967114e-04  4.57681854e+00]
 [-1.05325128e-02 -2.65193871e-04  9.99944496e-01 -1.00018014e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 93.62770263799999
Centerline is valid?  [True, True]
Translation: X:94.81, Y:4.58, Z:-1.00
[[ 9.99928463e-01 -5.67123416e-03  1.05312050e-02  9.48087686e+01]
 [ 5.66825355e-03  9.99983886e-01  3.12852403e-04  4.58148590e+00]
 [-1.05328095e-02 -2.53136483e-04  9.99944496e-01 -1.00083818e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.68770263799999
Centerline is valid?  [True, True]
Translation: X:94.87, Y:4.59, Z:-1.00
[[ 9.99911444e-01 -8.13615150e-03  1.05312524e-02  9.48705544e+01]
 [ 8.13332442e-03  9.99966876e-01  3.11247622e-04  4.58501172e+00]
 [-1.05334359e-02 -2.25565967e-04  9.99944496e-01 -1.00148879e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.74770263799999
Centerline is valid?  [True, True]
Translation: X:94.93, Y:4.59, Z:-1.00
[[ 9.99899305e-01 -9.51169775e-03  1.05312626e-02  9.49315387e+01]
 [ 9.50895057e-03  9.99954741e-01  3.10902243e-04  4.58873664e+00]
 [-1.05337431e-02 -2.10729682e-04  9.99944496e-01 -1.00213197e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.807702638
Centerline is valid?  [True, True]
Translation: X:94.99, Y:4.59, Z:-1.00
[[ 9.99905764e-01 -8.80653971e-03  1.05313059e-02  9.49935314e+01]
 [ 8.80376897e-03  9.99961198e-01  3.09426545e-04  4.59448142e+00]
 [-1.05336223e-02 -2.16682202e-04  9.99944496e-01 -1.00278554e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.867702638
Centerline is valid?  [True, True]
Translation: X:95.06, Y:4.60, Z:-1.00
[[ 9.99909041e-01 -8.42622841e-03  1.05313229e-02  9.50554495e+01]
 [ 8.42344269e-03  9.99964474e-01  3.08846500e-04  4.59798565e+00]
 [-1.05335512e-02 -2.20108412e-04  9.99944496e-01 -1.00343830e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.92770263799999
Centerline is valid?  [True, True]
Translation: X:95.12, Y:4.60, Z:-1.00
[[ 9.99905429e-01 -8.84441552e-03  1.05313333e-02  9.51170400e+01]
 [ 8.84165671e-03  9.99960864e-01  3.08492849e-04  4.60137610e+00]
 [-1.05336496e-02 -2.15349241e-04  9.99944496e-01 -1.00408774e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 93.98770263799999
Centerline is valid?  [True, True]
Translation: X:95.18, Y:4.61, Z:-1.00
[[ 9.99914494e-01 -7.75210281e-03  1.05313776e-02  9.51791368e+01]
 [ 7.74929944e-03  9.99969927e-01  3.06973148e-04  4.60832504e+00]
 [-1.05334406e-02 -2.25336101e-04  9.99944496e-01 -1.00474272e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.04770263799999
Centerline is valid?  [True, True]
Translation: X:95.24, Y:4.61, Z:-1.01
[[ 9.99914222e-01 -7.78710346e-03  1.05313908e-02  9.52400374e+01]
 [ 7.78430681e-03  9.99969655e-01  3.06519267e-04  4.61018608e+00]
 [-1.05334581e-02 -2.24513397e-04  9.99944496e-01 -1.00538435e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.10770263799999
Centerline is valid?  [True, True]
Translation: X:95.30, Y:4.61, Z:-1.01
[[ 9.99915889e-01 -7.57000508e-03  1.05314164e-02  9.53018911e+01]
 [ 7.56720569e-03  9.99971322e-01  3.05636165e-04  4.61385221e+00]
 [-1.05334281e-02 -2.25917063e-04  9.99944496e-01 -1.00603624e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.167702638
Centerline is valid?  [True, True]
Translation: X:95.36, Y:4.62, Z:-1.01
[[ 9.99926158e-01 -6.06363011e-03  1.05314323e-02  9.53640587e+01]
 [ 6.06075299e-03  9.99981587e-01  3.05087208e-04  4.61977041e+00]
 [-1.05330884e-02 -2.41236270e-04  9.99944496e-01 -1.00669238e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.227702638
Centerline is valid?  [True, True]
Translation: X:95.43, Y:4.62, Z:-1.01
[[ 9.99929103e-01 -5.55667336e-03  1.05314484e-02  9.54260337e+01]
 [ 5.55377398e-03  9.99984531e-01  3.04532198e-04  4.62314442e+00]
 [-1.05329777e-02 -2.46021324e-04  9.99944496e-01 -1.00734570e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.28770263799998
Centerline is valid?  [True, True]
Translation: X:95.49, Y:4.63, Z:-1.01
[[ 9.99934616e-01 -4.45560814e-03  1.05314612e-02  9.54881970e+01]
 [ 4.45265240e-03  9.99990041e-01  3.04088861e-04  4.62890111e+00]
 [-1.05327112e-02 -2.57176043e-04  9.99944496e-01 -1.00800182e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.34770263799999
Centerline is valid?  [True, True]
Translation: X:95.55, Y:4.64, Z:-1.01
[[ 9.99940625e-01 -2.79890592e-03  1.05314737e-02  9.55484198e+01]
 [ 2.79586291e-03  9.99996045e-01  3.03656338e-04  4.63530964e+00]
 [-1.05322819e-02 -2.74193752e-04  9.99944496e-01 -1.00863770e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.40770263799999
Centerline is valid?  [True, True]
Translation: X:95.61, Y:4.64, Z:-1.01
[[ 9.99944357e-01 -6.09747180e-04  1.05314742e-02  9.56092443e+01]
 [ 6.06583030e-04  9.99999770e-01  3.03638595e-04  4.63905161e+00]
 [-1.05316569e-02 -2.97233486e-04  9.99944496e-01 -1.00927943e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.46770263799999
Centerline is valid?  [True, True]
Translation: X:95.67, Y:4.65, Z:-1.01
[[ 9.99941862e-01  2.31540418e-03  1.05314803e-02  9.56697875e+01]
 [-2.31872819e-03  9.99997266e-01  3.03426752e-04  4.64526863e+00]
 [-1.05307489e-02 -3.27828751e-04  9.99944496e-01 -1.00991879e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.527702638
Centerline is valid?  [True, True]
Translation: X:95.73, Y:4.65, Z:-1.01
[[ 9.99926355e-01  6.03104012e-03  1.05314810e-02  9.57289341e+01]
 [-6.03456971e-03  9.99981746e-01  3.03401135e-04  4.65110785e+00]
 [-1.05294590e-02 -3.66931748e-04  9.99944496e-01 -1.01054348e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.587702638
Centerline is valid?  [True, True]
Translation: X:95.79, Y:4.65, Z:-1.01
[[ 9.99922955e-01  6.57047203e-03  1.05314767e-02  9.57868520e+01]
 [-6.57403309e-03  9.99978345e-01  3.03552315e-04  4.65421440e+00]
 [-1.05292541e-02 -3.72763204e-04  9.99944496e-01 -1.01115454e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.64770263799998
Centerline is valid?  [True, True]
Translation: X:95.85, Y:4.66, Z:-1.01
[[ 9.99923227e-01  6.52905008e-03  1.05314337e-02  9.58458164e+01]
 [-6.53262444e-03  9.99978616e-01  3.05034575e-04  4.65825025e+00]
 [-1.05292169e-02 -3.73809058e-04  9.99944496e-01 -1.01177796e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.70770263799999
Centerline is valid?  [True, True]
Translation: X:95.90, Y:4.66, Z:-1.01
[[ 9.99930252e-01  5.34614581e-03  1.05313898e-02  9.59044049e+01]
 [-5.34967050e-03  9.99985643e-01  3.06542304e-04  4.66396270e+00]
 [-1.05295998e-02 -3.62860389e-04  9.99944496e-01 -1.01239796e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.76770263799999
Centerline is valid?  [True, True]
Translation: X:95.96, Y:4.67, Z:-1.01
[[ 9.99939997e-01  3.01550051e-03  1.05313772e-02  9.59645248e+01]
 [-3.01890066e-03  9.99995396e-01  3.06976680e-04  4.66795072e+00]
 [-1.05304030e-02 -3.38751442e-04  9.99944496e-01 -1.01303271e+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 94.82770263799999
Centerline is valid?  [True, True]
Translation: X:96.02, Y:4.67, Z:-1.01
[[ 9.99944527e-01  1.81226331e-04  1.05313797e-02  9.60228840e+01]
 [-1.84468514e-04  9.99999936e-01  3.06888727e-04  4.67110987e+00]
 [-1.05313235e-02 -3.08814410e-04  9.99944496e-01 -1.01364825e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.887702638
Centerline is valid?  [True, True]
Translation: X:96.08, Y:4.68, Z:-1.01
[[ 9.99944245e-01 -7.72947691e-04  1.05313703e-02  9.60829020e+01]
 [ 7.69754981e-04  9.99999657e-01  3.07211970e-04  4.67813804e+00]
 [-1.05316042e-02 -2.99088266e-04  9.99944496e-01 -1.01428277e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 94.947702638
Centerline is valid?  [True, True]
Translation: X:96.14, Y:4.68, Z:-1.01
[[ 9.99941633e-01 -2.41272473e-03  1.05313703e-02  9.61432093e+01]
 [ 2.40962289e-03  9.99997050e-01  3.07211970e-04  4.68286862e+00]
 [-1.05320805e-02 -2.81817408e-04  9.99944496e-01 -1.01491938e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.00770263799998
Centerline is valid?  [True, True]
Translation: X:96.21, Y:4.69, Z:-1.02
[[ 9.99925314e-01 -6.20127473e-03  1.05313734e-02  9.62055732e+01]
 [ 6.19838397e-03  9.99980743e-01  3.07107519e-04  4.68599068e+00]
 [-1.05330750e-02 -2.41807087e-04  9.99944496e-01 -1.01557707e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.06770263799999
Centerline is valid?  [True, True]
Translation: X:96.27, Y:4.69, Z:-1.02
[[ 9.99905150e-01 -8.87586619e-03  1.05313858e-02  9.62653967e+01]
 [ 8.87312821e-03  9.99960586e-01  3.06679800e-04  4.69065986e+00]
 [-1.05336928e-02 -2.13204375e-04  9.99944496e-01 -1.01620821e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.12770263799999
Centerline is valid?  [True, True]
Translation: X:96.33, Y:4.69, Z:-1.02
[[ 9.99902460e-01 -9.17389003e-03  1.05313858e-02  9.63270528e+01]
 [ 9.17116857e-03  9.99957897e-01  3.06679800e-04  4.69382260e+00]
 [-1.05337559e-02 -2.10064772e-04  9.99944496e-01 -1.01685854e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.18770263799999
Centerline is valid?  [True, True]
Translation: X:96.39, Y:4.70, Z:-1.02
[[ 9.99864111e-01 -1.26826632e-02  1.05313950e-02  9.63896581e+01]
 [ 1.26801396e-02  9.99919557e-01  3.06365087e-04  4.69533914e+00]
 [-1.05344333e-02 -1.72783896e-04  9.99944496e-01 -1.01751811e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.24770263799999
Centerline is valid?  [True, True]
Translation: X:96.45, Y:4.70, Z:-1.02
[[ 9.99826060e-01 -1.53927829e-02  1.05314370e-02  9.64515012e+01]
 [ 1.53904248e-02  9.99881514e-01  3.04914655e-04  4.70032777e+00]
 [-1.05348826e-02 -1.42778329e-04  9.99944496e-01 -1.01816978e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.307702638
Centerline is valid?  [True, True]
Translation: X:96.51, Y:4.70, Z:-1.02
[[ 9.99770378e-01 -1.86622684e-02  1.05314458e-02  9.65132195e+01]
 [ 1.86600949e-02  9.99825839e-01  3.04608036e-04  4.70033436e+00]
 [-1.05352963e-02 -1.08020312e-04  9.99944496e-01 -1.01881955e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.367702638
Centerline is valid?  [True, True]
Translation: X:96.57, Y:4.70, Z:-1.02
[[ 9.99706495e-01 -2.18177213e-02  1.05314579e-02  9.65747837e+01]
 [ 2.18157273e-02  9.99761962e-01  3.04190122e-04  4.70119779e+00]
 [-1.05355878e-02 -7.43494269e-05  9.99944496e-01 -1.01946787e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.42770263799999
Centerline is valid?  [True, True]
Translation: X:96.64, Y:4.70, Z:-1.02
[[ 9.99708935e-01 -2.17056019e-02  1.05314641e-02  9.66367243e+01]
 [ 2.17036040e-02  9.99764403e-01  3.03976818e-04  4.70439905e+00]
 [-1.05355809e-02 -7.53176152e-05  9.99944496e-01 -1.02012103e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.48770263799999
Centerline is valid?  [True, True]
Translation: X:96.70, Y:4.71, Z:-1.02
[[ 9.99748911e-01 -1.97788173e-02  1.05315122e-02  9.66976690e+01]
 [ 1.97767301e-02  9.99804376e-01  3.02299022e-04  4.70724165e+00]
 [-1.05354311e-02 -9.39442440e-05  9.99944496e-01 -1.02076239e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.54770263799999
Centerline is valid?  [True, True]
Translation: X:96.76, Y:4.71, Z:-1.02
[[ 9.99779732e-01 -1.81541795e-02  1.05315153e-02  9.67595922e+01]
 [ 1.81520034e-02  9.99835193e-01  3.02192671e-04  4.71079130e+00]
 [-1.05352657e-02 -1.10958007e-04  9.99944496e-01 -1.02141556e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.60770263799999
Centerline is valid?  [True, True]
Translation: X:96.82, Y:4.71, Z:-1.02
[[ 9.99811434e-01 -1.63151356e-02  1.05315275e-02  9.68216029e+01]
 [ 1.63128619e-02  9.99866891e-01  3.01765176e-04  4.71261587e+00]
 [-1.05350490e-02 -1.29908918e-04  9.99944496e-01 -1.02206886e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.667702638
Centerline is valid?  [True, True]
Translation: X:96.88, Y:4.71, Z:-1.02
[[ 9.99822402e-01 -1.56285445e-02  1.05315698e-02  9.68822257e+01]
 [ 1.56262484e-02  9.99877858e-01  3.00282787e-04  4.71307781e+00]
 [-1.05349764e-02 -1.35660532e-04  9.99944496e-01 -1.02270627e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.727702638
Centerline is valid?  [True, True]
Translation: X:96.94, Y:4.71, Z:-1.02
[[ 9.99840010e-01 -1.44582096e-02  1.05315758e-02  9.69430436e+01]
 [ 1.44558507e-02  9.99895464e-01  3.00073160e-04  4.71387409e+00]
 [-1.05348134e-02 -1.47782265e-04  9.99944496e-01 -1.02334688e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.78770263799998
Centerline is valid?  [True, True]
Translation: X:97.01, Y:4.71, Z:-1.02
[[ 9.99859530e-01 -1.30386255e-02  1.05315818e-02  9.70054244e+01]
 [ 1.30361901e-02  9.99914980e-01  2.99862650e-04  4.71447072e+00]
 [-1.05345962e-02 -1.62528827e-04  9.99944496e-01 -1.02400389e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.84770263799999
Centerline is valid?  [True, True]
Translation: X:97.07, Y:4.71, Z:-1.02
[[ 9.99852592e-01 -1.35602161e-02  1.05315940e-02  9.70661654e+01]
 [ 1.35578142e-02  9.99908044e-01  2.99430487e-04  4.71341095e+00]
 [-1.05346859e-02 -1.56600953e-04  9.99944496e-01 -1.02464296e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.90770263799999
Centerline is valid?  [True, True]
Translation: X:97.13, Y:4.71, Z:-1.03
[[ 9.99876398e-01 -1.16736474e-02  1.05316319e-02  9.71286889e+01]
 [ 1.16711550e-02  9.99931845e-01  2.98092313e-04  4.71333439e+00]
 [-1.05343940e-02 -1.75139160e-04  9.99944496e-01 -1.02530036e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 95.96770263799999
Centerline is valid?  [True, True]
Translation: X:97.19, Y:4.71, Z:-1.03
[[ 9.99933752e-01 -4.64492376e-03  1.05316436e-02  9.71896162e+01]
 [ 4.64204598e-03  9.99989181e-01  2.97679842e-04  4.71475685e+00]
 [-1.05329123e-02 -2.48771748e-04  9.99944496e-01 -1.02594214e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 96.027702638
Centerline is valid?  [True, True]
Translation: X:97.25, Y:4.72, Z:-1.03
[[ 9.99942423e-01  2.05794050e-03  1.05316496e-02  9.72503956e+01]
 [-2.06118754e-03  9.99997832e-01  2.97467974e-04  4.71774763e+00]
 [-1.05310146e-02 -3.19158552e-04  9.99944496e-01 -1.02658301e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.087702638
Centerline is valid?  [True, True]
Translation: X:97.31, Y:4.72, Z:-1.03
[[ 9.99931922e-01  5.02354111e-03  1.05316501e-02  9.73101063e+01]
 [-5.02695227e-03  9.99987321e-01  2.97449586e-04  4.71797433e+00]
 [-1.05300223e-02 -3.50371439e-04  9.99944496e-01 -1.02721195e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.14770263799998
Centerline is valid?  [True, True]
Translation: X:97.37, Y:4.72, Z:-1.03
[[ 9.99910860e-01  8.20714212e-03  1.05316472e-02  9.73705504e+01]
 [-8.21073073e-03  9.99966247e-01  2.97552410e-04  4.71709395e+00]
 [-1.05288497e-02 -3.83998405e-04  9.99944496e-01 -1.02784838e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.20770263799999
Centerline is valid?  [True, True]
Translation: X:97.43, Y:4.72, Z:-1.03
[[ 9.99872948e-01  1.19654874e-02  1.05316491e-02  9.74302219e+01]
 [-1.19692835e-02  9.99928321e-01  2.97485384e-04  4.72078366e+00]
 [-1.05273346e-02 -4.23503881e-04  9.99944496e-01 -1.02847790e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.26770263799999
Centerline is valid?  [True, True]
Translation: X:97.49, Y:4.72, Z:-1.03
[[ 9.99845523e-01  1.40717940e-02  1.05316433e-02  9.74904951e+01]
 [-1.40757089e-02  9.99900888e-01  2.97689057e-04  4.72143410e+00]
 [-1.05264105e-02 -4.45883416e-04  9.99944496e-01 -1.02911307e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.32770263799999
Centerline is valid?  [True, True]
Translation: X:97.55, Y:4.72, Z:-1.03
[[ 9.99857611e-01  1.31848914e-02  1.05316433e-02  9.75489800e+01]
 [-1.31887571e-02  9.99912980e-01  2.97691037e-04  4.72417684e+00]
 [-1.05268018e-02 -4.36547934e-04  9.99944496e-01 -1.02972986e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.387702638
Centerline is valid?  [True, True]
Translation: X:97.61, Y:4.72, Z:-1.03
[[ 9.99874687e-01  1.18192996e-02  1.05316312e-02  9.76077999e+01]
 [-1.18230942e-02  9.99930060e-01  2.98115947e-04  4.72440824e+00]
 [-1.05273711e-02 -4.22595057e-04  9.99944496e-01 -1.03034978e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.447702638
Centerline is valid?  [True, True]
Translation: X:97.67, Y:4.73, Z:-1.03
[[ 9.99886291e-01  1.07930704e-02  1.05316190e-02  9.76662391e+01]
 [-1.07968127e-02  9.99941668e-01  2.98547846e-04  4.72508002e+00]
 [-1.05277824e-02 -4.12221816e-04  9.99944496e-01 -1.03096582e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.50770263799998
Centerline is valid?  [True, True]
Translation: X:97.73, Y:4.73, Z:-1.03
[[ 9.99899740e-01  9.46545359e-03  1.05316098e-02  9.77260201e+01]
 [-9.46912576e-03  9.99955122e-01  2.98870437e-04  4.72850536e+00]
 [-1.05283083e-02 -3.98565610e-04  9.99944496e-01 -1.03159673e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.56770263799999
Centerline is valid?  [True, True]
Translation: X:97.78, Y:4.73, Z:-1.03
[[ 9.99895298e-01  9.92362990e-03  1.05316037e-02  9.77843116e+01]
 [-9.92732971e-03  9.99950678e-01  2.99085267e-04  4.73006123e+00]
 [-1.05281163e-02 -4.03604655e-04  9.99944496e-01 -1.03221131e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.62770263799999
Centerline is valid?  [True, True]
Translation: X:97.84, Y:4.73, Z:-1.03
[[ 9.99880820e-01  1.12885436e-02  1.05315588e-02  9.78425501e+01]
 [-1.12923356e-02  9.99936194e-01  3.00658997e-04  4.73263764e+00]
 [-1.05274928e-02 -4.19549061e-04  9.99944496e-01 -1.03282674e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.68770263799999
Centerline is valid?  [True, True]
Translation: X:97.90, Y:4.73, Z:-1.03
[[ 9.99850110e-01  1.37420645e-02  1.05315459e-02  9.79029440e+01]
 [-1.37459971e-02  9.99905474e-01  3.01111924e-04  4.73373863e+00]
 [-1.05264125e-02 -4.45833388e-04  9.99944496e-01 -1.03346351e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.74770263799999
Centerline is valid?  [True, True]
Translation: X:97.96, Y:4.74, Z:-1.03
[[ 9.99793154e-01  1.73992836e-02  1.05315459e-02  9.79628480e+01]
 [-1.74034186e-02  9.99848504e-01  3.01109370e-04  4.73607466e+00]
 [-1.05247114e-02 -4.84331989e-04  9.99944496e-01 -1.03409513e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.807702638
Centerline is valid?  [True, True]
Translation: X:98.02, Y:4.74, Z:-1.03
[[ 9.99760426e-01  1.91879390e-02  1.05315429e-02  9.80230772e+01]
 [-1.91921741e-02  9.99815768e-01  3.01216642e-04  4.73684967e+00]
 [-1.05238229e-02 -5.03267683e-04  9.99944496e-01 -1.03472979e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.867702638
Centerline is valid?  [True, True]
Translation: X:98.08, Y:4.73, Z:-1.04
[[ 9.99722121e-01  2.10894934e-02  1.05315423e-02  9.80831379e+01]
 [-2.10938341e-02  9.99777455e-01  3.01237149e-04  4.73497947e+00]
 [-1.05228456e-02 -5.23304047e-04  9.99944496e-01 -1.03536181e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.92770263799999
Centerline is valid?  [True, True]
Translation: X:98.14, Y:4.74, Z:-1.04
[[ 9.99705423e-01  2.18667484e-02  1.05315392e-02  9.81415389e+01]
 [-2.18711332e-02  9.99760753e-01  3.01344172e-04  4.73533753e+00]
 [-1.05224302e-02 -5.31592100e-04  9.99944496e-01 -1.03597709e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 96.98770263799999
Centerline is valid?  [True, True]
Translation: X:98.20, Y:4.74, Z:-1.04
[[ 9.99660727e-01  2.38226272e-02  1.05314960e-02  9.82022647e+01]
 [-2.38271361e-02  9.99716048e-01  3.02847997e-04  4.73535133e+00]
 [-1.05212909e-02 -5.53680636e-04  9.99944496e-01 -1.03661788e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.04770263799999
Centerline is valid?  [True, True]
Translation: X:98.26, Y:4.73, Z:-1.04
[[ 9.99684528e-01  2.28020072e-02  1.05314960e-02  9.82610533e+01]
 [-2.28064595e-02  9.99739853e-01  3.02847997e-04  4.73273052e+00]
 [-1.05218507e-02 -5.42938593e-04  9.99944496e-01 -1.03723625e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.10770263799999
Centerline is valid?  [True, True]
Translation: X:98.32, Y:4.73, Z:-1.04
[[ 9.99715757e-01  2.13890853e-02  1.05314837e-02  9.83214834e+01]
 [-2.13934640e-02  9.99771088e-01  3.03274113e-04  4.73160000e+00]
 [-1.05225862e-02 -5.28492826e-04  9.99944496e-01 -1.03787270e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.167702638
Centerline is valid?  [True, True]
Translation: X:98.38, Y:4.73, Z:-1.04
[[ 9.99763761e-01  1.90134140e-02  1.05314806e-02  9.83801168e+01]
 [-1.90176623e-02  9.99819102e-01  3.03382774e-04  4.72848337e+00]
 [-1.05238071e-02 -5.03595244e-04  9.99944496e-01 -1.03848937e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 97.227702638
Centerline is valid?  [True, True]
Translation: X:98.44, Y:4.73, Z:-1.04
[[ 9.99795848e-01  1.72438264e-02  1.05314712e-02  9.84382974e+01]
 [-1.72479801e-02  9.99851196e-01  3.03707641e-04  4.72733102e+00]
 [-1.05246670e-02 -4.85292245e-04  9.99944496e-01 -1.03910204e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.28770263799998
Centerline is valid?  [True, True]
Translation: X:98.50, Y:4.73, Z:-1.04
[[ 9.99800959e-01  1.69449370e-02  1.05314202e-02  9.84967031e+01]
 [-1.69490927e-02  9.99856307e-01  3.05466371e-04  4.72866973e+00]
 [-1.05247308e-02 -4.83903588e-04  9.99944496e-01 -1.03971897e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.34770263799999
Centerline is valid?  [True, True]
Translation: X:98.55, Y:4.73, Z:-1.04
[[ 9.99833046e-01  1.49321377e-02  1.05314074e-02  9.85545780e+01]
 [-1.49361866e-02  9.99888402e-01  3.05905618e-04  4.72593039e+00]
 [-1.05256643e-02 -4.63153612e-04  9.99944496e-01 -1.04032801e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.40770263799999
Centerline is valid?  [True, True]
Translation: X:98.61, Y:4.73, Z:-1.04
[[ 9.99877728e-01  1.15593189e-02  1.05313915e-02  9.86147378e+01]
 [-1.15631867e-02  9.99933097e-01  3.06452789e-04  4.72658148e+00]
 [-1.05271445e-02 -4.28191765e-04  9.99944496e-01 -1.04096224e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.46770263799999
Centerline is valid?  [True, True]
Translation: X:98.67, Y:4.73, Z:-1.04
[[ 9.99902265e-01  9.19513883e-03  1.05313899e-02  9.86743106e+01]
 [-9.19887635e-03  9.99957642e-01  3.06507570e-04  4.72914151e+00]
 [-1.05281254e-02 -4.03354567e-04  9.99944496e-01 -1.04159049e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.527702638
Centerline is valid?  [True, True]
Translation: X:98.73, Y:4.73, Z:-1.04
[[ 9.99913101e-01  7.92966271e-03  1.05313827e-02  9.87330163e+01]
 [-7.93333274e-03  9.99968484e-01  3.06754393e-04  4.73047114e+00]
 [-1.05286183e-02 -3.90276700e-04  9.99944496e-01 -1.04220938e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.587702638
Centerline is valid?  [True, True]
Translation: X:98.79, Y:4.73, Z:-1.04
[[ 9.99927299e-01  5.87264500e-03  1.05313700e-02  9.87920997e+01]
 [-5.87620568e-03  9.99982688e-01  3.07191284e-04  4.73211733e+00]
 [-1.05293836e-02 -3.69053447e-04  9.99944496e-01 -1.04283249e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.64770263799998
Centerline is valid?  [True, True]
Translation: X:98.85, Y:4.74, Z:-1.04
[[ 9.99920481e-01  6.93703863e-03  1.05313604e-02  9.88519843e+01]
 [-6.94066172e-03  9.99975866e-01  3.07518507e-04  4.73540365e+00]
 [-1.05289730e-02 -3.80588664e-04  9.99944496e-01 -1.04346446e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.70770263799999
Centerline is valid?  [True, True]
Translation: X:98.91, Y:4.74, Z:-1.04
[[ 9.99900281e-01  9.40839799e-03  1.05313604e-02  9.89117487e+01]
 [-9.41215795e-03  9.99955657e-01  3.07518507e-04  4.73979194e+00]
 [-1.05280002e-02 -4.06610670e-04  9.99944496e-01 -1.04409524e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.76770263799999
Centerline is valid?  [True, True]
Translation: X:98.97, Y:4.74, Z:-1.04
[[ 9.99851883e-01  1.36126024e-02  1.05313586e-02  9.89715198e+01]
 [-1.36165959e-02  9.99907243e-01  3.07582046e-04  4.74355321e+00]
 [-1.05261947e-02 -4.50937741e-04  9.99944496e-01 -1.04472596e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.82770263799999
Centerline is valid?  [True, True]
Translation: X:99.03, Y:4.75, Z:-1.05
[[ 9.99807670e-01  1.65443144e-02  1.05313586e-02  9.90319190e+01]
 [-1.65484702e-02  9.99863017e-01  3.07581749e-04  4.74906781e+00]
 [-1.05248272e-02 -4.81800464e-04  9.99944496e-01 -1.04536377e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.887702638
Centerline is valid?  [True, True]
Translation: X:99.09, Y:4.75, Z:-1.05
[[ 9.99765780e-01  1.89070448e-02  1.05313586e-02  9.90905229e+01]
 [-1.89113314e-02  9.99821117e-01  3.07581749e-04  4.75366395e+00]
 [-1.05236592e-02 -5.06671718e-04  9.99944496e-01 -1.04598240e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 97.947702638
Centerline is valid?  [True, True]
Translation: X:99.15, Y:4.76, Z:-1.05
[[ 9.99736043e-01  2.04189639e-02  1.05313492e-02  9.91502086e+01]
 [-2.04233375e-02  9.99791374e-01  3.07901569e-04  4.75881250e+00]
 [-1.05228651e-02 -5.22905595e-04  9.99944496e-01 -1.04661285e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.00770263799998
Centerline is valid?  [True, True]
Translation: X:99.21, Y:4.76, Z:-1.05
[[ 9.99767253e-01  1.88289683e-02  1.05313461e-02  9.92103695e+01]
 [-1.88332550e-02  9.99822591e-01  3.08008845e-04  4.76448147e+00]
 [-1.05236782e-02 -5.06276684e-04  9.99944496e-01 -1.04724829e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.06770263799999
Centerline is valid?  [True, True]
Translation: X:99.27, Y:4.77, Z:-1.05
[[ 9.99792255e-01  1.74510212e-02  1.05313453e-02  9.92679663e+01]
 [-1.74552319e-02  9.99847598e-01  3.08034952e-04  4.76624113e+00]
 [-1.05243648e-02 -4.91798033e-04  9.99944496e-01 -1.04785546e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.12770263799999
Centerline is valid?  [True, True]
Translation: X:99.33, Y:4.77, Z:-1.05
[[ 9.99780927e-01  1.80884079e-02  1.05313001e-02  9.93261648e+01]
 [-1.80926700e-02  9.99836266e-01  3.09572905e-04  4.77193468e+00]
 [-1.05239761e-02 -5.00044424e-04  9.99944496e-01 -1.04847140e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.18770263799999
Centerline is valid?  [True, True]
Translation: X:99.39, Y:4.78, Z:-1.05
[[ 9.99738394e-01  2.03035744e-02  1.05312761e-02  9.93861717e+01]
 [-2.03079677e-02  9.99793724e-01  3.10387004e-04  4.77788082e+00]
 [-1.05228018e-02 -5.24174621e-04  9.99944496e-01 -1.04910588e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.24770263799999
Centerline is valid?  [True, True]
Translation: X:99.45, Y:4.78, Z:-1.05
[[ 9.99744585e-01  1.99964165e-02  1.05312730e-02  9.94452846e+01]
 [-2.00007939e-02  9.99799916e-01  3.10491676e-04  4.78257532e+00]
 [-1.05229572e-02 -5.21046193e-04  9.99944496e-01 -1.04973000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.307702638
Centerline is valid?  [True, True]
Translation: X:99.50, Y:4.79, Z:-1.05
[[ 9.99745408e-01  1.99552440e-02  1.05312323e-02  9.95033771e+01]
 [-1.99596336e-02  9.99800738e-01  3.11866177e-04  4.78561372e+00]
 [-1.05229105e-02 -5.21986317e-04  9.99944496e-01 -1.05034388e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.367702638
Centerline is valid?  [True, True]
Translation: X:99.56, Y:4.79, Z:-1.05
[[ 9.99755007e-01  1.94684453e-02  1.05312198e-02  9.95618833e+01]
 [-1.94728124e-02  9.99810338e-01  3.12288487e-04  4.78624903e+00]
 [-1.05231427e-02 -5.17284446e-04  9.99944496e-01 -1.05096060e+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 98.42770263799999
Centerline is valid?  [True, True]
Translation: X:99.62, Y:4.79, Z:-1.05
[[ 9.99734717e-01  2.04838813e-02  1.05311756e-02  9.96208374e+01]
 [-2.04883201e-02  9.99790043e-01  3.13770711e-04  4.78993358e+00]
 [-1.05225373e-02 -5.29453571e-04  9.99944496e-01 -1.05158386e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.48770263799999
Centerline is valid?  [True, True]
Translation: X:99.68, Y:4.79, Z:-1.05
[[ 9.99745773e-01  1.99369949e-02  1.05311313e-02  9.96808760e+01]
 [-1.99414190e-02  9.99801100e-01  3.15252546e-04  4.79490300e+00]
 [-1.05227515e-02 -5.25178102e-04  9.99944496e-01 -1.05221895e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.54770263799999
Centerline is valid?  [True, True]
Translation: X:99.74, Y:4.79, Z:-1.05
[[ 9.99811524e-01  1.63098766e-02  1.05311281e-02  9.97412558e+01]
 [-1.63141011e-02  9.99866866e-01  3.15358775e-04  4.79350968e+00]
 [-1.05245826e-02 -4.87105226e-04  9.99944496e-01 -1.05285450e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.60770263799999
Centerline is valid?  [True, True]
Translation: X:99.80, Y:4.80, Z:-1.05
[[ 9.99869536e-01  1.22477071e-02  1.05311274e-02  9.98011095e+01]
 [-1.22517070e-02  9.99924895e-01  3.15383190e-04  4.79679684e+00]
 [-1.05264737e-02 -4.44366331e-04  9.99944496e-01 -1.05348592e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.667702638
Centerline is valid?  [True, True]
Translation: X:99.86, Y:4.80, Z:-1.05
[[ 9.99913709e-01  7.85306635e-03  1.05311201e-02  9.98596569e+01]
 [-7.85682543e-03  9.99969085e-01  3.15625114e-04  4.79760441e+00]
 [-1.05283159e-02 -3.98339051e-04  9.99944496e-01 -1.05410297e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.727702638
Centerline is valid?  [True, True]
Translation: X:99.92, Y:4.80, Z:-1.05
[[ 9.99936921e-01  3.90507915e-03  1.05311107e-02  9.99191672e+01]
 [-3.90862287e-03  9.99992311e-01  3.15938861e-04  4.79928147e+00]
 [-1.05297960e-02 -3.57081073e-04  9.99944496e-01 -1.05473050e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.78770263799998
Centerline is valid?  [True, True]
Translation: X:99.98, Y:4.80, Z:-1.06
[[ 9.99944503e-01 -2.93886049e-04  1.05311085e-02  9.99773653e+01]
 [ 2.90574172e-04  9.99999908e-01  3.16013834e-04  4.80278419e+00]
 [-1.05312004e-02 -3.12936228e-04  9.99944496e-01 -1.05534460e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.84770263799999
Centerline is valid?  [True, True]
Translation: X:100.04, Y:4.80, Z:-1.06
[[ 9.99936934e-01 -3.90172324e-03  1.05310956e-02  1.00037698e+02]
 [ 3.89860680e-03  9.99992350e-01  3.16440492e-04  4.80218058e+00]
 [-1.05322497e-02 -2.75363935e-04  9.99944496e-01 -1.05598016e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.90770263799999
Centerline is valid?  [True, True]
Translation: X:100.10, Y:4.80, Z:-1.06
[[ 9.99919259e-01 -7.11140931e-03  1.05310956e-02  1.00098510e+02]
 [ 7.10847076e-03  9.99974684e-01  3.16440492e-04  4.80407154e+00]
 [-1.05330794e-02 -2.41554957e-04  9.99944496e-01 -1.05662121e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 98.96770263799999
Centerline is valid?  [True, True]
Translation: X:100.16, Y:4.81, Z:-1.06
[[ 9.99921763e-01 -6.75007107e-03  1.05311101e-02  1.00159078e+02]
 [ 6.74711758e-03  9.99977188e-01  3.15957308e-04  4.80670166e+00]
 [-1.05330026e-02 -2.44877950e-04  9.99944496e-01 -1.05725953e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.027702638
Centerline is valid?  [True, True]
Translation: X:100.22, Y:4.81, Z:-1.06
[[ 9.99923746e-01 -6.44966630e-03  1.05311133e-02  1.00221574e+02]
 [ 6.44669729e-03  9.99979170e-01  3.15850207e-04  4.80843354e+00]
 [-1.05329311e-02 -2.47935222e-04  9.99944496e-01 -1.05791818e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.087702638
Centerline is valid?  [True, True]
Translation: X:100.28, Y:4.81, Z:-1.06
[[ 9.99930718e-01 -5.25881081e-03  1.05311292e-02  1.00282543e+02]
 [ 5.25578137e-03  9.99986139e-01  3.15320948e-04  4.81161255e+00]
 [-1.05326414e-02 -2.59949789e-04  9.99944496e-01 -1.05856086e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.14770263799998
Centerline is valid?  [True, True]
Translation: X:100.34, Y:4.81, Z:-1.06
[[ 9.99935380e-01 -4.28151676e-03  1.05311298e-02  1.00344698e+02]
 [ 4.27843335e-03  9.99990798e-01  3.15301177e-04  4.81175703e+00]
 [-1.05323828e-02 -2.70224065e-04  9.99944496e-01 -1.05921549e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.20770263799999
Centerline is valid?  [True, True]
Translation: X:100.41, Y:4.81, Z:-1.06
[[ 9.99935655e-01 -4.21679595e-03  1.05311427e-02  1.00405991e+02]
 [ 4.21371349e-03  9.99991073e-01  3.14870357e-04  4.81406591e+00]
 [-1.05323764e-02 -2.70474879e-04  9.99944496e-01 -1.05986138e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.26770263799999
Centerline is valid?  [True, True]
Translation: X:100.47, Y:4.82, Z:-1.06
[[ 9.99935828e-01 -4.17549550e-03  1.05311489e-02  1.00466414e+02]
 [ 4.17241294e-03  9.99991246e-01  3.14662658e-04  4.81644662e+00]
 [-1.05323706e-02 -2.70702164e-04  9.99944496e-01 -1.06049832e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.32770263799999
Centerline is valid?  [True, True]
Translation: X:100.53, Y:4.82, Z:-1.06
[[ 9.99912406e-01 -8.01721450e-03  1.05311520e-02  1.00528156e+02]
 [ 8.01434597e-03  9.99967835e-01  3.14559043e-04  4.81510110e+00]
 [-1.05333351e-02 -2.30131194e-04  9.99944496e-01 -1.06114806e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.387702638
Centerline is valid?  [True, True]
Translation: X:100.59, Y:4.82, Z:-1.06
[[ 9.99874542e-01 -1.18319563e-02  1.05311615e-02  1.00587654e+02]
 [ 1.18293027e-02  9.99929982e-01  3.14238233e-04  4.81752373e+00]
 [-1.05341422e-02 -1.89622512e-04  9.99944496e-01 -1.06177518e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.447702638
Centerline is valid?  [True, True]
Translation: X:100.65, Y:4.82, Z:-1.06
[[ 9.99857500e-01 -1.31937452e-02  1.05311584e-02  1.00649575e+02]
 [ 1.31911660e-02  9.99912943e-01  3.14344813e-04  4.81956754e+00]
 [-1.05343889e-02 -1.75381761e-04  9.99944496e-01 -1.06242804e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.50770263799998
Centerline is valid?  [True, True]
Translation: X:100.71, Y:4.82, Z:-1.06
[[ 9.99846629e-01 -1.39933471e-02  1.05311711e-02  1.00711338e+02]
 [ 1.39908167e-02  9.99902074e-01  3.13916319e-04  4.82033591e+00]
 [-1.05345326e-02 -1.66528488e-04  9.99944496e-01 -1.06307841e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.56770263799999
Centerline is valid?  [True, True]
Translation: X:100.77, Y:4.82, Z:-1.06
[[ 9.99822747e-01 -1.56066688e-02  1.05311807e-02  1.00773542e+02]
 [ 1.56042313e-02  9.99878197e-01  3.13593680e-04  4.82325017e+00]
 [-1.05347922e-02 -1.49207115e-04  9.99944496e-01 -1.06373418e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 99.62770263799999
Centerline is valid?  [True, True]
Translation: X:100.84, Y:4.83, Z:-1.06
[[ 9.99821441e-01 -1.56901520e-02  1.05311967e-02  1.00835584e+02]
 [ 1.56877247e-02  9.99876891e-01  3.13057840e-04  4.82561762e+00]
 [-1.05348121e-02 -1.47791426e-04  9.99944496e-01 -1.06438790e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.68770263799999
Centerline is valid?  [True, True]
Translation: X:100.90, Y:4.83, Z:-1.07
[[ 9.99838727e-01 -1.45469362e-02  1.05312415e-02  1.00895304e+02]
 [ 1.45444615e-02  9.99894175e-01  3.11543115e-04  4.82880360e+00]
 [-1.05346590e-02 -1.58321635e-04  9.99944496e-01 -1.06501660e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.74770263799999
Centerline is valid?  [True, True]
Translation: X:100.96, Y:4.83, Z:-1.07
[[ 9.99817985e-01 -1.59087765e-02  1.05312518e-02  1.00955894e+02]
 [ 1.59063810e-02  9.99873437e-01  3.11192284e-04  4.83015068e+00]
 [-1.05348697e-02 -1.43621539e-04  9.99944496e-01 -1.06565486e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.807702638
Centerline is valid?  [True, True]
Translation: X:101.02, Y:4.83, Z:-1.07
[[ 9.99806579e-01 -1.66101746e-02  1.05312518e-02  1.01019229e+02]
 [ 1.66078180e-02  9.99862032e-01  3.11192284e-04  4.83186473e+00]
 [-1.05349678e-02 -1.36230979e-04  9.99944496e-01 -1.06632243e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.867702638
Centerline is valid?  [True, True]
Translation: X:101.08, Y:4.84, Z:-1.07
[[ 9.99807291e-01 -1.65671981e-02  1.05312864e-02  1.01080118e+02]
 [ 1.65648515e-02  9.99862745e-01  3.10018660e-04  4.83516525e+00]
 [-1.05349771e-02 -1.35509722e-04  9.99944496e-01 -1.06696377e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.92770263799999
Centerline is valid?  [True, True]
Translation: X:101.14, Y:4.84, Z:-1.07
[[ 9.99804190e-01 -1.67533230e-02  1.05313115e-02  1.01141583e+02]
 [ 1.67509957e-02  9.99859644e-01  3.09164301e-04  4.83719556e+00]
 [-1.05350129e-02 -1.32693810e-04  9.99944496e-01 -1.06761104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 99.98770263799999
Centerline is valid?  [True, True]
Translation: X:101.20, Y:4.84, Z:-1.07
[[ 9.99826897e-01 -1.53384529e-02  1.05313178e-02  1.01203357e+02]
 [ 1.53360494e-02  9.99882348e-01  3.08950302e-04  4.83952035e+00]
 [-1.05348175e-02 -1.47388013e-04  9.99944496e-01 -1.06826219e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.04770263799999
Centerline is valid?  [True, True]
Translation: X:101.27, Y:4.84, Z:-1.07
[[ 9.99838012e-01 -1.45959042e-02  1.05313274e-02  1.01265724e+02]
 [ 1.45934629e-02  9.99893462e-01  3.08622884e-04  4.83934378e+00]
 [-1.05347100e-02 -1.54884356e-04  9.99944496e-01 -1.06891870e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.10770263799999
Centerline is valid?  [True, True]
Translation: X:101.33, Y:4.84, Z:-1.07
[[ 9.99838213e-01 -1.45821061e-02  1.05313707e-02  1.01327384e+02]
 [ 1.45796797e-02  9.99893664e-01  3.07134999e-04  4.83992010e+00]
 [-1.05347296e-02 -1.53541297e-04  9.99944496e-01 -1.06956707e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.167702638
Centerline is valid?  [True, True]
Translation: X:101.39, Y:4.84, Z:-1.07
[[ 9.99875144e-01 -1.17807810e-02  1.05313857e-02  1.01387626e+02]
 [ 1.17782047e-02  9.99930588e-01  3.06620474e-04  4.84148968e+00]
 [-1.05342669e-02 -1.82541374e-04  9.99944496e-01 -1.07020159e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.227702638
Centerline is valid?  [True, True]
Translation: X:101.45, Y:4.84, Z:-1.07
[[ 9.99901140e-01 -9.31662563e-03  1.05313961e-02  1.01450178e+02]
 [ 9.31391646e-03  9.99956578e-01  3.06264390e-04  4.84470991e+00]
 [-1.05337921e-02 -2.08145570e-04  9.99944496e-01 -1.07086108e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.28770263799998
Centerline is valid?  [True, True]
Translation: X:101.51, Y:4.84, Z:-1.07
[[ 9.99921728e-01 -6.75486101e-03  1.05314117e-02  1.01511281e+02]
 [ 6.75201547e-03  9.99977158e-01  3.05727538e-04  4.84375033e+00]
 [-1.05332363e-02 -2.34595354e-04  9.99944496e-01 -1.07150389e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.34770263799999
Centerline is valid?  [True, True]
Translation: X:101.57, Y:4.84, Z:-1.07
[[ 9.99939806e-01 -3.07789571e-03  1.05314123e-02  1.01572258e+02]
 [ 3.07484658e-03  9.99995226e-01  3.05706510e-04  4.84339163e+00]
 [-1.05323029e-02 -2.73305631e-04  9.99944496e-01 -1.07214597e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.40770263799999
Centerline is valid?  [True, True]
Translation: X:101.63, Y:4.84, Z:-1.07
[[ 9.99944521e-01  2.09723320e-04  1.05314216e-02  1.01632947e+02]
 [-2.12951247e-04  9.99999931e-01  3.05383973e-04  4.84486990e+00]
 [-1.05313569e-02 -3.07609710e-04  9.99944496e-01 -1.07278534e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.46770263799999
Centerline is valid?  [True, True]
Translation: X:101.69, Y:4.85, Z:-1.07
[[ 9.99936632e-01  3.97762490e-03  1.05314222e-02  1.01693636e+02]
 [-3.98106139e-03  9.99992029e-01  3.05364929e-04  4.84539412e+00]
 [-1.05301236e-02 -3.47271817e-04  9.99944496e-01 -1.07342466e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.527702638
Centerline is valid?  [True, True]
Translation: X:101.75, Y:4.85, Z:-1.07
[[ 9.99892937e-01  1.01589682e-02  1.05314222e-02  1.01754112e+02]
 [-1.01627471e-02  9.99948311e-01  3.05364929e-04  4.84812058e+00]
 [-1.05277756e-02 -4.12360415e-04  9.99944496e-01 -1.07406243e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.587702638
Centerline is valid?  [True, True]
Translation: X:101.81, Y:4.85, Z:-1.07
[[ 9.99857280e-01  1.32102067e-02  1.05314256e-02  1.01812802e+02]
 [-1.32141533e-02  9.99912643e-01  3.05245779e-04  4.84738645e+00]
 [-1.05264733e-02 -4.44366087e-04  9.99944496e-01 -1.07468023e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.64770263799998
Centerline is valid?  [True, True]
Translation: X:101.87, Y:4.85, Z:-1.08
[[ 9.99835127e-01  1.47922113e-02  1.05313812e-02  1.01872569e+02]
 [-1.47962615e-02  9.99890482e-01  3.06770180e-04  4.84780330e+00]
 [-1.05256900e-02 -4.62544673e-04  9.99944496e-01 -1.07531105e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.70770263799999
Centerline is valid?  [True, True]
Translation: X:101.93, Y:4.85, Z:-1.08
[[ 9.99845396e-01  1.40809839e-02  1.05313749e-02  1.01931144e+02]
 [-1.40849970e-02  9.99900754e-01  3.06985950e-04  4.84907520e+00]
 [-1.05260071e-02 -4.55272874e-04  9.99944496e-01 -1.07592853e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.76770263799999
Centerline is valid?  [True, True]
Translation: X:101.99, Y:4.85, Z:-1.08
[[ 9.99834927e-01  1.48057422e-02  1.05313298e-02  1.01991923e+02]
 [-1.48098116e-02  9.99890281e-01  3.08526363e-04  4.84938813e+00]
 [-1.05256064e-02 -4.64442445e-04  9.99944496e-01 -1.07656999e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 100.82770263799999
Centerline is valid?  [True, True]
Translation: X:102.05, Y:4.85, Z:-1.08
[[ 9.99839351e-01  1.45038842e-02  1.05313297e-02  1.02050439e+02]
 [-1.45079370e-02  9.99894707e-01  3.08531137e-04  4.85035453e+00]
 [-1.05257459e-02 -4.61269439e-04  9.99944496e-01 -1.07718658e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.887702638
Centerline is valid?  [True, True]
Translation: X:102.11, Y:4.85, Z:-1.08
[[ 9.99808547e-01  1.64912389e-02  1.05313200e-02  1.02110445e+02]
 [-1.64954052e-02  9.99863894e-01  3.08860921e-04  4.85196296e+00]
 [-1.05247931e-02 -4.82520179e-04  9.99944496e-01 -1.07781931e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 100.947702638
Centerline is valid?  [True, True]
Translation: X:102.17, Y:4.86, Z:-1.08
[[ 9.99745930e-01  1.99290498e-02  1.05313192e-02  1.02170811e+02]
 [-1.99334066e-02  9.99801262e-01  3.08886788e-04  4.85514884e+00]
 [-1.05230704e-02 -5.18733378e-04  9.99944496e-01 -1.07845609e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.00770263799998
Centerline is valid?  [True, True]
Translation: X:102.23, Y:4.86, Z:-1.08
[[ 9.99654270e-01  2.40921580e-02  1.05313160e-02  1.02230460e+02]
 [-2.40967463e-02  9.99709584e-01  3.08996367e-04  4.85746011e+00]
 [-1.05208132e-02 -5.62659989e-04  9.99944496e-01 -1.07908512e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.06770263799999
Centerline is valid?  [True, True]
Translation: X:102.29, Y:4.86, Z:-1.08
[[ 9.99539906e-01  2.84441179e-02  1.05313127e-02  1.02290456e+02]
 [-2.84489482e-02  9.99595199e-01  3.09109098e-04  4.86121745e+00]
 [-1.05182573e-02 -6.08571649e-04  9.99944496e-01 -1.07971823e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.12770263799999
Centerline is valid?  [True, True]
Translation: X:102.35, Y:4.86, Z:-1.08
[[ 9.99405381e-01  3.28325284e-02  1.05313143e-02  1.02350886e+02]
 [-3.28376009e-02  9.99460653e-01  3.09056643e-04  4.86424133e+00]
 [-1.05154871e-02 -6.54695966e-04  9.99944496e-01 -1.08035557e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.18770263799999
Centerline is valid?  [True, True]
Translation: X:102.41, Y:4.87, Z:-1.08
[[ 9.99365426e-01  3.40270091e-02  1.05313157e-02  1.02408892e+02]
 [-3.40321471e-02  9.99420691e-01  3.09005924e-04  4.86925585e+00]
 [-1.05147003e-02 -6.67213123e-04  9.99944496e-01 -1.08096799e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.24770263799999
Centerline is valid?  [True, True]
Translation: X:102.47, Y:4.87, Z:-1.08
[[ 9.99439924e-01  3.17636496e-02  1.05313000e-02  1.02468919e+02]
 [-3.17686681e-02  9.99495201e-01  3.09542990e-04  4.87033597e+00]
 [-1.05161515e-02 -6.43934995e-04  9.99944496e-01 -1.08160096e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.307702638
Centerline is valid?  [True, True]
Translation: X:102.53, Y:4.87, Z:-1.08
[[ 9.99593749e-01  2.64845059e-02  1.05312990e-02  1.02529316e+02]
 [-2.64892327e-02  9.99649051e-01  3.09575783e-04  4.87034173e+00]
 [-1.05194041e-02 -5.88416047e-04  9.99944496e-01 -1.08223708e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.36770263799998
Centerline is valid?  [True, True]
Translation: X:102.59, Y:4.88, Z:-1.08
[[ 9.99709817e-01  2.16650256e-02  1.05312976e-02  1.02588502e+02]
 [-2.16694862e-02  9.99765141e-01  3.09623074e-04  4.87512868e+00]
 [-1.05221162e-02 -5.37741035e-04  9.99944496e-01 -1.08286195e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.42770263799999
Centerline is valid?  [True, True]
Translation: X:102.65, Y:4.87, Z:-1.08
[[ 9.99852161e-01  1.35921974e-02  1.05312948e-02  1.02648651e+02]
 [-1.35962122e-02  9.99907519e-01  3.09718265e-04  4.87411222e+00]
 [-1.05261111e-02 -4.52858195e-04  9.99944496e-01 -1.08349519e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.48770263799999
Centerline is valid?  [True, True]
Translation: X:102.71, Y:4.88, Z:-1.08
[[ 9.99920732e-01  6.90081339e-03  1.05312945e-02  1.02708876e+02]
 [-6.90445773e-03  9.99976116e-01  3.09730273e-04  4.87821203e+00]
 [-1.05289055e-02 -3.82418599e-04  9.99944496e-01 -1.08413075e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.54770263799999
Centerline is valid?  [True, True]
Translation: X:102.77, Y:4.88, Z:-1.08
[[ 9.99937620e-01  3.72141003e-03  1.05312939e-02  1.02768490e+02]
 [-3.72487845e-03  9.99993015e-01  3.09749069e-04  4.87889989e+00]
 [-1.05300676e-02 -3.48957536e-04  9.99944496e-01 -1.08475882e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.60770263799999
Centerline is valid?  [True, True]
Translation: X:102.83, Y:4.88, Z:-1.09
[[ 9.99941012e-01  2.65777293e-03  1.05312892e-02  1.02827375e+02]
 [-2.66118410e-03  9.99996411e-01  3.09908298e-04  4.88223345e+00]
 [-1.05304277e-02 -3.37915717e-04  9.99944496e-01 -1.08538016e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.667702638
Centerline is valid?  [True, True]
Translation: X:102.89, Y:4.89, Z:-1.09
[[ 9.99942886e-01  1.82146464e-03  1.05312800e-02  1.02885741e+02]
 [-1.82483276e-03  9.99998287e-01  3.10220925e-04  4.88900057e+00]
 [-1.05306969e-02 -3.29421031e-04  9.99944496e-01 -1.08599721e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.727702638
Centerline is valid?  [True, True]
Translation: X:102.94, Y:4.89, Z:-1.09
[[ 9.99944318e-01 -6.72720688e-04  1.05312738e-02  1.02944165e+02]
 [ 6.69488560e-04  9.99999728e-01  3.10429936e-04  4.88946065e+00]
 [-1.05314798e-02 -3.03362083e-04  9.99944496e-01 -1.08661284e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.78770263799998
Centerline is valid?  [True, True]
Translation: X:103.00, Y:4.89, Z:-1.09
[[ 9.99938035e-01 -3.60820061e-03  1.05312687e-02  1.03004916e+02]
 [ 3.60512932e-03  9.99993453e-01  3.10605302e-04  4.89465032e+00]
 [-1.05323205e-02 -2.72619469e-04  9.99944496e-01 -1.08725443e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.84770263799999
Centerline is valid?  [True, True]
Translation: X:103.07, Y:4.90, Z:-1.09
[[ 9.99913301e-01 -7.90454841e-03  1.05312748e-02  1.03066127e+02]
 [ 7.90171745e-03  9.99968733e-01  3.10397368e-04  4.89831472e+00]
 [-1.05333991e-02 -2.27155299e-04  9.99944496e-01 -1.08790006e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.90770263799999
Centerline is valid?  [True, True]
Translation: X:103.13, Y:4.90, Z:-1.09
[[ 9.99863031e-01 -1.27676190e-02  1.05312779e-02  1.03126825e+02]
 [ 1.27650588e-02  9.99918475e-01  3.10292226e-04  4.90122050e+00]
 [-1.05343810e-02 -1.75817344e-04  9.99944496e-01 -1.08854013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 101.96770263799999
Centerline is valid?  [True, True]
Translation: X:103.19, Y:4.90, Z:-1.09
[[ 9.99797342e-01 -1.71571384e-02  1.05312841e-02  1.03187420e+02]
 [ 1.71548239e-02  9.99852797e-01  3.10079919e-04  4.90256650e+00]
 [-1.05350540e-02 -1.29354754e-04  9.99944496e-01 -1.08917855e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 102.027702638
Centerline is valid?  [True, True]
Translation: X:103.25, Y:4.90, Z:-1.09
[[ 9.99651886e-01 -2.41908648e-02  1.05312873e-02  1.03248630e+02]
 [ 2.41889416e-02  9.99707357e-01  3.09971952e-04  4.90143920e+00]
 [-1.05357039e-02 -5.51233524e-05  9.99944496e-01 -1.08982276e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.087702638
Centerline is valid?  [True, True]
Translation: X:103.31, Y:4.90, Z:-1.09
[[ 9.99605464e-01 -2.60385854e-02  1.05313278e-02  1.03308610e+02]
 [ 2.60367793e-02  9.99660938e-01  3.08589592e-04  4.90452091e+00]
 [-1.05357923e-02 -3.42659843e-05  9.99944496e-01 -1.09045428e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.14770263799998
Centerline is valid?  [True, True]
Translation: X:103.37, Y:4.91, Z:-1.09
[[ 9.99571996e-01 -2.72931389e-02  1.05313278e-02  1.03369151e+02]
 [ 2.72914024e-02  9.99627473e-01  3.08591965e-04  4.90644622e+00]
 [-1.05358270e-02 -2.10451826e-05  9.99944496e-01 -1.09109250e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.20770263799999
Centerline is valid?  [True, True]
Translation: X:103.43, Y:4.91, Z:-1.09
[[ 9.99562824e-01 -2.76270273e-02  1.05313339e-02  1.03431797e+02]
 [ 2.76253115e-02  9.99618301e-01  3.08382677e-04  4.90694307e+00]
 [-1.05358338e-02 -1.73164803e-05  9.99944496e-01 -1.09175226e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.26770263799999
Centerline is valid?  [True, True]
Translation: X:103.49, Y:4.91, Z:-1.09
[[ 9.99558193e-01 -2.77940681e-02  1.05313575e-02  1.03493530e+02]
 [ 2.77923701e-02  9.99613670e-01  3.07573089e-04  4.90763767e+00]
 [-1.05358377e-02 -1.47458146e-05  9.99944496e-01 -1.09240197e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.32770263799999
Centerline is valid?  [True, True]
Translation: X:103.55, Y:4.91, Z:-1.09
[[ 9.99674436e-01 -2.32402996e-02  1.05313964e-02  1.03554033e+02]
 [ 2.32383630e-02  9.99729906e-01  3.06236253e-04  4.91032535e+00]
 [-1.05356690e-02 -6.14041411e-05  9.99944496e-01 -1.09303892e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.387702638
Centerline is valid?  [True, True]
Translation: X:103.61, Y:4.91, Z:-1.09
[[ 9.99819929e-01 -1.57860321e-02  1.05314025e-02  1.03614032e+02]
 [ 1.57836842e-02  9.99875383e-01  3.06026728e-04  4.91154901e+00]
 [-1.05349211e-02 -1.39747290e-04  9.99944496e-01 -1.09367103e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.447702638
Centerline is valid?  [True, True]
Translation: X:103.68, Y:4.92, Z:-1.09
[[ 9.99904324e-01 -8.96845061e-03  1.05314004e-02  1.03675713e+02]
 [ 8.96572388e-03  9.99959760e-01  3.06098731e-04  4.91543048e+00]
 [-1.05337219e-02 -2.11647816e-04  9.99944496e-01 -1.09432190e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.50770263799998
Centerline is valid?  [True, True]
Translation: X:103.74, Y:4.91, Z:-1.09
[[ 9.99934062e-01 -4.57826696e-03  1.05314092e-02  1.03737372e+02]
 [ 4.57530006e-03  9.99989487e-01  3.05794379e-04  4.91408011e+00]
 [-1.05326985e-02 -2.57589859e-04  9.99944496e-01 -1.09497063e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.56770263799999
Centerline is valid?  [True, True]
Translation: X:103.80, Y:4.92, Z:-1.10
[[ 9.99944168e-01  8.65568496e-04  1.05314186e-02  1.03797634e+02]
 [-8.68833687e-04  9.99999576e-01  3.05471596e-04  4.91890960e+00]
 [-1.05311497e-02 -3.14604593e-04  9.99944496e-01 -1.09560652e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.62770263799999
Centerline is valid?  [True, True]
Translation: X:103.86, Y:4.92, Z:-1.10
[[ 9.99910655e-01  8.23237224e-03  1.05314191e-02  1.03857457e+02]
 [-8.23604536e-03  9.99966037e-01  3.05454044e-04  4.91782589e+00]
 [-1.05285468e-02 -3.92163999e-04  9.99944496e-01 -1.09623623e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.68770263799999
Centerline is valid?  [True, True]
Translation: X:103.91, Y:4.92, Z:-1.10
[[ 9.99904979e-01  8.89507632e-03  1.05314192e-02  1.03914919e+02]
 [-8.89878611e-03  9.99960358e-01  3.05451693e-04  4.92112969e+00]
 [-1.05282847e-02 -3.99139516e-04  9.99944496e-01 -1.09684243e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.74770263799999
Centerline is valid?  [True, True]
Translation: X:103.97, Y:4.92, Z:-1.10
[[ 9.99845713e-01  1.40584268e-02  1.05314037e-02  1.03974783e+02]
 [-1.40624281e-02  9.99901072e-01  3.05983947e-04  4.92359630e+00]
 [-1.05260602e-02 -4.54033845e-04  9.99944496e-01 -1.09747411e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.807702638
Centerline is valid?  [True, True]
Translation: X:104.03, Y:4.93, Z:-1.10
[[ 9.99807589e-01  1.65491503e-02  1.05314021e-02  1.04034559e+02]
 [-1.65532901e-02  9.99862938e-01  3.06040376e-04  4.92656798e+00]
 [-1.05248939e-02 -4.80310844e-04  9.99944496e-01 -1.09810462e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.86770263799998
Centerline is valid?  [True, True]
Translation: X:104.09, Y:4.93, Z:-1.10
[[ 9.99798910e-01  1.70654627e-02  1.05313959e-02  1.04093938e+02]
 [-1.70696334e-02  9.99854256e-01  3.06253694e-04  4.93069894e+00]
 [-1.05246346e-02 -4.85959176e-04  9.99944496e-01 -1.09873144e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.92770263799999
Centerline is valid?  [True, True]
Translation: X:104.15, Y:4.93, Z:-1.10
[[ 9.99773620e-01  1.84877958e-02  1.05313928e-02  1.04153610e+02]
 [-1.84920463e-02  9.99828961e-01  3.06359983e-04  4.93469374e+00]
 [-1.05239276e-02 -5.01037631e-04  9.99944496e-01 -1.09936122e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 102.98770263799999
Centerline is valid?  [True, True]
Translation: X:104.21, Y:4.94, Z:-1.10
[[ 9.99771653e-01  1.85938444e-02  1.05313897e-02  1.04211975e+02]
 [-1.85981019e-02  9.99826993e-01  3.06466812e-04  4.94004798e+00]
 [-1.05238693e-02 -5.02260690e-04  9.99944496e-01 -1.09997764e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.04770263799999
Centerline is valid?  [True, True]
Translation: X:104.27, Y:4.94, Z:-1.10
[[ 9.99749612e-01  1.97434496e-02  1.05313459e-02  1.04271195e+02]
 [-1.97477864e-02  9.99804946e-01  3.07962073e-04  4.94391701e+00]
 [-1.05232115e-02 -5.15855733e-04  9.99944496e-01 -1.10060378e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.10770263799999
Centerline is valid?  [True, True]
Translation: X:104.33, Y:4.95, Z:-1.10
[[ 9.99679025e-01  2.30421060e-02  1.05313412e-02  1.04331728e+02]
 [-2.30466271e-02  9.99734344e-01  3.08125297e-04  4.94746694e+00]
 [-1.05214436e-02 -5.50738289e-04  9.99944496e-01 -1.10124254e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.167702638
Centerline is valid?  [True, True]
Translation: X:104.39, Y:4.95, Z:-1.10
[[ 9.99649084e-01  2.43063594e-02  1.05313441e-02  1.04390886e+02]
 [-2.43109494e-02  9.99704398e-01  3.08026214e-04  4.95221327e+00]
 [-1.05207440e-02 -5.63945095e-04  9.99944496e-01 -1.10186697e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 103.227702638
Centerline is valid?  [True, True]
Translation: X:104.45, Y:4.96, Z:-1.10
[[ 9.99646570e-01  2.44095586e-02  1.05313307e-02  1.04449860e+02]
 [-2.44141591e-02  9.99701882e-01  3.08483620e-04  4.95792934e+00]
 [-1.05206611e-02 -5.65488175e-04  9.99944496e-01 -1.10249022e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.28770263799998
Centerline is valid?  [True, True]
Translation: X:104.51, Y:4.96, Z:-1.10
[[ 9.99654044e-01  2.41015530e-02  1.05312898e-02  1.04508795e+02]
 [-2.41061511e-02  9.99709356e-01  3.09872714e-04  4.96199221e+00]
 [-1.05207605e-02 -5.63634375e-04  9.99944496e-01 -1.10311335e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.34770263799999
Centerline is valid?  [True, True]
Translation: X:104.57, Y:4.96, Z:-1.10
[[ 9.99664567e-01  2.36610771e-02  1.05312453e-02  1.04568189e+02]
 [-2.36656667e-02  9.99719880e-01  3.11378266e-04  4.96414738e+00]
 [-1.05209277e-02 -5.60502760e-04  9.99944496e-01 -1.10374082e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.40770263799999
Centerline is valid?  [True, True]
Translation: X:104.63, Y:4.97, Z:-1.10
[[ 9.99673050e-01  2.32999294e-02  1.05312390e-02  1.04626548e+02]
 [-2.33045011e-02  9.99728365e-01  3.11590331e-04  4.96666764e+00]
 [-1.05211183e-02 -5.56913728e-04  9.99944496e-01 -1.10435641e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.46770263799999
Centerline is valid?  [True, True]
Translation: X:104.69, Y:4.97, Z:-1.10
[[ 9.99748427e-01  1.98034284e-02  1.05312268e-02  1.04686614e+02]
 [-1.98078110e-02  9.99803757e-01  3.12001806e-04  4.97073309e+00]
 [-1.05229814e-02 -5.20523865e-04  9.99944496e-01 -1.10499064e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.527702638
Centerline is valid?  [True, True]
Translation: X:104.75, Y:4.97, Z:-1.11
[[ 9.99789429e-01  1.76122458e-02  1.05312199e-02  1.04745773e+02]
 [-1.76165095e-02  9.99844769e-01  3.12236068e-04  4.97444265e+00]
 [-1.05240859e-02 -4.97693656e-04  9.99944496e-01 -1.10561504e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.587702638
Centerline is valid?  [True, True]
Translation: X:104.81, Y:4.98, Z:-1.11
[[ 9.99822138e-01  1.56456077e-02  1.05312191e-02  1.04805635e+02]
 [-1.56497629e-02  9.99877486e-01  3.12260707e-04  4.97709189e+00]
 [-1.05250434e-02 -4.77016251e-04  9.99944496e-01 -1.10624634e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.64770263799998
Centerline is valid?  [True, True]
Translation: X:104.86, Y:4.98, Z:-1.11
[[ 9.99851294e-01  1.36558702e-02  1.05312160e-02  1.04864724e+02]
 [-1.36599164e-02  9.99906650e-01  3.12366617e-04  4.97926459e+00]
 [-1.05259673e-02 -4.56175696e-04  9.99944496e-01 -1.10686943e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.70770263799999
Centerline is valid?  [True, True]
Translation: X:104.92, Y:4.98, Z:-1.11
[[ 9.99901464e-01  9.28202758e-03  1.05311959e-02  1.04924126e+02]
 [-9.28583863e-03  9.99956837e-01  3.13041832e-04  4.98177314e+00]
 [-1.05278357e-02 -4.10801972e-04  9.99944496e-01 -1.10749640e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.76770263799999
Centerline is valid?  [True, True]
Translation: X:104.98, Y:4.99, Z:-1.11
[[ 9.99922784e-01  6.59694826e-03  1.05311892e-02  1.04982708e+02]
 [-6.60061299e-03  9.99978167e-01  3.13268448e-04  4.98570949e+00]
 [-1.05288926e-02 -3.82756563e-04  9.99944496e-01 -1.10811480e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.82770263799999
Centerline is valid?  [True, True]
Translation: X:105.04, Y:4.99, Z:-1.11
[[ 9.99927350e-01  5.86415782e-03  1.05311768e-02  1.05041635e+02]
 [-5.86778633e-03  9.99982735e-01  3.13684173e-04  4.98789122e+00]
 [-1.05291555e-02 -3.75456079e-04  9.99944496e-01 -1.10873644e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.887702638
Centerline is valid?  [True, True]
Translation: X:105.10, Y:4.99, Z:-1.11
[[ 9.99944138e-01  9.03267271e-04  1.05311643e-02  1.05101992e+02]
 [-9.06625387e-04  9.99999540e-01  3.14104530e-04  4.99126772e+00]
 [-1.05308757e-02 -3.23634804e-04  9.99944496e-01 -1.10937353e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 103.947702638
Centerline is valid?  [True, True]
Translation: X:105.16, Y:4.99, Z:-1.11
[[ 9.99942400e-01 -2.07145831e-03  1.05311580e-02  1.05161334e+02]
 [ 2.06826283e-03  9.99997812e-01  3.14313395e-04  4.99425124e+00]
 [-1.05317861e-02 -2.92514088e-04  9.99944496e-01 -1.10999962e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.00770263799998
Centerline is valid?  [True, True]
Translation: X:105.22, Y:5.00, Z:-1.11
[[ 9.99930615e-01 -5.27831837e-03  1.05311547e-02  1.05221992e+02]
 [ 5.27529943e-03  9.99986036e-01  3.14425300e-04  4.99639441e+00]
 [-1.05326673e-02 -2.58848489e-04  9.99944496e-01 -1.11063922e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.06770263799999
Centerline is valid?  [True, True]
Translation: X:105.28, Y:5.00, Z:-1.11
[[ 9.99940096e-01 -2.98323435e-03  1.05311607e-02  1.05284056e+02]
 [ 2.98009033e-03  9.99995510e-01  3.14224523e-04  4.99626101e+00]
 [-1.05320508e-02 -2.82821889e-04  9.99944496e-01 -1.11129265e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.12770263799999
Centerline is valid?  [True, True]
Translation: X:105.35, Y:5.00, Z:-1.11
[[ 9.99929890e-01 -5.41388511e-03  1.05311731e-02  1.05345314e+02]
 [ 5.41088018e-03  9.99985312e-01  3.13808334e-04  4.99978572e+00]
 [-1.05327173e-02 -2.56803417e-04  9.99944496e-01 -1.11193856e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.18770263799999
Centerline is valid?  [True, True]
Translation: X:105.41, Y:5.00, Z:-1.11
[[ 9.99873759e-01 -1.18978401e-02  1.05312159e-02  1.05405579e+02]
 [ 1.18952098e-02  9.99929201e-01  3.12364265e-04  5.00223557e+00]
 [-1.05341868e-02 -1.87053808e-04  9.99944496e-01 -1.11257278e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.24770263799999
Centerline is valid?  [True, True]
Translation: X:105.47, Y:5.00, Z:-1.11
[[ 9.99857809e-01 -1.31702461e-02  1.05312170e-02  1.05468025e+02]
 [ 1.31676867e-02  9.99913253e-01  3.12329307e-04  5.00183788e+00]
 [-1.05344169e-02 -1.73613132e-04  9.99944496e-01 -1.11323029e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.307702638
Centerline is valid?  [True, True]
Translation: X:105.53, Y:5.00, Z:-1.11
[[ 9.99732782e-01 -2.05780886e-02  1.05312598e-02  1.05529062e+02]
 [ 2.05759554e-02  9.99788244e-01  3.10878719e-04  5.00342586e+00]
 [-1.05354270e-02 -9.41049156e-05  9.99944496e-01 -1.11387238e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.36770263799998
Centerline is valid?  [True, True]
Translation: X:105.59, Y:5.00, Z:-1.11
[[ 9.99634092e-01 -2.49153471e-02  1.05312825e-02  1.05590316e+02]
 [ 2.49134627e-02  9.99689563e-01  3.10107722e-04  5.00343808e+00]
 [-1.05357396e-02 -4.76235382e-05  9.99944496e-01 -1.11451684e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 104.42770263799999
Centerline is valid?  [True, True]
Translation: X:105.65, Y:5.00, Z:-1.12
[[ 9.99608611e-01 -2.59174869e-02  1.05312854e-02  1.05651766e+02]
 [ 2.59156592e-02  9.99664085e-01  3.10006910e-04  5.00302654e+00]
 [-1.05357824e-02 -3.69603727e-05  9.99944496e-01 -1.11516381e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.48770263799999
Centerline is valid?  [True, True]
Translation: X:105.71, Y:5.00, Z:-1.12
[[ 9.99386498e-01 -3.34023973e-02  1.05312943e-02  1.05713515e+02]
 [ 3.34009882e-02  9.99441983e-01  3.09704502e-04  5.00356022e+00]
 [-1.05357626e-02  4.22411406e-05  9.99944496e-01 -1.11581406e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.54770263799999
Centerline is valid?  [True, True]
Translation: X:105.77, Y:5.00, Z:-1.12
[[ 9.99373155e-01 -3.37992448e-02  1.05313069e-02  1.05773815e+02]
 [ 3.37978623e-02  9.99428641e-01  3.09276916e-04  5.00355059e+00]
 [-1.05357431e-02  4.68526130e-05  9.99944496e-01 -1.11644876e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.60770263799999
Centerline is valid?  [True, True]
Translation: X:105.83, Y:5.00, Z:-1.12
[[ 9.99287889e-01 -3.62326690e-02  1.05313130e-02  1.05834205e+02]
 [ 3.62314238e-02  9.99343379e-01  3.09068185e-04  5.00204790e+00]
 [-1.05355963e-02  7.27163710e-05  9.99944496e-01 -1.11708414e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.667702638
Centerline is valid?  [True, True]
Translation: X:105.89, Y:5.00, Z:-1.12
[[ 9.99304517e-01 -3.57711406e-02  1.05313142e-02  1.05894698e+02]
 [ 3.57698702e-02  9.99360006e-01  3.09028342e-04  5.00208188e+00]
 [-1.05356285e-02  6.78903234e-05  9.99944496e-01 -1.11772122e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.727702638
Centerline is valid?  [True, True]
Translation: X:105.96, Y:5.00, Z:-1.12
[[ 9.99308034e-01 -3.56727436e-02  1.05313202e-02  1.05956180e+02]
 [ 3.56714699e-02  9.99363523e-01  3.08823917e-04  5.00318955e+00]
 [-1.05356338e-02  6.70574497e-05  9.99944496e-01 -1.11836892e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.78770263799998
Centerline is valid?  [True, True]
Translation: X:106.02, Y:5.00, Z:-1.12
[[ 9.99345920e-01 -3.45951347e-02  1.05313442e-02  1.06018333e+02]
 [ 3.45938098e-02  9.99401408e-01  3.08001414e-04  5.00221938e+00]
 [-1.05356956e-02  5.65193627e-05  9.99944496e-01 -1.11902250e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.84770263799999
Centerline is valid?  [True, True]
Translation: X:106.08, Y:5.00, Z:-1.12
[[ 9.99401507e-01 -3.29502352e-02  1.05313850e-02  1.06079514e+02]
 [ 3.29488337e-02  9.99456993e-01  3.06601996e-04  5.00377782e+00]
 [-1.05357690e-02  4.05783565e-05  9.99944496e-01 -1.11966617e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.90770263799999
Centerline is valid?  [True, True]
Translation: X:106.14, Y:5.00, Z:-1.12
[[ 9.99375693e-01 -3.37240885e-02  1.05313911e-02  1.06140947e+02]
 [ 3.37227322e-02  9.99431180e-01  3.06391798e-04  5.00365322e+00]
 [-1.05357334e-02  4.89467655e-05  9.99944496e-01 -1.12031296e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 104.96770263799999
Centerline is valid?  [True, True]
Translation: X:106.20, Y:5.00, Z:-1.12
[[ 9.99447507e-01 -3.15241168e-02  1.05313972e-02  1.06202306e+02]
 [ 3.15226405e-02  9.99502991e-01  3.06180394e-04  5.00264217e+00]
 [-1.05358151e-02  2.59662178e-05  9.99944496e-01 -1.12095871e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.027702638
Centerline is valid?  [True, True]
Translation: X:106.26, Y:5.00, Z:-1.12
[[ 9.99482844e-01 -3.03831120e-02  1.05314031e-02  1.06261853e+02]
 [ 3.03815746e-02  9.99538327e-01  3.05977272e-04  5.00174166e+00]
 [-1.05358376e-02  1.41415756e-05  9.99944496e-01 -1.12158542e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.087702638
Centerline is valid?  [True, True]
Translation: X:106.32, Y:5.00, Z:-1.12
[[ 9.99577639e-01 -2.70856791e-02  1.05314031e-02  1.06324331e+02]
 [ 2.70839587e-02  9.99633115e-01  3.05977272e-04  5.00149588e+00]
 [-1.05358269e-02 -2.06159519e-05  9.99944496e-01 -1.12224335e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.14770263799998
Centerline is valid?  [True, True]
Translation: X:106.39, Y:5.00, Z:-1.12
[[ 9.99705093e-01 -2.18818867e-02  1.05314154e-02  1.06385537e+02]
 [ 2.18798819e-02  9.99760560e-01  3.05554371e-04  5.00189324e+00]
 [-1.05355799e-02 -7.50381354e-05  9.99944496e-01 -1.12288774e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.20770263799999
Centerline is valid?  [True, True]
Translation: X:106.45, Y:5.00, Z:-1.12
[[ 9.99797638e-01 -1.71397533e-02  1.05314576e-02  1.06446921e+02]
 [ 1.71375008e-02  9.99853096e-01  3.04091846e-04  5.00285747e+00]
 [-1.05351226e-02 -1.23547445e-04  9.99944496e-01 -1.12353332e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.26770263799999
Centerline is valid?  [True, True]
Translation: X:106.51, Y:5.00, Z:-1.12
[[ 9.99866747e-01 -1.24730608e-02  1.05314636e-02  1.06509009e+02]
 [ 1.24705517e-02  9.99922193e-01  3.03884756e-04  5.00489062e+00]
 [-1.05344346e-02 -1.72511101e-04  9.99944496e-01 -1.12418769e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.32770263799999
Centerline is valid?  [True, True]
Translation: X:106.57, Y:5.01, Z:-1.12
[[ 9.99890568e-01 -1.03894385e-02  1.05314759e-02  1.06571032e+02]
 [ 1.03868184e-02  9.99946010e-01  3.03459797e-04  5.00690324e+00]
 [-1.05340600e-02 -1.94038062e-04  9.99944496e-01 -1.12484117e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.387702638
Centerline is valid?  [True, True]
Translation: X:106.63, Y:5.01, Z:-1.13
[[ 9.99892654e-01 -1.01867122e-02  1.05314906e-02  1.06632178e+02]
 [ 1.01840861e-02  9.99948095e-01  3.02948460e-04  5.00772632e+00]
 [-1.05340300e-02 -1.95662332e-04  9.99944496e-01 -1.12548499e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.447702638
Centerline is valid?  [True, True]
Translation: X:106.69, Y:5.01, Z:-1.13
[[ 9.99919067e-01 -7.13775570e-03  1.05314965e-02  1.06694343e+02]
 [ 7.13496281e-03  9.99974500e-01  3.02743019e-04  5.00912881e+00]
 [-1.05333888e-02 -2.27576681e-04  9.99944496e-01 -1.12613997e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.50770263799998
Centerline is valid?  [True, True]
Translation: X:106.76, Y:5.01, Z:-1.13
[[ 9.99931571e-01 -5.09315520e-03  1.05315113e-02  1.06755006e+02]
 [ 5.09025440e-03  9.99986999e-01  3.02227088e-04  5.01054476e+00]
 [-1.05329137e-02 -2.48598336e-04  9.99944496e-01 -1.12677888e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.56770263799999
Centerline is valid?  [True, True]
Translation: X:106.82, Y:5.01, Z:-1.13
[[ 9.99941747e-01 -2.36424153e-03  1.05315174e-02  1.06816198e+02]
 [ 2.36119171e-03  9.99997167e-01  3.02013468e-04  5.01129733e+00]
 [-1.05322016e-02 -2.77128944e-04  9.99944496e-01 -1.12742341e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 105.62770263799999
Centerline is valid?  [True, True]
Translation: X:106.88, Y:5.01, Z:-1.13
[[ 9.99941590e-01  2.42990560e-03  1.05315266e-02  1.06877167e+02]
 [-2.43321770e-03  9.99996994e-01  3.01692085e-04  5.01252286e+00]
 [-1.05307619e-02 -3.27299960e-04  9.99944496e-01 -1.12806565e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.68770263799999
Centerline is valid?  [True, True]
Translation: X:106.94, Y:5.01, Z:-1.13
[[ 9.99911197e-01  8.16605371e-03  1.05315326e-02  1.06937950e+02]
 [-8.16968137e-03  9.99966582e-01  3.01481686e-04  5.01365182e+00]
 [-1.05287188e-02 -3.87494180e-04  9.99944496e-01 -1.12870599e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.74770263799999
Centerline is valid?  [True, True]
Translation: X:107.00, Y:5.01, Z:-1.13
[[ 9.99853842e-01  1.34677777e-02  1.05315311e-02  1.06997340e+02]
 [-1.34716995e-02  9.99909207e-01  3.01535465e-04  5.01339900e+00]
 [-1.05265139e-02 -4.43369016e-04  9.99944496e-01 -1.12933146e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.807702638
Centerline is valid?  [True, True]
Translation: X:107.06, Y:5.01, Z:-1.13
[[ 9.99775835e-01  1.83675567e-02  1.05315301e-02  1.07057904e+02]
 [-1.83717502e-02  9.99831180e-01  3.01569004e-04  5.01351273e+00]
 [-1.05242131e-02 -4.94984044e-04  9.99944496e-01 -1.12996938e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.86770263799998
Centerline is valid?  [True, True]
Translation: X:107.12, Y:5.01, Z:-1.13
[[ 9.99690974e-01  2.25176249e-02  1.05315305e-02  1.07117005e+02]
 [-2.25220480e-02  9.99746301e-01  3.01557993e-04  5.01092285e+00]
 [-1.05220682e-02 -5.38656438e-04  9.99944496e-01 -1.13059106e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.92770263799999
Centerline is valid?  [True, True]
Translation: X:107.18, Y:5.01, Z:-1.13
[[ 9.99630523e-01  2.50580219e-02  1.05315276e-02  1.07176241e+02]
 [-2.50625866e-02  9.99685839e-01  3.01657742e-04  5.00810036e+00]
 [-1.05206601e-02 -5.65493609e-04  9.99944496e-01 -1.13121417e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 105.98770263799999
Centerline is valid?  [True, True]
Translation: X:107.24, Y:5.01, Z:-1.13
[[ 9.99607419e-01  2.59633512e-02  1.05315236e-02  1.07236269e+02]
 [-2.59679674e-02  9.99662730e-01  3.01797584e-04  5.00851513e+00]
 [-1.05201359e-02 -5.75161366e-04  9.99944496e-01 -1.13184663e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.04770263799999
Centerline is valid?  [True, True]
Translation: X:107.30, Y:5.01, Z:-1.13
[[ 9.99559232e-01  2.77566015e-02  1.05315208e-02  1.07297176e+02]
 [-2.77613180e-02  9.99614535e-01  3.01896518e-04  5.00695784e+00]
 [-1.05190816e-02 -5.94132349e-04  9.99944496e-01 -1.13248771e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.10770263799999
Centerline is valid?  [True, True]
Translation: X:107.35, Y:5.00, Z:-1.13
[[ 9.99505060e-01  2.96432508e-02  1.05315207e-02  1.07354932e+02]
 [-2.96480718e-02  9.99560354e-01  3.01899226e-04  5.00470198e+00]
 [-1.05179413e-02 -6.13989085e-04  9.99944496e-01 -1.13309533e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.167702638
Centerline is valid?  [True, True]
Translation: X:107.41, Y:5.00, Z:-1.13
[[ 9.99523077e-01  2.90294060e-02  1.05315066e-02  1.07414324e+02]
 [-2.90341981e-02  9.99578373e-01  3.02387925e-04  5.00386313e+00]
 [-1.05182881e-02 -6.08017560e-04  9.99944496e-01 -1.13372099e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.227702638
Centerline is valid?  [True, True]
Translation: X:107.47, Y:5.00, Z:-1.13
[[ 9.99608219e-01  2.59325106e-02  1.05315038e-02  1.07474365e+02]
 [-2.59371324e-02  9.99663530e-01  3.02486276e-04  4.99745911e+00]
 [-1.05201161e-02 -5.75524777e-04  9.99944496e-01 -1.13435149e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.28770263799998
Centerline is valid?  [True, True]
Translation: X:107.53, Y:5.00, Z:-1.13
[[ 9.99609833e-01  2.58702282e-02  1.05315011e-02  1.07533218e+02]
 [-2.58748475e-02  9.99665144e-01  3.02582388e-04  4.99914982e+00]
 [-1.05201467e-02 -5.74965315e-04  9.99944496e-01 -1.13497192e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.34770263799999
Centerline is valid?  [True, True]
Translation: X:107.59, Y:5.00, Z:-1.14
[[ 9.99612715e-01  2.57586469e-02  1.05314884e-02  1.07591273e+02]
 [-2.57632647e-02  9.99668026e-01  3.03024101e-04  4.99672603e+00]
 [-1.05201867e-02 -5.74232267e-04  9.99944496e-01 -1.13558298e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.40770263799999
Centerline is valid?  [True, True]
Translation: X:107.65, Y:5.00, Z:-1.14
[[ 9.99618362e-01  2.55385795e-02  1.05314753e-02  1.07649769e+02]
 [-2.55431899e-02  9.99673673e-01  3.03477869e-04  5.00058131e+00]
 [-1.05202882e-02 -5.72369523e-04  9.99944496e-01 -1.13620059e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.46770263799999
Centerline is valid?  [True, True]
Translation: X:107.71, Y:5.00, Z:-1.14
[[ 9.99607919e-01  2.59441127e-02  1.05314404e-02  1.07708648e+02]
 [-2.59487582e-02  9.99663228e-01  3.04683775e-04  4.99888395e+00]
 [-1.05199889e-02 -5.77842114e-04  9.99944496e-01 -1.13682115e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.527702638
Centerline is valid?  [True, True]
Translation: X:107.77, Y:5.00, Z:-1.14
[[ 9.99733449e-01  2.05455543e-02  1.05314051e-02  1.07769229e+02]
 [-2.05499138e-02  9.99788781e-01  3.05898669e-04  4.99953158e+00]
 [-1.05228958e-02 -5.22236599e-04  9.99944496e-01 -1.13746034e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.587702638
Centerline is valid?  [True, True]
Translation: X:107.83, Y:5.00, Z:-1.14
[[ 9.99741802e-01  2.01350381e-02  1.05314031e-02  1.07828183e+02]
 [-2.01393757e-02  9.99797135e-01  3.05967159e-04  4.99803958e+00]
 [-1.05231060e-02 -5.17984043e-04  9.99944496e-01 -1.13808084e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.64770263799998
Centerline is valid?  [True, True]
Translation: X:107.89, Y:5.00, Z:-1.14
[[ 9.99839053e-01  1.45244314e-02  1.05313640e-02  1.07887650e+02]
 [-1.45284724e-02  9.99894409e-01  3.07305813e-04  5.00416870e+00]
 [-1.05257886e-02 -4.60260985e-04  9.99944496e-01 -1.13871007e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.70770263799999
Centerline is valid?  [True, True]
Translation: X:107.95, Y:5.00, Z:-1.14
[[ 9.99860123e-01  1.29932366e-02  1.05313578e-02  1.07946708e+02]
 [-1.29971951e-02  9.99915486e-01  3.07520825e-04  5.00301546e+00]
 [-1.05264720e-02 -4.44355921e-04  9.99944496e-01 -1.13933189e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.76770263799999
Centerline is valid?  [True, True]
Translation: X:108.01, Y:5.00, Z:-1.14
[[ 9.99826017e-01  1.53956671e-02  1.05313542e-02  1.08006524e+02]
 [-1.53997599e-02  9.99881369e-01  3.07643159e-04  5.00218168e+00]
 [-1.05253685e-02 -4.69769959e-04  9.99944496e-01 -1.13996170e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 106.82770263799999
Centerline is valid?  [True, True]
Translation: X:108.07, Y:5.00, Z:-1.14
[[ 9.99857609e-01  1.31853259e-02  1.05313513e-02  1.08065088e+02]
 [-1.31892974e-02  9.99912970e-01  3.07741971e-04  5.00460284e+00]
 [-1.05263771e-02 -4.46599276e-04  9.99944496e-01 -1.14057932e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.887702638
Centerline is valid?  [True, True]
Translation: X:108.12, Y:5.01, Z:-1.14
[[ 9.99884554e-01  1.09530616e-02  1.05313426e-02  1.08124543e+02]
 [-1.09569126e-02  9.99939924e-01  3.08038195e-04  5.00591949e+00]
 [-1.05273360e-02 -4.23393634e-04  9.99944496e-01 -1.14120614e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 106.947702638
Centerline is valid?  [True, True]
Translation: X:108.18, Y:5.01, Z:-1.14
[[ 9.99916709e-01  7.46102339e-03  1.05313358e-02  1.08184352e+02]
 [-7.46468343e-03  9.99972091e-01  3.08272776e-04  5.01077683e+00]
 [-1.05287418e-02 -3.86860188e-04  9.99944496e-01 -1.14183772e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.00770263799998
Centerline is valid?  [True, True]
Translation: X:108.24, Y:5.01, Z:-1.14
[[ 9.99936608e-01  3.98392772e-03  1.05313289e-02  1.08244395e+02]
 [-3.98739764e-03  9.99992003e-01  3.08508477e-04  5.00773501e+00]
 [-1.05300156e-02 -3.50481515e-04  9.99944496e-01 -1.14246933e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.06770263799999
Centerline is valid?  [True, True]
Translation: X:108.31, Y:5.01, Z:-1.14
[[ 9.99944539e-01  1.00795837e-04  1.05313260e-02  1.08305245e+02]
 [-1.04051653e-04  9.99999947e-01  3.08607967e-04  5.00745952e+00]
 [-1.05312943e-02 -3.09686653e-04  9.99944496e-01 -1.14311020e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.12770263799999
Centerline is valid?  [True, True]
Translation: X:108.36, Y:5.01, Z:-1.14
[[ 9.99928534e-01 -5.65842948e-03  1.05313261e-02  1.08364494e+02]
 [ 5.65549289e-03  9.99983960e-01  3.08604281e-04  5.00842560e+00]
 [-1.05329034e-02 -2.49022386e-04  9.99944496e-01 -1.14373449e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.18770263799999
Centerline is valid?  [True, True]
Translation: X:108.43, Y:5.01, Z:-1.14
[[ 9.99912954e-01 -7.94832878e-03  1.05313263e-02  1.08426497e+02]
 [ 7.94551919e-03  9.99968386e-01  3.08597071e-04  5.00774151e+00]
 [-1.05334462e-02 -2.24893353e-04  9.99944496e-01 -1.14438729e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.24770263799999
Centerline is valid?  [True, True]
Translation: X:108.49, Y:5.01, Z:-1.15
[[ 9.99908605e-01 -8.47772432e-03  1.05313382e-02  1.08485883e+02]
 [ 8.47494839e-03  9.99964039e-01  3.08188089e-04  5.00902318e+00]
 [-1.05335723e-02 -2.18907374e-04  9.99944496e-01 -1.14501281e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.307702638
Centerline is valid?  [True, True]
Translation: X:108.55, Y:5.01, Z:-1.15
[[ 9.99923362e-01 -6.50853103e-03  1.05313382e-02  1.08546216e+02]
 [ 6.50564591e-03  9.99978791e-01  3.08190907e-04  5.00936254e+00]
 [-1.05331207e-02 -2.39654131e-04  9.99944496e-01 -1.14564834e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.36770263799998
Centerline is valid?  [True, True]
Translation: X:108.61, Y:5.01, Z:-1.15
[[ 9.99931490e-01 -5.10943183e-03  1.05313459e-02  1.08608506e+02]
 [ 5.10647192e-03  9.99986914e-01  3.07927665e-04  5.01343339e+00]
 [-1.05327814e-02 -2.54128546e-04  9.99944496e-01 -1.14630543e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.42770263799999
Centerline is valid?  [True, True]
Translation: X:108.67, Y:5.02, Z:-1.15
[[ 9.99941015e-01 -2.65648420e-03  1.05313612e-02  1.08669762e+02]
 [ 2.65339386e-03  9.99996432e-01  3.07402673e-04  5.01539650e+00]
 [-1.05321402e-02 -2.79440692e-04  9.99944496e-01 -1.14695076e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.48770263799999
Centerline is valid?  [True, True]
Translation: X:108.73, Y:5.02, Z:-1.15
[[ 9.99940595e-01  2.81007975e-03  1.05313643e-02  1.08730989e+02]
 [-2.81347189e-03  9.99995995e-01  3.07297075e-04  5.01729654e+00]
 [-1.05304586e-02 -3.36908517e-04  9.99944496e-01 -1.14759611e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.54770263799999
Centerline is valid?  [True, True]
Translation: X:108.79, Y:5.02, Z:-1.15
[[ 9.99941227e-01  2.57553333e-03  1.05313705e-02  1.08789962e+02]
 [-2.57891021e-03  9.99996627e-01  3.07082253e-04  5.01677954e+00]
 [-1.05305441e-02 -3.34223664e-04  9.99944496e-01 -1.14821688e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.60770263799999
Centerline is valid?  [True, True]
Translation: X:108.85, Y:5.02, Z:-1.15
[[ 9.99930709e-01  5.26009251e-03  1.05313577e-02  1.08848505e+02]
 [-5.26362274e-03  9.99986100e-01  3.07521472e-04  5.02107619e+00]
 [-1.05295937e-02 -3.62933257e-04  9.99944496e-01 -1.14883512e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.667702638
Centerline is valid?  [True, True]
Translation: X:108.91, Y:5.02, Z:-1.15
[[ 9.99918547e-01  7.21044153e-03  1.05313128e-02  1.08907825e+02]
 [-7.21409588e-03  9.99973930e-01  3.09051097e-04  5.02212300e+00]
 [-1.05288099e-02 -3.84999824e-04  9.99944496e-01 -1.14946139e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.727702638
Centerline is valid?  [True, True]
Translation: X:108.97, Y:5.02, Z:-1.15
[[ 9.99886842e-01  1.07422317e-02  1.05313033e-02  1.08967484e+02]
 [-1.07460851e-02  9.99942211e-01  3.09376429e-04  5.02353128e+00]
 [-1.05273713e-02 -4.22511701e-04  9.99944496e-01 -1.15009039e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.78770263799998
Centerline is valid?  [True, True]
Translation: X:109.03, Y:5.03, Z:-1.15
[[ 9.99849901e-01  1.37574462e-02  1.05313035e-02  1.09026481e+02]
 [-1.37614664e-02  9.99905259e-01  3.09367812e-04  5.03018383e+00]
 [-1.05260497e-02 -4.54247556e-04  9.99944496e-01 -1.15071380e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.84770263799999
Centerline is valid?  [True, True]
Translation: X:109.08, Y:5.03, Z:-1.15
[[ 9.99837429e-01  1.46358175e-02  1.05312936e-02  1.09084890e+02]
 [-1.46398899e-02  9.99892783e-01  3.09706488e-04  5.03103035e+00]
 [-1.05256316e-02 -4.63833117e-04  9.99944496e-01 -1.15132948e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.90770263799999
Centerline is valid?  [True, True]
Translation: X:109.14, Y:5.04, Z:-1.15
[[ 9.99822420e-01  1.56275570e-02  1.05312679e-02  1.09144672e+02]
 [-1.56316935e-02  9.99877769e-01  3.10574808e-04  5.03501831e+00]
 [-1.05251272e-02 -4.75141208e-04  9.99944496e-01 -1.15196102e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 107.96770263799999
Centerline is valid?  [True, True]
Translation: X:109.20, Y:5.04, Z:-1.15
[[ 9.99841703e-01  1.43408958e-02  1.05312615e-02  1.09202550e+02]
 [-1.43449634e-02  9.99897057e-01  3.10794652e-04  5.03877203e+00]
 [-1.05257203e-02 -4.61816014e-04  9.99944496e-01 -1.15257191e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 108.027702638
Centerline is valid?  [True, True]
Translation: X:109.26, Y:5.04, Z:-1.15
[[ 9.99892995e-01  1.01534095e-02  1.05312454e-02  1.09262178e+02]
 [-1.01572509e-02  9.99948365e-01  3.11337343e-04  5.03816980e+00]
 [-1.05275405e-02 -4.18272530e-04  9.99944496e-01 -1.15320014e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.087702638
Centerline is valid?  [True, True]
Translation: X:109.32, Y:5.04, Z:-1.15
[[ 9.99936938e-01  3.90026661e-03  1.05312375e-02  1.09320600e+02]
 [-3.90376447e-03  9.99992332e-01  3.11605446e-04  5.04182543e+00]
 [-1.05299414e-02 -3.52697266e-04  9.99944496e-01 -1.15381678e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.14770263799998
Centerline is valid?  [True, True]
Translation: X:109.38, Y:5.04, Z:-1.15
[[ 9.99944271e-01 -7.40611875e-04  1.05312292e-02  1.09380894e+02]
 [ 7.37368197e-04  9.99999680e-01  3.11885111e-04  5.04108566e+00]
 [-1.05314568e-02 -3.04102336e-04  9.99944496e-01 -1.15445178e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.20770263799999
Centerline is valid?  [True, True]
Translation: X:109.44, Y:5.04, Z:-1.16
[[ 9.99932906e-01 -4.82461134e-03  1.05312250e-02  1.09441653e+02]
 [ 4.82159252e-03  9.99988327e-01  3.12025069e-04  5.04125800e+00]
 [-1.05326075e-02 -2.61226858e-04  9.99944496e-01 -1.15509185e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.26770263799999
Centerline is valid?  [True, True]
Translation: X:109.50, Y:5.04, Z:-1.16
[[ 9.99935048e-01 -4.35808754e-03  1.05312316e-02  1.09503971e+02]
 [ 4.35504520e-03  9.99990468e-01  3.11802470e-04  5.04435844e+00]
 [-1.05324901e-02 -2.65918227e-04  9.99944496e-01 -1.15574895e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.32770263799999
Centerline is valid?  [True, True]
Translation: X:109.56, Y:5.04, Z:-1.16
[[ 9.99866488e-01 -1.24939916e-02  1.05312438e-02  1.09564883e+02]
 [ 1.24914046e-02  9.99921931e-01  3.11390751e-04  5.04496301e+00]
 [-1.05343122e-02 -1.79799149e-04  9.99944496e-01 -1.15639034e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.387702638
Centerline is valid?  [True, True]
Translation: X:109.63, Y:5.04, Z:-1.16
[[ 9.99816681e-01 -1.59905211e-02  1.05312466e-02  1.09626675e+02]
 [ 1.59881291e-02  9.99872133e-01  3.11295197e-04  5.04461836e+00]
 [-1.05348778e-02 -1.42863200e-04  9.99944496e-01 -1.15704093e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.447702638
Centerline is valid?  [True, True]
Translation: X:109.69, Y:5.05, Z:-1.16
[[ 9.99819516e-01 -1.58122841e-02  1.05312911e-02  1.09689279e+02]
 [ 1.58098981e-02  9.99874968e-01  3.09782052e-04  5.04536910e+00]
 [-1.05348728e-02 -1.43227501e-04  9.99944496e-01 -1.15769933e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.50770263799998
Centerline is valid?  [True, True]
Translation: X:109.75, Y:5.05, Z:-1.16
[[ 9.99835584e-01 -1.47613348e-02  1.05313203e-02  1.09750488e+02]
 [ 1.47589010e-02  9.99891034e-01  3.08788549e-04  5.05023045e+00]
 [-1.05347309e-02 -1.53307067e-04  9.99944496e-01 -1.15834471e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.56770263799999
Centerline is valid?  [True, True]
Translation: X:109.81, Y:5.05, Z:-1.16
[[ 9.99875011e-01 -1.17920389e-02  1.05313466e-02  1.09812939e+02]
 [ 1.17894499e-02  9.99930455e-01  3.07888150e-04  5.05151698e+00]
 [-1.05342448e-02 -1.83690884e-04  9.99944496e-01 -1.15900213e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.62770263799999
Centerline is valid?  [True, True]
Translation: X:109.87, Y:5.06, Z:-1.16
[[ 9.99922760e-01 -6.60038454e-03  1.05313598e-02  1.09873029e+02]
 [ 6.59751245e-03  9.99978189e-01  3.07436130e-04  5.05746197e+00]
 [-1.05331593e-02 -2.37931606e-04  9.99944496e-01 -1.15963647e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.68770263799999
Centerline is valid?  [True, True]
Translation: X:109.94, Y:5.06, Z:-1.16
[[ 9.99924387e-01 -6.34907545e-03  1.05313603e-02  1.09935272e+02]
 [ 6.34618962e-03  9.99979815e-01  3.07417949e-04  5.06179026e+00]
 [-1.05330996e-02 -2.40560694e-04  9.99944496e-01 -1.16029333e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.74770263799999
Centerline is valid?  [True, True]
Translation: X:110.00, Y:5.06, Z:-1.16
[[ 9.99920045e-01 -6.99954659e-03  1.05313838e-02  1.09998136e+02]
 [ 6.99670531e-03  9.99975476e-01  3.06611732e-04  5.06467882e+00]
 [-1.05332717e-02 -2.32902228e-04  9.99944496e-01 -1.16095566e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.807702638
Centerline is valid?  [True, True]
Translation: X:110.06, Y:5.07, Z:-1.16
[[ 9.99938949e-01 -3.34477212e-03  1.05314356e-02  1.10058750e+02]
 [ 3.34174707e-03  9.99994370e-01  3.04823520e-04  5.07340406e+00]
 [-1.05323958e-02 -2.69611517e-04  9.99944496e-01 -1.16159530e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.86770263799998
Centerline is valid?  [True, True]
Translation: X:110.12, Y:5.08, Z:-1.16
[[ 9.99922239e-01 -6.67861449e-03  1.05314363e-02  1.10118157e+02]
 [ 6.67577450e-03  9.99977670e-01  3.04798209e-04  5.07982057e+00]
 [-1.05332368e-02 -2.34469014e-04  9.99944496e-01 -1.16222290e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.92770263799999
Centerline is valid?  [True, True]
Translation: X:110.18, Y:5.09, Z:-1.16
[[ 9.99910761e-01 -8.21947041e-03  1.05314332e-02  1.10179841e+02]
 [ 8.21671472e-03  9.99966196e-01  3.04905622e-04  5.08603283e+00]
 [-1.05335833e-02 -2.18344630e-04  9.99944496e-01 -1.16287454e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 108.98770263799999
Centerline is valid?  [True, True]
Translation: X:110.24, Y:5.09, Z:-1.16
[[ 9.99911866e-01 -8.08390064e-03  1.05314425e-02  1.10241496e+02]
 [ 8.08114081e-03  9.99967301e-01  3.04585053e-04  5.08986902e+00]
 [-1.05335603e-02 -2.19452139e-04  9.99944496e-01 -1.16352480e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.04770263799999
Centerline is valid?  [True, True]
Translation: X:110.30, Y:5.10, Z:-1.16
[[ 9.99918892e-01 -7.16224147e-03  1.05314548e-02  1.10302319e+02]
 [ 7.15943503e-03  9.99974325e-01  3.04159109e-04  5.10054490e+00]
 [-1.05333628e-02 -2.28735174e-04  9.99944496e-01 -1.16416830e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.10770263799999
Centerline is valid?  [True, True]
Translation: X:110.36, Y:5.10, Z:-1.16
[[ 9.99936804e-01 -3.93386982e-03  1.05314639e-02  1.10364503e+02]
 [ 3.93088777e-03  9.99992228e-01  3.03840867e-04  5.10411961e+00]
 [-1.05325774e-02 -2.62423662e-04  9.99944496e-01 -1.16482405e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.167702638
Centerline is valid?  [True, True]
Translation: X:110.43, Y:5.11, Z:-1.17
[[ 9.99924464e-01 -6.33669638e-03  1.05314761e-02  1.10426852e+02]
 [ 6.33385195e-03  9.99979895e-01  3.03420119e-04  5.10881816e+00]
 [-1.05331870e-02 -2.36692390e-04  9.99944496e-01 -1.16548180e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 109.227702638
Centerline is valid?  [True, True]
Translation: X:110.49, Y:5.11, Z:-1.17
[[ 9.99937430e-01 -3.77155317e-03  1.05314908e-02  1.10489173e+02]
 [ 3.76857194e-03  9.99992853e-01  3.02908023e-04  5.11293181e+00]
 [-1.05325580e-02 -2.63200389e-04  9.99944496e-01 -1.16613899e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.28770263799998
Centerline is valid?  [True, True]
Translation: X:110.55, Y:5.12, Z:-1.17
[[ 9.99942415e-01 -2.06260645e-03  1.05315055e-02  1.10550762e+02]
 [ 2.05953590e-03  9.99997833e-01  3.02395046e-04  5.11615683e+00]
 [-1.05321064e-02 -2.80687619e-04  9.99944496e-01 -1.16678820e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.34770263799999
Centerline is valid?  [True, True]
Translation: X:110.61, Y:5.12, Z:-1.17
[[ 9.99944284e-01 -7.18877929e-04  1.05315265e-02  1.10612240e+02]
 [ 7.15740625e-04  9.99999698e-01  3.01662411e-04  5.11981008e+00]
 [-1.05317402e-02 -2.94107762e-04  9.99944496e-01 -1.16743620e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.40770263799999
Centerline is valid?  [True, True]
Translation: X:110.67, Y:5.13, Z:-1.17
[[ 9.99935798e-01  4.18169727e-03  1.05315290e-02  1.10672056e+02]
 [-4.18510518e-03  9.99991197e-01  3.01573749e-04  5.12513843e+00]
 [-1.05301752e-02 -3.45629944e-04  9.99944496e-01 -1.16806772e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.46770263799999
Centerline is valid?  [True, True]
Translation: X:110.73, Y:5.13, Z:-1.17
[[ 9.99929306e-01  5.51986368e-03  1.05315315e-02  1.10732553e+02]
 [-5.52334482e-03  9.99984701e-01  3.01488062e-04  5.12820179e+00]
 [-1.05297062e-02 -3.59636029e-04  9.99944496e-01 -1.16870574e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.527702638
Centerline is valid?  [True, True]
Translation: X:110.79, Y:5.13, Z:-1.17
[[ 9.99900463e-01  9.38891991e-03  1.05315303e-02  1.10790666e+02]
 [-9.39261582e-03  9.99955843e-01  3.01530715e-04  5.13107503e+00]
 [-1.05282342e-02 -4.00419319e-04  9.99944496e-01 -1.16931870e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.587702638
Centerline is valid?  [True, True]
Translation: X:110.85, Y:5.13, Z:-1.17
[[ 9.99866707e-01  1.24762017e-02  1.05315150e-02  1.10850454e+02]
 [-1.24800742e-02  9.99922075e-01  3.02062279e-04  5.13397814e+00]
 [-1.05269258e-02 -4.33456105e-04  9.99944496e-01 -1.16994971e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.64770263799998
Centerline is valid?  [True, True]
Translation: X:110.91, Y:5.14, Z:-1.17
[[ 9.99837707e-01  1.46166648e-02  1.05315143e-02  1.10909450e+02]
 [-1.46206561e-02  9.99893067e-01  3.02087729e-04  5.13533236e+00]
 [-1.05259726e-02 -4.56016351e-04  9.99944496e-01 -1.17057149e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.70770263799999
Centerline is valid?  [True, True]
Translation: X:110.97, Y:5.14, Z:-1.17
[[ 9.99819138e-01  1.58360008e-02  1.05315136e-02  1.10966011e+02]
 [-1.58400598e-02  9.99874493e-01  3.02112195e-04  5.13796455e+00]
 [-1.05254076e-02 -4.68877360e-04  9.99944496e-01 -1.17116801e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.76770263799999
Centerline is valid?  [True, True]
Translation: X:111.03, Y:5.14, Z:-1.17
[[ 9.99773339e-01  1.85029649e-02  1.05314696e-02  1.11025695e+02]
 [-1.85071877e-02  9.99828681e-01  3.03639540e-04  5.14167816e+00]
 [-1.05240471e-02 -4.98478600e-04  9.99944496e-01 -1.17179900e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.82770263799999
Centerline is valid?  [True, True]
Translation: X:111.08, Y:5.14, Z:-1.17
[[ 9.99778693e-01  1.82113620e-02  1.05314696e-02  1.11084501e+02]
 [-1.82155686e-02  9.99834037e-01  3.03639540e-04  5.14310954e+00]
 [-1.05241920e-02 -4.95409048e-04  9.99944496e-01 -1.17241878e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.887702638
Centerline is valid?  [True, True]
Translation: X:111.14, Y:5.15, Z:-1.17
[[ 9.99779201e-01  1.81834367e-02  1.05314678e-02  1.11144805e+02]
 [-1.81876423e-02  9.99834545e-01  3.03699688e-04  5.14566525e+00]
 [-1.05242030e-02 -4.95175201e-04  9.99944496e-01 -1.17305474e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 109.947702638
Centerline is valid?  [True, True]
Translation: X:111.20, Y:5.15, Z:-1.17
[[ 9.99809287e-01  1.64462386e-02  1.05314648e-02  1.11203012e+02]
 [-1.64503492e-02  9.99864638e-01  3.03804298e-04  5.14675009e+00]
 [-1.05250428e-02 -4.76992632e-04  9.99944496e-01 -1.17366819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.00770263799998
Centerline is valid?  [True, True]
Translation: X:111.26, Y:5.15, Z:-1.17
[[ 9.99845146e-01  1.40986941e-02  1.05314493e-02  1.11262094e+02]
 [-1.41026804e-02  9.99900506e-01  3.04341372e-04  5.14839295e+00]
 [-1.05261107e-02 -4.52815907e-04  9.99944496e-01 -1.17429140e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.06770263799999
Centerline is valid?  [True, True]
Translation: X:111.32, Y:5.15, Z:-1.17
[[ 9.99864170e-01  1.26779176e-02  1.05314462e-02  1.11322535e+02]
 [-1.26818263e-02  9.99919536e-01  3.04449099e-04  5.14831027e+00]
 [-1.05267390e-02 -4.37965717e-04  9.99944496e-01 -1.17492803e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.12770263799999
Centerline is valid?  [True, True]
Translation: X:111.38, Y:5.15, Z:-1.18
[[ 9.99894017e-01  1.00520169e-02  1.05314456e-02  1.11382850e+02]
 [-1.00557804e-02  9.99949393e-01  3.04468151e-04  5.14830009e+00]
 [-1.05278521e-02 -4.10337788e-04  9.99944496e-01 -1.17556328e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.18770263799999
Centerline is valid?  [True, True]
Translation: X:111.44, Y:5.15, Z:-1.18
[[ 9.99932147e-01  4.97904148e-03  1.05314426e-02  1.11443702e+02]
 [-4.98252512e-03  9.99987541e-01  3.04573120e-04  5.14947617e+00]
 [-1.05297949e-02 -3.57025631e-04  9.99944496e-01 -1.17620462e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.24770263799999
Centerline is valid?  [True, True]
Translation: X:111.50, Y:5.15, Z:-1.18
[[ 9.99941155e-01  2.60288114e-03  1.05314451e-02  1.11502553e+02]
 [-2.60623224e-03  9.99996557e-01  3.04487558e-04  5.14927534e+00]
 [-1.05306163e-02 -3.31917033e-04  9.99944496e-01 -1.17682431e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.307702638
Centerline is valid?  [True, True]
Translation: X:111.56, Y:5.15, Z:-1.18
[[ 9.99942058e-01 -2.22929627e-03  1.05314326e-02  1.11562775e+02]
 [ 2.22620843e-03  9.99997476e-01  3.04916426e-04  5.14928235e+00]
 [-1.05320858e-02 -2.81453595e-04  9.99944496e-01 -1.17745892e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.36770263799998
Centerline is valid?  [True, True]
Translation: X:111.63, Y:5.15, Z:-1.18
[[ 9.99932597e-01 -4.88784894e-03  1.05314314e-02  1.11625210e+02]
 [ 4.88490800e-03  9.99988022e-01  3.04958753e-04  5.14954093e+00]
 [-1.05327959e-02 -2.53493124e-04  9.99944496e-01 -1.17811661e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 110.42770263799999
Centerline is valid?  [True, True]
Translation: X:111.69, Y:5.15, Z:-1.18
[[ 9.99885963e-01 -1.08235381e-02  1.05314438e-02  1.11685448e+02]
 [ 1.08209307e-02  9.99941406e-01  3.04529262e-04  5.14930110e+00]
 [-1.05341228e-02 -1.90534510e-04  9.99944496e-01 -1.17875060e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.48770263799999
Centerline is valid?  [True, True]
Translation: X:111.75, Y:5.15, Z:-1.18
[[ 9.99854637e-01 -1.34087117e-02  1.05314435e-02  1.11747702e+02]
 [ 1.34062476e-02  9.99910086e-01  3.04540177e-04  5.14889603e+00]
 [-1.05345801e-02 -1.63308769e-04  9.99944496e-01 -1.17940615e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.54770263799999
Centerline is valid?  [True, True]
Translation: X:111.81, Y:5.15, Z:-1.18
[[ 9.99851511e-01 -1.36397548e-02  1.05314868e-02  1.11809646e+02]
 [ 1.36373193e-02  9.99906962e-01  3.03037018e-04  5.15045827e+00]
 [-1.05346403e-02 -1.59370773e-04  9.99944496e-01 -1.18005779e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.60770263799999
Centerline is valid?  [True, True]
Translation: X:111.87, Y:5.15, Z:-1.18
[[ 9.99874004e-01 -1.18769972e-02  1.05314991e-02  1.11870732e+02]
 [ 1.18744685e-02  9.99929450e-01  3.02608630e-04  5.14975659e+00]
 [-1.05343502e-02 -1.77514548e-04  9.99944496e-01 -1.18070059e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.667702638
Centerline is valid?  [True, True]
Translation: X:111.93, Y:5.15, Z:-1.18
[[ 9.99888460e-01 -1.05903165e-02  1.05315050e-02  1.11932310e+02]
 [ 1.05877186e-02  9.99943903e-01  3.02401559e-04  5.15041056e+00]
 [-1.05341168e-02 -1.90863217e-04  9.99944496e-01 -1.18134916e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.727702638
Centerline is valid?  [True, True]
Translation: X:111.99, Y:5.15, Z:-1.18
[[ 9.99883105e-01 -1.10844023e-02  1.05315117e-02  1.11994555e+02]
 [ 1.10818343e-02  9.99938549e-01  3.02167845e-04  5.14983768e+00]
 [-1.05342139e-02 -1.85424056e-04  9.99944496e-01 -1.18200437e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.78770263799998
Centerline is valid?  [True, True]
Translation: X:112.06, Y:5.15, Z:-1.18
[[ 9.99866949e-01 -1.24567742e-02  1.05315239e-02  1.12055463e+02]
 [ 1.24542868e-02  9.99922397e-01  3.01742985e-04  5.14904619e+00]
 [-1.05344654e-02 -1.70540219e-04  9.99944496e-01 -1.18264527e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.84770263799999
Centerline is valid?  [True, True]
Translation: X:112.12, Y:5.15, Z:-1.18
[[ 9.99865802e-01 -1.25484876e-02  1.05315300e-02  1.12116425e+02]
 [ 1.25460075e-02  9.99921250e-01  3.01530295e-04  5.15054375e+00]
 [-1.05344844e-02 -1.69361175e-04  9.99944496e-01 -1.18328761e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.90770263799999
Centerline is valid?  [True, True]
Translation: X:112.18, Y:5.15, Z:-1.18
[[ 9.99876296e-01 -1.16824055e-02  1.05315330e-02  1.12177074e+02]
 [ 1.16798785e-02  9.99931742e-01  3.01426502e-04  5.14933107e+00]
 [-1.05343355e-02 -1.78382189e-04  9.99944496e-01 -1.18392592e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 110.96770263799999
Centerline is valid?  [True, True]
Translation: X:112.24, Y:5.15, Z:-1.18
[[ 9.99887195e-01 -1.07090923e-02  1.05315391e-02  1.12239685e+02]
 [ 1.07065135e-02  9.99942638e-01  3.01213475e-04  5.15161070e+00]
 [-1.05341607e-02 -1.88423431e-04  9.99944496e-01 -1.18458586e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.027702638
Centerline is valid?  [True, True]
Translation: X:112.30, Y:5.15, Z:-1.19
[[ 9.99914761e-01 -7.71736330e-03  1.05315537e-02  1.12298997e+02]
 [ 7.71462404e-03  9.99970197e-01  3.00700584e-04  5.15235494e+00]
 [-1.05335604e-02 -2.19427975e-04  9.99944496e-01 -1.18521035e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.087702638
Centerline is valid?  [True, True]
Translation: X:112.36, Y:5.15, Z:-1.19
[[ 9.99918232e-01 -7.25366443e-03  1.05315517e-02  1.12360496e+02]
 [ 7.25089873e-03  9.99973667e-01  3.00770184e-04  5.15390515e+00]
 [-1.05334561e-02 -2.24382376e-04  9.99944496e-01 -1.18585859e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.14770263799998
Centerline is valid?  [True, True]
Translation: X:112.42, Y:5.15, Z:-1.19
[[ 9.99916153e-01 -7.53478702e-03  1.05315578e-02  1.12422198e+02]
 [ 7.53203914e-03  9.99971589e-01  3.00557308e-04  5.15465604e+00]
 [-1.05335232e-02 -2.21208002e-04  9.99944496e-01 -1.18650850e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.20770263799999
Centerline is valid?  [True, True]
Translation: X:112.48, Y:5.15, Z:-1.19
[[ 9.99920867e-01 -6.88082632e-03  1.05315803e-02  1.12484347e+02]
 [ 6.87805050e-03  9.99976301e-01  2.99768136e-04  5.15481298e+00]
 [-1.05333933e-02 -2.27307673e-04  9.99944496e-01 -1.18716247e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.26770263799999
Centerline is valid?  [True, True]
Translation: X:112.54, Y:5.16, Z:-1.19
[[ 9.99914077e-01 -7.80536882e-03  1.05315927e-02  1.12544784e+02]
 [ 7.80264886e-03  9.99969514e-01  2.99331319e-04  5.15574554e+00]
 [-1.05336080e-02 -2.17131280e-04  9.99944496e-01 -1.18779893e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.32770263799999
Centerline is valid?  [True, True]
Translation: X:112.61, Y:5.16, Z:-1.19
[[ 9.99907464e-01 -8.61103199e-03  1.05315927e-02  1.12607661e+02]
 [ 8.60835670e-03  9.99962903e-01  2.99331319e-04  5.15571059e+00]
 [-1.05337795e-02 -2.08643913e-04  9.99944496e-01 -1.18846115e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.387702638
Centerline is valid?  [True, True]
Translation: X:112.67, Y:5.16, Z:-1.19
[[ 9.99908662e-01 -8.47070459e-03  1.05316417e-02  1.12669733e+02]
 [ 8.46803977e-03  9.99964101e-01  2.97597018e-04  5.15687740e+00]
 [-1.05337845e-02 -2.08387476e-04  9.99944496e-01 -1.18911386e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.447702638
Centerline is valid?  [True, True]
Translation: X:112.73, Y:5.16, Z:-1.19
[[ 9.99854191e-01 -1.34417291e-02  1.05316627e-02  1.12730514e+02]
 [ 1.34393478e-02  9.99909644e-01  2.96851632e-04  5.15859667e+00]
 [-1.05347013e-02 -1.55269671e-04  9.99944496e-01 -1.18975393e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.50770263799998
Centerline is valid?  [True, True]
Translation: X:112.79, Y:5.16, Z:-1.19
[[ 9.99829822e-01 -1.51463179e-02  1.05316630e-02  1.12791314e+02]
 [ 1.51440312e-02  9.99885279e-01  2.96840463e-04  5.15883950e+00]
 [-1.05349508e-02 -1.37298114e-04  9.99944496e-01 -1.19039436e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.56770263799999
Centerline is valid?  [True, True]
Translation: X:112.85, Y:5.16, Z:-1.19
[[ 9.99843962e-01 -1.41822308e-02  1.05316691e-02  1.12851839e+02]
 [ 1.41798929e-02  9.99899416e-01  2.96624636e-04  5.15685278e+00]
 [-1.05348166e-02 -1.47240411e-04  9.99944496e-01 -1.19103105e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 111.62770263799999
Centerline is valid?  [True, True]
Translation: X:112.91, Y:5.16, Z:-1.19
[[ 9.99849329e-01 -1.37986567e-02  1.05316728e-02  1.12911656e+02]
 [ 1.37962990e-02  9.99904783e-01  2.96493330e-04  5.15535437e+00]
 [-1.05347612e-02 -1.51150551e-04  9.99944496e-01 -1.19166052e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.68770263799999
Centerline is valid?  [True, True]
Translation: X:112.97, Y:5.16, Z:-1.19
[[ 9.99864769e-01 -1.26304384e-02  1.05316758e-02  1.12973721e+02]
 [ 1.26280171e-02  9.99920219e-01  2.96384843e-04  5.15607309e+00]
 [-1.05345791e-02 -1.63350580e-04  9.99944496e-01 -1.19231433e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.74770263799999
Centerline is valid?  [True, True]
Translation: X:113.03, Y:5.16, Z:-1.19
[[ 9.99889860e-01 -1.04571696e-02  1.05316883e-02  1.13033096e+02]
 [ 1.04546324e-02  9.99945305e-01  2.95941915e-04  5.15589041e+00]
 [-1.05342070e-02 -1.85804390e-04  9.99944496e-01 -1.19293928e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.807702638
Centerline is valid?  [True, True]
Translation: X:113.10, Y:5.16, Z:-1.19
[[ 9.99932767e-01 -4.85224343e-03  1.05316858e-02  1.13095230e+02]
 [ 4.84939449e-03  9.99988198e-01  2.96031297e-04  5.15542316e+00]
 [-1.05329979e-02 -2.44939095e-04  9.99944496e-01 -1.19359363e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.86770263799998
Centerline is valid?  [True, True]
Translation: X:113.16, Y:5.16, Z:-1.19
[[ 9.99944107e-01  9.30462268e-04  1.05316981e-02  1.13156058e+02]
 [-9.33627093e-04  9.99999520e-01  2.95592248e-04  5.15571767e+00]
 [-1.05314180e-02 -3.05408405e-04  9.99944496e-01 -1.19423402e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.92770263799999
Centerline is valid?  [True, True]
Translation: X:113.22, Y:5.15, Z:-1.19
[[ 9.99921087e-01  6.84855210e-03  1.05316998e-02  1.13216098e+02]
 [-6.85204419e-03  9.99976481e-01  2.95530614e-04  5.15283465e+00]
 [-1.05294282e-02 -3.67670965e-04  9.99944496e-01 -1.19486547e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 111.98770263799999
Centerline is valid?  [True, True]
Translation: X:113.28, Y:5.15, Z:-1.20
[[ 9.99877035e-01  1.16188326e-02  1.05316990e-02  1.13276578e+02]
 [-1.16225892e-02  9.99932412e-01  2.95559456e-04  5.15268673e+00]
 [-1.05275531e-02 -4.17928724e-04  9.99944496e-01 -1.19550245e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.04770263799999
Centerline is valid?  [True, True]
Translation: X:113.34, Y:5.15, Z:-1.20
[[ 9.99792061e-01  1.74619282e-02  1.05316959e-02  1.13336472e+02]
 [-1.74660095e-02  9.99847414e-01  2.95671289e-04  5.15433132e+00]
 [-1.05249259e-02 -4.79556507e-04  9.99944496e-01 -1.19613384e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.10770263799999
Centerline is valid?  [True, True]
Translation: X:113.40, Y:5.15, Z:-1.20
[[ 9.99744592e-01  1.99958609e-02  1.05316976e-02  1.13396383e+02]
 [-2.00000819e-02  9.99799935e-01  2.95610800e-04  5.15350283e+00]
 [-1.05236795e-02 -5.06170112e-04  9.99944496e-01 -1.19676455e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.167702638
Centerline is valid?  [True, True]
Translation: X:113.46, Y:5.15, Z:-1.20
[[ 9.99722088e-01  2.10909802e-02  1.05316945e-02  1.13456294e+02]
 [-2.10952630e-02  9.99777426e-01  2.95721431e-04  5.15469545e+00]
 [-1.05231133e-02 -5.17808111e-04  9.99944496e-01 -1.19739599e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.227702638
Centerline is valid?  [True, True]
Translation: X:113.52, Y:5.15, Z:-1.20
[[ 9.99689840e-01  2.25678473e-02  1.05316913e-02  1.13516995e+02]
 [-2.25722130e-02  9.99745171e-01  2.95834062e-04  5.15492539e+00]
 [-1.05223312e-02 -5.33465885e-04  9.99944496e-01 -1.19803546e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.28770263799998
Centerline is valid?  [True, True]
Translation: X:113.58, Y:5.16, Z:-1.20
[[ 9.99674419e-01  2.32408969e-02  1.05316900e-02  1.13575282e+02]
 [-2.32453004e-02  9.99729748e-01  2.95881295e-04  5.15683960e+00]
 [-1.05219672e-02 -5.40597259e-04  9.99944496e-01 -1.19864996e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.34770263799999
Centerline is valid?  [True, True]
Translation: X:113.63, Y:5.16, Z:-1.20
[[ 9.99662408e-01  2.37519403e-02  1.05316776e-02  1.13633924e+02]
 [-2.37563767e-02  9.99717734e-01  2.96320419e-04  5.15999713e+00]
 [-1.05216667e-02 -5.46414884e-04  9.99944496e-01 -1.19926887e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.40770263799999
Centerline is valid?  [True, True]
Translation: X:113.69, Y:5.16, Z:-1.20
[[ 9.99695465e-01  2.23173136e-02  1.05316375e-02  1.13692446e+02]
 [-2.23216855e-02  9.99750796e-01  2.97740901e-04  5.16190868e+00]
 [-1.05223681e-02 -5.32734127e-04  9.99944496e-01 -1.19988692e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.46770263799999
Centerline is valid?  [True, True]
Translation: X:113.75, Y:5.16, Z:-1.20
[[ 9.99747740e-01  1.98378859e-02  1.05315930e-02  1.13751129e+02]
 [-1.98421370e-02  9.99803081e-01  2.99304226e-04  5.16392235e+00]
 [-1.05235816e-02 -5.08198035e-04  9.99944496e-01 -1.20050680e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.527702638
Centerline is valid?  [True, True]
Translation: X:113.81, Y:5.17, Z:-1.20
[[ 9.99837399e-01  1.46376356e-02  1.05315864e-02  1.13811229e+02]
 [-1.46416012e-02  9.99892761e-01  2.99536434e-04  5.16872010e+00]
 [-1.05260725e-02 -4.53687017e-04  9.99944496e-01 -1.20114140e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.587702638
Centerline is valid?  [True, True]
Translation: X:113.87, Y:5.17, Z:-1.20
[[ 9.99896614e-01  9.79020122e-03  1.05315809e-02  1.13870643e+02]
 [-9.79390042e-03  9.99951994e-01  2.99730633e-04  5.16833221e+00]
 [-1.05281409e-02 -4.02844900e-04  9.99944496e-01 -1.20176719e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.64770263799998
Centerline is valid?  [True, True]
Translation: X:113.93, Y:5.17, Z:-1.20
[[ 9.99941707e-01  2.38079462e-03  1.05315787e-02  1.13930959e+02]
 [-2.38408418e-03  9.99997113e-01  2.99808497e-04  5.17093736e+00]
 [-1.05308345e-02 -3.24899190e-04  9.99944496e-01 -1.20240329e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.70770263799999
Centerline is valid?  [True, True]
Translation: X:113.99, Y:5.17, Z:-1.20
[[ 9.99937512e-01 -3.74947148e-03  1.05315766e-02  1.13990052e+02]
 [ 3.74652090e-03  9.99992937e-01  2.99880037e-04  5.17011286e+00]
 [-1.05326266e-02 -2.60404526e-04  9.99944496e-01 -1.20302548e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.76770263799999
Centerline is valid?  [True, True]
Translation: X:114.05, Y:5.17, Z:-1.20
[[ 9.99879348e-01 -1.14182456e-02  1.05315703e-02  1.14050625e+02]
 [ 1.14157178e-02  9.99934794e-01  3.00101409e-04  5.17076972e+00]
 [-1.05343102e-02 -1.79839766e-04  9.99944496e-01 -1.20366382e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 112.82770263799999
Centerline is valid?  [True, True]
Translation: X:114.11, Y:5.17, Z:-1.20
[[ 9.99824881e-01 -1.54691330e-02  1.05315710e-02  1.14111408e+02]
 [ 1.54668302e-02  9.99880336e-01  3.00076553e-04  5.17245493e+00]
 [-1.05349527e-02 -1.37133983e-04  9.99944496e-01 -1.20430448e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.887702638
Centerline is valid?  [True, True]
Translation: X:114.17, Y:5.17, Z:-1.20
[[ 9.99767517e-01 -1.88148337e-02  1.05315713e-02  1.14172899e+02]
 [ 1.88127166e-02  9.99822980e-01  3.00068268e-04  5.17282980e+00]
 [-1.05353527e-02 -1.01871042e-04  9.99944496e-01 -1.20495221e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 112.947702638
Centerline is valid?  [True, True]
Translation: X:114.23, Y:5.17, Z:-1.21
[[ 9.99682475e-01 -2.28917851e-02  1.05316128e-02  1.14233793e+02]
 [ 2.28899095e-02  9.99737947e-01  2.98604527e-04  5.17300008e+00]
 [-1.05356885e-02 -5.74420493e-05  9.99944496e-01 -1.20559247e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.00770263799998
Centerline is valid?  [True, True]
Translation: X:114.30, Y:5.17, Z:-1.21
[[ 9.99607229e-01 -2.59706201e-02  1.05316158e-02  1.14295915e+02]
 [ 2.59689166e-02  9.99662706e-01  2.98496211e-04  5.17494379e+00]
 [-1.05358157e-02 -2.48843173e-05  9.99944496e-01 -1.20624725e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.06770263799999
Centerline is valid?  [True, True]
Translation: X:114.36, Y:5.17, Z:-1.21
[[ 9.99527761e-01 -2.88676181e-02  1.05316582e-02  1.14359295e+02]
 [ 2.88660911e-02  9.99583243e-01  2.96995560e-04  5.17415356e+00]
 [-1.05358426e-02  7.15249749e-06  9.99944496e-01 -1.20691338e+00]
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SLAMing on frame at distance 113.12770263799999
Centerline is valid?  [True, True]
Translation: X:114.42, Y:5.18, Z:-1.21
[[ 9.99490007e-01 -3.01464534e-02  1.05317056e-02  1.14421294e+02]
 [ 3.01450153e-02  9.99545492e-01  2.95302277e-04  5.17754323e+00]
 [-1.05358212e-02  2.23267528e-05  9.99944496e-01 -1.20756607e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.18770263799999
Centerline is valid?  [True, True]
Translation: X:114.48, Y:5.18, Z:-1.21
[[ 9.99445089e-01 -3.16005645e-02  1.05317469e-02  1.14482527e+02]
 [ 3.15992227e-02  9.99500577e-01  2.93824405e-04  5.17705772e+00]
 [-1.05357721e-02  3.91336565e-05  9.99944496e-01 -1.20820971e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.24770263799999
Centerline is valid?  [True, True]
Translation: X:114.55, Y:5.18, Z:-1.21
[[ 9.99354273e-01 -3.43528679e-02  1.05317585e-02  1.14545172e+02]
 [ 3.43516833e-02  9.99409764e-01  2.93405665e-04  5.17885371e+00]
 [-1.05356216e-02  6.85674300e-05  9.99944496e-01 -1.20886971e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.307702638
Centerline is valid?  [True, True]
Translation: X:114.61, Y:5.18, Z:-1.21
[[ 9.99364803e-01 -3.40451614e-02  1.05317733e-02  1.14606842e+02]
 [ 3.40439653e-02  9.99420293e-01  2.92874175e-04  5.18249245e+00]
 [-1.05356389e-02  6.58551832e-05  9.99944496e-01 -1.20951990e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.36770263799998
Centerline is valid?  [True, True]
Translation: X:114.67, Y:5.19, Z:-1.21
[[ 9.99371524e-01 -3.38472784e-02  1.05318144e-02  1.14668892e+02]
 [ 3.38460870e-02  9.99427015e-01  2.91389093e-04  5.18538105e+00]
 [-1.05356426e-02  6.52547450e-05  9.99944496e-01 -1.21017313e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.42770263799999
Centerline is valid?  [True, True]
Translation: X:114.73, Y:5.19, Z:-1.21
[[ 9.99407943e-01 -3.27543006e-02  1.05318547e-02  1.14730813e+02]
 [ 3.27530640e-02  9.99463432e-01  2.89924661e-04  5.18815037e+00]
 [-1.05357000e-02  5.51975024e-05  9.99944496e-01 -1.21082497e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.48770263799999
Centerline is valid?  [True, True]
Translation: X:114.79, Y:5.19, Z:-1.21
[[ 9.99469843e-01 -3.08076683e-02  1.05318687e-02  1.14791371e+02]
 [ 3.08063290e-02  9.99525331e-01  2.89416813e-04  5.19225452e+00]
 [-1.05357858e-02  3.51848347e-05  9.99944496e-01 -1.21146359e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.54770263799999
Centerline is valid?  [True, True]
Translation: X:114.85, Y:5.20, Z:-1.21
[[ 9.99507040e-01 -2.95762703e-02  1.05318711e-02  1.14853188e+02]
 [ 2.95748635e-02  9.99562526e-01  2.89326897e-04  5.19690303e+00]
 [-1.05358209e-02  2.22943818e-05  9.99944496e-01 -1.21211596e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.60770263799999
Centerline is valid?  [True, True]
Translation: X:114.91, Y:5.20, Z:-1.21
[[ 9.99539905e-01 -2.84439361e-02  1.05318832e-02  1.14914231e+02]
 [ 2.84424711e-02  9.99595389e-01  2.88886057e-04  5.19995174e+00]
 [-1.05358390e-02  1.07996427e-05  9.99944496e-01 -1.21275942e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.667702638
Centerline is valid?  [True, True]
Translation: X:114.98, Y:5.20, Z:-1.21
[[ 9.99558782e-01 -2.77726565e-02  1.05319222e-02  1.14976361e+02]
 [ 2.77711692e-02  9.99614265e-01  2.87458647e-04  5.20419221e+00]
 [-1.05358432e-02  5.15197902e-06  9.99944496e-01 -1.21341390e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.727702638
Centerline is valid?  [True, True]
Translation: X:115.04, Y:5.21, Z:-1.21
[[ 9.99598201e-01 -2.63156534e-02  1.05319630e-02  1.15037936e+02]
 [ 2.63141012e-02  9.99653683e-01  2.85956396e-04  5.21030984e+00]
 [-1.05358407e-02 -8.70235947e-06  9.99944496e-01 -1.21406302e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.78770263799998
Centerline is valid?  [True, True]
Translation: X:115.10, Y:5.21, Z:-1.21
[[ 9.99597500e-01 -2.63422537e-02  1.05320006e-02  1.15101060e+02]
 [ 2.63407176e-02  9.99652983e-01  2.84565364e-04  5.21425792e+00]
 [-1.05358419e-02 -7.03037377e-06  9.99944496e-01 -1.21472791e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.84770263799999
Centerline is valid?  [True, True]
Translation: X:115.16, Y:5.22, Z:-1.22
[[ 9.99529839e-01 -2.87954356e-02  1.05320457e-02  1.15162643e+02]
 [ 2.87940533e-02  9.99585325e-01  2.82886207e-04  5.21841452e+00]
 [-1.05358241e-02  2.05070797e-05  9.99944496e-01 -1.21537638e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.90770263799999
Centerline is valid?  [True, True]
Translation: X:115.22, Y:5.22, Z:-1.22
[[ 9.99485157e-01 -3.03067101e-02  1.05320580e-02  1.15224366e+02]
 [ 3.03054166e-02  9.99540645e-01  2.82424961e-04  5.22186908e+00]
 [-1.05357795e-02  3.68988502e-05  9.99944496e-01 -1.21602709e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 113.96770263799999
Centerline is valid?  [True, True]
Translation: X:115.29, Y:5.22, Z:-1.22
[[ 9.99439571e-01 -3.17745160e-02  1.05320718e-02  1.15285647e+02]
 [ 3.17733094e-02  9.99495061e-01  2.81910898e-04  5.22412823e+00]
 [-1.05357113e-02  5.28858698e-05  9.99944496e-01 -1.21667277e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 114.027702638
Centerline is valid?  [True, True]
Translation: X:115.35, Y:5.23, Z:-1.22
[[ 9.99382747e-01 -3.35141839e-02  1.05320775e-02  1.15346993e+02]
 [ 3.35130762e-02  9.99438239e-01  2.81698103e-04  5.22746455e+00]
 [-1.05356019e-02  7.14380913e-05  9.99944496e-01 -1.21731968e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.087702638
Centerline is valid?  [True, True]
Translation: X:115.41, Y:5.23, Z:-1.22
[[ 9.99327655e-01 -3.51185616e-02  1.05321133e-02  1.15408361e+02]
 [ 3.51175571e-02  9.99383149e-01  2.80354314e-04  5.22791416e+00]
 [-1.05354622e-02  8.96962695e-05  9.99944496e-01 -1.21796510e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.14770263799998
Centerline is valid?  [True, True]
Translation: X:115.47, Y:5.23, Z:-1.22
[[ 9.99243721e-01 -3.74307390e-02  1.05321508e-02  1.15470952e+02]
 [ 3.74298778e-02  9.99299218e-01  2.78938366e-04  5.23023345e+00]
 [-1.05352109e-02  1.15489705e-04  9.99944496e-01 -1.21862387e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.20770263799999
Centerline is valid?  [True, True]
Translation: X:115.53, Y:5.23, Z:-1.22
[[ 9.99165563e-01 -3.94620100e-02  1.05321891e-02  1.15532037e+02]
 [ 3.94612769e-02  9.99221062e-01  2.77484003e-04  5.23057654e+00]
 [-1.05349352e-02  1.38361170e-04  9.99944496e-01 -1.21926621e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.26770263799999
Centerline is valid?  [True, True]
Translation: X:115.59, Y:5.23, Z:-1.22
[[ 9.99133876e-01 -4.02563013e-02  1.05322270e-02  1.15594854e+02]
 [ 4.02556276e-02  9.99189376e-01  2.76036905e-04  5.23000969e+00]
 [-1.05348016e-02  1.48183585e-04  9.99944496e-01 -1.21992653e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.32770263799999
Centerline is valid?  [True, True]
Translation: X:115.65, Y:5.23, Z:-1.22
[[ 9.99079599e-01 -4.15815728e-02  1.05322406e-02  1.15654685e+02]
 [ 4.15809782e-02  9.99135099e-01  2.75518341e-04  5.23085487e+00]
 [-1.05345877e-02  1.62676112e-04  9.99944496e-01 -1.22055654e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.387702638
Centerline is valid?  [True, True]
Translation: X:115.72, Y:5.23, Z:-1.22
[[ 9.99135081e-01 -4.02263718e-02  1.05322432e-02  1.15715442e+02]
 [ 4.02257030e-02  9.99190581e-01  2.75416584e-04  5.23082903e+00]
 [-1.05347972e-02  1.48488517e-04  9.99944496e-01 -1.22119640e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.447702638
Centerline is valid?  [True, True]
Translation: X:115.78, Y:5.23, Z:-1.22
[[ 9.99222619e-01 -3.79898587e-02  1.05322486e-02  1.15777087e+02]
 [ 3.79890678e-02  9.99278117e-01  2.75212773e-04  5.23136830e+00]
 [-1.05351008e-02  1.25111477e-04  9.99944496e-01 -1.22184568e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.50770263799998
Centerline is valid?  [True, True]
Translation: X:115.84, Y:5.23, Z:-1.22
[[ 9.99410635e-01 -3.26719196e-02  1.05322849e-02  1.15836943e+02]
 [ 3.26708482e-02  9.99466128e-01  2.73813181e-04  5.22931308e+00]
 [-1.05356081e-02  7.04468775e-05  9.99944496e-01 -1.22247447e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.56770263799999
Centerline is valid?  [True, True]
Translation: X:115.90, Y:5.23, Z:-1.22
[[ 9.99569245e-01 -2.73933397e-02  1.05322826e-02  1.15900296e+02]
 [ 2.73919742e-02  9.99624732e-01  2.73904503e-04  5.23107188e+00]
 [-1.05358333e-02  1.47134954e-05  9.99944496e-01 -1.22314231e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.62770263799999
Centerline is valid?  [True, True]
Translation: X:115.96, Y:5.23, Z:-1.22
[[ 9.99758427e-01 -1.92914022e-02  1.05323268e-02  1.15961507e+02]
 [ 1.92896051e-02  9.99813901e-01  2.72191394e-04  5.23076345e+00]
 [-1.05356177e-02 -6.89612141e-05  9.99944496e-01 -1.22378561e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.68770263799999
Centerline is valid?  [True, True]
Translation: X:116.02, Y:5.23, Z:-1.22
[[ 9.99911407e-01 -8.13920203e-03  1.05323651e-02  1.16022060e+02]
 [ 8.13680203e-03  9.99966859e-01  2.70701648e-04  5.22895492e+00]
 [-1.05342194e-02 -1.84977896e-04  9.99944496e-01 -1.22442176e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.74770263799999
Centerline is valid?  [True, True]
Translation: X:116.08, Y:5.23, Z:-1.23
[[ 9.99940283e-01 -2.91526744e-03  1.05323667e-02  1.16082218e+02]
 [ 2.91257841e-03  9.99995722e-01  2.70640752e-04  5.23263708e+00]
 [-1.05331106e-02 -2.39948246e-04  9.99944496e-01 -1.22505635e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.807702638
Centerline is valid?  [True, True]
Translation: X:116.14, Y:5.23, Z:-1.23
[[ 9.99934760e-01  4.42086464e-03  1.05323672e-02  1.16143437e+02]
 [-4.42396011e-03  9.99990178e-01  2.70620831e-04  5.23294837e+00]
 [-1.05310674e-02 -3.17197948e-04  9.99944496e-01 -1.22570123e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.86770263799998
Centerline is valid?  [True, True]
Translation: X:116.20, Y:5.23, Z:-1.23
[[ 9.99881715e-01  1.12082209e-02  1.05323708e-02  1.16202762e+02]
 [-1.12116910e-02  9.99937110e-01  2.70479987e-04  5.23014053e+00]
 [-1.05286769e-02 -3.88533680e-04  9.99944496e-01 -1.22632522e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.92770263799999
Centerline is valid?  [True, True]
Translation: X:116.26, Y:5.23, Z:-1.23
[[ 9.99826428e-01  1.53682378e-02  1.05323682e-02  1.16262078e+02]
 [-1.53719394e-02  9.99881808e-01  2.70581339e-04  5.23437772e+00]
 [-1.05269650e-02 -4.32437300e-04  9.99944496e-01 -1.22695122e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 114.98770263799999
Centerline is valid?  [True, True]
Translation: X:116.32, Y:5.23, Z:-1.23
[[ 9.99775364e-01  1.83926664e-02  1.05323683e-02  1.16321773e+02]
 [-1.83965355e-02  9.99830733e-01  2.70578178e-04  5.23104952e+00]
 [-1.05256089e-02 -4.64276484e-04  9.99944496e-01 -1.22757909e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.04770263799999
Centerline is valid?  [True, True]
Translation: X:116.38, Y:5.23, Z:-1.23
[[ 9.99703817e-01  2.19396526e-02  1.05323680e-02  1.16382062e+02]
 [-2.19437182e-02  9.99759171e-01  2.70589051e-04  5.23347692e+00]
 [-1.05238949e-02 -5.01628223e-04  9.99944496e-01 -1.22821477e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.10770263799999
Centerline is valid?  [True, True]
Translation: X:116.44, Y:5.24, Z:-1.23
[[ 9.99681729e-01  2.29240141e-02  1.05323705e-02  1.16439850e+02]
 [-2.29281332e-02  9.99737079e-01  2.70491101e-04  5.23519052e+00]
 [-1.05234006e-02 -5.11892606e-04  9.99944496e-01 -1.22882384e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.167702638
Centerline is valid?  [True, True]
Translation: X:116.50, Y:5.23, Z:-1.23
[[ 9.99681723e-01  2.29242635e-02  1.05323328e-02  1.16497320e+02]
 [-2.29283979e-02  9.99737073e-01  2.71952959e-04  5.23346420e+00]
 [-1.05233292e-02 -5.13355920e-04  9.99944496e-01 -1.22942984e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 115.22770263799998
Centerline is valid?  [True, True]
Translation: X:116.56, Y:5.23, Z:-1.23
[[ 9.99668733e-01  2.34839046e-02  1.05323212e-02  1.16556116e+02]
 [-2.34880747e-02  9.99724080e-01  2.72402415e-04  5.23488869e+00]
 [-1.05230180e-02 -5.19696124e-04  9.99944496e-01 -1.23004987e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.28770263799998
Centerline is valid?  [True, True]
Translation: X:116.62, Y:5.23, Z:-1.23
[[ 9.99654762e-01  2.40712918e-02  1.05323165e-02  1.16615505e+02]
 [-2.40754964e-02  9.99710106e-01  2.72583331e-04  5.23234180e+00]
 [-1.05227018e-02 -5.26059972e-04  9.99944496e-01 -1.23067484e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.34770263799999
Centerline is valid?  [True, True]
Translation: X:116.67, Y:5.23, Z:-1.23
[[ 9.99643879e-01  2.45190857e-02  1.05323095e-02  1.16674196e+02]
 [-2.45233179e-02  9.99699221e-01  2.72854347e-04  5.23198885e+00]
 [-1.05224514e-02 -5.31044351e-04  9.99944496e-01 -1.23129314e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.40770263799999
Centerline is valid?  [True, True]
Translation: X:116.73, Y:5.23, Z:-1.23
[[ 9.99669951e-01  2.34320470e-02  1.05322785e-02  1.16733530e+02]
 [-2.34362315e-02  9.99725296e-01  2.74042878e-04  5.22752597e+00]
 [-1.05229639e-02 -5.20789348e-04  9.99944496e-01 -1.23191779e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.46770263799999
Centerline is valid?  [True, True]
Translation: X:116.79, Y:5.23, Z:-1.23
[[ 9.99721529e-01  2.11172163e-02  1.05322398e-02  1.16793595e+02]
 [-2.11212882e-02  9.99776883e-01  2.75525543e-04  5.22961533e+00]
 [-1.05240715e-02 -4.97903289e-04  9.99944496e-01 -1.23255215e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.527702638
Centerline is valid?  [True, True]
Translation: X:116.85, Y:5.23, Z:-1.23
[[ 9.99720210e-01  2.11795446e-02  1.05322368e-02  1.16851857e+02]
 [-2.11836212e-02  9.99775564e-01  2.75640403e-04  5.23043800e+00]
 [-1.05240350e-02 -4.98674196e-04  9.99944496e-01 -1.23316613e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.587702638
Centerline is valid?  [True, True]
Translation: X:116.91, Y:5.23, Z:-1.23
[[ 9.99749885e-01  1.97291502e-02  1.05322137e-02  1.16912114e+02]
 [-1.97331557e-02  9.99805244e-01  2.76520118e-04  5.22577917e+00]
 [-1.05247069e-02 -4.84284768e-04  9.99944496e-01 -1.23380018e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.64770263799998
Centerline is valid?  [True, True]
Translation: X:116.97, Y:5.23, Z:-1.23
[[ 9.99817038e-01  1.59675494e-02  1.05322106e-02  1.16972749e+02]
 [-1.59713478e-02  9.99872412e-01  2.76635614e-04  5.22695518e+00]
 [-1.05264496e-02 -4.44798600e-04  9.99944496e-01 -1.23443925e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.70770263799999
Centerline is valid?  [True, True]
Translation: X:117.03, Y:5.23, Z:-1.24
[[ 9.99847093e-01  1.39593478e-02  1.05322130e-02  1.17032451e+02]
 [-1.39630341e-02  9.99902474e-01  2.76545349e-04  5.22847477e+00]
 [-1.05273254e-02 -4.23564712e-04  9.99944496e-01 -1.23506844e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.76770263799999
Centerline is valid?  [True, True]
Translation: X:117.09, Y:5.23, Z:-1.24
[[ 9.99900130e-01  9.42348847e-03  1.05322069e-02  1.17092038e+02]
 [-9.42692593e-03  9.99955527e-01  2.76778014e-04  5.22677126e+00]
 [-1.05291303e-02 -3.76036706e-04  9.99944496e-01 -1.23569576e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.82770263799999
Centerline is valid?  [True, True]
Translation: X:117.15, Y:5.23, Z:-1.24
[[ 9.99927310e-01  5.86927250e-03  1.05322033e-02  1.17151358e+02]
 [-5.87251444e-03  9.99982718e-01  2.76912732e-04  5.22753185e+00]
 [-1.05303960e-02 -3.38743119e-04  9.99944496e-01 -1.23632087e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.887702638
Centerline is valid?  [True, True]
Translation: X:117.21, Y:5.23, Z:-1.24
[[ 9.99938929e-01  3.34834577e-03  1.05321944e-02  1.17211240e+02]
 [-3.35145161e-03  9.99994345e-01  2.77253568e-04  5.22765952e+00]
 [-1.05312065e-02 -3.12534776e-04  9.99944496e-01 -1.23695189e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 115.947702638
Centerline is valid?  [True, True]
Translation: X:117.27, Y:5.23, Z:-1.24
[[ 9.99943417e-01  1.49528029e-03  1.05321914e-02  1.17271067e+02]
 [-1.49828463e-03  9.99998839e-01  2.77367856e-04  5.22772223e+00]
 [-1.05317644e-02 -2.93132382e-04  9.99944496e-01 -1.23758213e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.00770263799998
Centerline is valid?  [True, True]
Translation: X:117.33, Y:5.23, Z:-1.24
[[ 9.99944441e-01 -4.33570221e-04  1.05321846e-02  1.17330416e+02]
 [ 4.30670119e-04  9.99999869e-01  2.77622618e-04  5.22890723e+00]
 [-1.05323036e-02 -2.73071296e-04  9.99944496e-01 -1.23820776e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.06770263799999
Centerline is valid?  [True, True]
Translation: X:117.39, Y:5.23, Z:-1.24
[[ 9.99938128e-01 -3.57963104e-03  1.05321787e-02  1.17390134e+02]
 [ 3.57690296e-03  9.99993564e-01  2.77849338e-04  5.23178317e+00]
 [-1.05331055e-02 -2.40159566e-04  9.99944496e-01 -1.23883773e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.12770263799999
Centerline is valid?  [True, True]
Translation: X:117.45, Y:5.23, Z:-1.24
[[ 9.99935136e-01 -4.33557653e-03  1.05321787e-02  1.17452751e+02]
 [ 4.33289036e-03  9.99990574e-01  2.77849338e-04  5.23355696e+00]
 [-1.05332840e-02 -2.32196540e-04  9.99944496e-01 -1.23949775e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.18770263799999
Centerline is valid?  [True, True]
Translation: X:117.51, Y:5.23, Z:-1.24
[[ 9.99939319e-01 -3.22957871e-03  1.05322194e-02  1.17514993e+02]
 [ 3.22684756e-03  9.99994756e-01  2.76297115e-04  5.23483741e+00]
 [-1.05330565e-02 -2.42294482e-04  9.99944496e-01 -1.24015252e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.24770263799999
Centerline is valid?  [True, True]
Translation: X:117.58, Y:5.24, Z:-1.24
[[ 9.99943146e-01 -1.66656198e-03  1.05322309e-02  1.17575697e+02]
 [ 1.66374882e-03  9.99998578e-01  2.75856369e-04  5.23818578e+00]
 [-1.05326757e-02 -2.58317699e-04  9.99944496e-01 -1.24079251e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.307702638
Centerline is valid?  [True, True]
Translation: X:117.64, Y:5.24, Z:-1.24
[[ 9.99944195e-01 -8.23892625e-04  1.05322316e-02  1.17636488e+02]
 [ 8.21033035e-04  9.99999625e-01  2.75829372e-04  5.24021324e+00]
 [-1.05324549e-02 -2.67166669e-04  9.99944496e-01 -1.24143334e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.36770263799998
Centerline is valid?  [True, True]
Translation: X:117.70, Y:5.24, Z:-1.24
[[ 9.99944526e-01 -1.32288935e-04  1.05322373e-02  1.17697186e+02]
 [ 1.29393309e-04  9.99999954e-01  2.75610757e-04  5.24426917e+00]
 [-1.05322733e-02 -2.74232666e-04  9.99944496e-01 -1.24207362e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 116.42770263799999
Centerline is valid?  [True, True]
Translation: X:117.76, Y:5.25, Z:-1.24
[[ 9.99943794e-01  1.21677226e-03  1.05322431e-02  1.17757792e+02]
 [-1.21974037e-03  9.99999218e-01  2.75392504e-04  5.24510275e+00]
 [-1.05318997e-02 -2.88223627e-04  9.99944496e-01 -1.24271203e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.48770263799999
Centerline is valid?  [True, True]
Translation: X:117.82, Y:5.25, Z:-1.24
[[ 9.99942012e-01  2.24602960e-03  1.05322431e-02  1.17817546e+02]
 [-2.24905475e-03  9.99997433e-01  2.75392504e-04  5.24577716e+00]
 [-1.05315975e-02 -2.99064126e-04  9.99944496e-01 -1.24334160e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.54770263799999
Centerline is valid?  [True, True]
Translation: X:117.88, Y:5.25, Z:-1.24
[[ 9.99943469e-01  1.45970191e-03  1.05322403e-02  1.17876276e+02]
 [-1.46268461e-03  9.99998892e-01  2.75499482e-04  5.24857507e+00]
 [-1.05318264e-02 -2.90889254e-04  9.99944496e-01 -1.24396104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.60770263799999
Centerline is valid?  [True, True]
Translation: X:117.94, Y:5.25, Z:-1.24
[[ 9.99940725e-01 -2.76010177e-03  1.05322290e-02  1.17935918e+02]
 [ 2.75734848e-03  9.99996160e-01  2.75927384e-04  5.24721836e+00]
 [-1.05329502e-02 -2.46870003e-04  9.99944496e-01 -1.24458919e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.667702638
Centerline is valid?  [True, True]
Translation: X:118.00, Y:5.25, Z:-1.25
[[ 9.99931358e-01 -5.13339001e-03  1.05322233e-02  1.17997535e+02]
 [ 5.13076599e-03  9.99986799e-01  2.76147060e-04  5.24830921e+00]
 [-1.05335018e-02 -2.22089732e-04  9.99944496e-01 -1.24523866e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.72770263799998
Centerline is valid?  [True, True]
Translation: X:118.06, Y:5.25, Z:-1.25
[[ 9.99919105e-01 -7.13131177e-03  1.05322351e-02  1.18059851e+02]
 [ 7.12880328e-03  9.99974552e-01  2.75695840e-04  5.24971929e+00]
 [-1.05339331e-02 -2.00591305e-04  9.99944496e-01 -1.24589507e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.78770263799998
Centerline is valid?  [True, True]
Translation: X:118.12, Y:5.25, Z:-1.25
[[ 9.99909276e-01 -8.39706221e-03  1.05322769e-02  1.18119902e+02]
 [ 8.39464080e-03  9.99964727e-01  2.74091345e-04  5.24949801e+00]
 [-1.05342069e-02 -1.85651797e-04  9.99944496e-01 -1.24652632e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.84770263799999
Centerline is valid?  [True, True]
Translation: X:118.18, Y:5.25, Z:-1.25
[[ 9.99884680e-01 -1.09406807e-02  1.05322769e-02  1.18180935e+02]
 [ 1.09384004e-02  9.99940136e-01  2.74091345e-04  5.25172037e+00]
 [-1.05346451e-02 -1.58853476e-04  9.99944496e-01 -1.24716978e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.90770263799999
Centerline is valid?  [True, True]
Translation: X:118.24, Y:5.25, Z:-1.25
[[ 9.99850487e-01 -1.37140527e-02  1.05322827e-02  1.18242809e+02]
 [ 1.37119286e-02  9.99905950e-01  2.73866122e-04  5.25151019e+00]
 [-1.05350480e-02 -1.29407267e-04  9.99944496e-01 -1.24782126e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 116.96770263799999
Centerline is valid?  [True, True]
Translation: X:118.30, Y:5.25, Z:-1.25
[[ 9.99837929e-01 -1.46008842e-02  1.05322948e-02  1.18303865e+02]
 [ 1.45988142e-02  9.99893394e-01  2.73399657e-04  5.25142583e+00]
 [-1.05351639e-02 -1.19596332e-04  9.99944496e-01 -1.24846398e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.027702638
Centerline is valid?  [True, True]
Translation: X:118.37, Y:5.26, Z:-1.25
[[ 9.99832012e-01 -1.50006040e-02  1.05323361e-02  1.18365238e+02]
 [ 1.49985730e-02  9.99887478e-01  2.71801795e-04  5.25583007e+00]
 [-1.05352281e-02 -1.13786124e-04  9.99944496e-01 -1.24911043e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.087702638
Centerline is valid?  [True, True]
Translation: X:118.43, Y:5.26, Z:-1.25
[[ 9.99813115e-01 -1.62112638e-02  1.05323419e-02  1.18425797e+02]
 [ 1.62093024e-02  9.99868584e-01  2.71573853e-04  5.25737256e+00]
 [-1.05353604e-02 -1.00801185e-04  9.99944496e-01 -1.24974854e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.14770263799998
Centerline is valid?  [True, True]
Translation: X:118.49, Y:5.26, Z:-1.25
[[ 9.99765665e-01 -1.89125592e-02  1.05323448e-02  1.18487795e+02]
 [ 1.89107488e-02  9.99821139e-01  2.71463694e-04  5.25821176e+00]
 [-1.05355950e-02 -7.22255538e-05  9.99944496e-01 -1.25040171e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.20770263799999
Centerline is valid?  [True, True]
Translation: X:118.55, Y:5.26, Z:-1.25
[[ 9.99738355e-01 -2.03049425e-02  1.05323856e-02  1.18549202e+02]
 [ 2.03032261e-02  9.99793832e-01  2.69868247e-04  5.26012372e+00]
 [-1.05356939e-02 -5.59562294e-05  9.99944496e-01 -1.25104784e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.26770263799999
Centerline is valid?  [True, True]
Translation: X:118.61, Y:5.26, Z:-1.25
[[ 9.99642838e-01 -2.45614652e-02  1.05323913e-02  1.18609878e+02]
 [ 2.45599874e-02  9.99698322e-01  2.69647314e-04  5.26173444e+00]
 [-1.05358368e-02 -1.08756079e-05  9.99944496e-01 -1.25168720e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.32770263799999
Centerline is valid?  [True, True]
Translation: X:118.67, Y:5.26, Z:-1.25
[[ 9.99560508e-01 -2.77102630e-02  1.05324035e-02  1.18671740e+02]
 [ 2.77089650e-02  9.99615997e-01  2.69168560e-04  5.26192730e+00]
 [-1.05358178e-02  2.27917392e-05  9.99944496e-01 -1.25233849e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.387702638
Centerline is valid?  [True, True]
Translation: X:118.73, Y:5.26, Z:-1.25
[[ 9.99491943e-01 -3.00819433e-02  1.05324120e-02  1.18733896e+02]
 [ 3.00807805e-02  9.99547435e-01  2.68837254e-04  5.26432044e+00]
 [-1.05357325e-02  4.81225039e-05  9.99944496e-01 -1.25299357e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.447702638
Centerline is valid?  [True, True]
Translation: X:118.80, Y:5.27, Z:-1.25
[[ 9.99412631e-01 -3.26107438e-02  1.05324230e-02  1.18795545e+02]
 [ 3.26097259e-02  9.99468125e-01  2.68406071e-04  5.26507366e+00]
 [-1.05355740e-02  7.52110098e-05  9.99944496e-01 -1.25364280e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.50770263799998
Centerline is valid?  [True, True]
Translation: X:118.86, Y:5.26, Z:-1.25
[[ 9.99300635e-01 -3.58790794e-02  1.05324313e-02  1.18857449e+02]
 [ 3.58782465e-02  9.99356133e-01  2.68078995e-04  5.26410229e+00]
 [-1.05352682e-02  1.09993656e-04  9.99944496e-01 -1.25429433e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.56770263799999
Centerline is valid?  [True, True]
Translation: X:118.92, Y:5.27, Z:-1.25
[[ 9.99216670e-01 -3.81459411e-02  1.05324672e-02  1.18919607e+02]
 [ 3.81452491e-02  9.99272170e-01  2.66660375e-04  5.26634209e+00]
 [-1.05349734e-02  1.35312094e-04  9.99944496e-01 -1.25494859e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 117.62770263799999
Centerline is valid?  [True, True]
Translation: X:118.98, Y:5.27, Z:-1.26
[[ 9.99231988e-01 -3.77425459e-02  1.05325048e-02  1.18980384e+02]
 [ 3.77418471e-02  9.99287487e-01  2.65167789e-04  5.26957139e+00]
 [-1.05350084e-02  1.32552049e-04  9.99944496e-01 -1.25558851e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.68770263799999
Centerline is valid?  [True, True]
Translation: X:119.04, Y:5.27, Z:-1.26
[[ 9.99257249e-01 -3.70677302e-02  1.05325102e-02  1.19041291e+02]
 [ 3.70669963e-02  9.99312748e-01  2.64953707e-04  5.26780912e+00]
 [-1.05350929e-02  1.25651604e-04  9.99944496e-01 -1.25622942e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.74770263799999
Centerline is valid?  [True, True]
Translation: X:119.10, Y:5.27, Z:-1.26
[[ 9.99290110e-01 -3.61710063e-02  1.05325153e-02  1.19103244e+02]
 [ 3.61702247e-02  9.99345608e-01  2.64750153e-04  5.27137383e+00]
 [-1.05351992e-02  1.16401235e-04  9.99944496e-01 -1.25688277e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.807702638
Centerline is valid?  [True, True]
Translation: X:119.17, Y:5.27, Z:-1.26
[[ 9.99333177e-01 -3.49609258e-02  1.05325285e-02  1.19165181e+02]
 [ 3.49600825e-02  9.99388675e-01  2.64226178e-04  5.27318185e+00]
 [-1.05353272e-02  1.04168078e-04  9.99944496e-01 -1.25753525e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.86770263799998
Centerline is valid?  [True, True]
Translation: X:119.23, Y:5.27, Z:-1.26
[[ 9.99323801e-01 -3.52279305e-02  1.05325405e-02  1.19227290e+02]
 [ 3.52271071e-02  9.99379298e-01  2.63743690e-04  5.27238547e+00]
 [-1.05352941e-02  1.07465587e-04  9.99944496e-01 -1.25818888e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.92770263799999
Centerline is valid?  [True, True]
Translation: X:119.29, Y:5.28, Z:-1.26
[[ 9.99295555e-01 -3.60202487e-02  1.05325804e-02  1.19287250e+02]
 [ 3.60194862e-02  9.99351053e-01  2.62141371e-04  5.27595211e+00]
 [-1.05351877e-02  1.17421427e-04  9.99944496e-01 -1.25882020e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 117.98770263799999
Centerline is valid?  [True, True]
Translation: X:119.35, Y:5.28, Z:-1.26
[[ 9.99273884e-01 -3.66165185e-02  1.05325804e-02  1.19349981e+02]
 [ 3.66157891e-02  9.99329383e-01  2.62141371e-04  5.27592302e+00]
 [-1.05351158e-02  1.23707717e-04  9.99944496e-01 -1.25948094e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.04770263799999
Centerline is valid?  [True, True]
Translation: X:119.41, Y:5.27, Z:-1.26
[[ 9.99191706e-01 -3.87943119e-02  1.05325942e-02  1.19411776e+02]
 [ 3.87937093e-02  9.99247206e-01  2.61587639e-04  5.27469485e+00]
 [-1.05348134e-02  1.47222197e-04  9.99944496e-01 -1.26013110e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.10770263799999
Centerline is valid?  [True, True]
Translation: X:119.47, Y:5.28, Z:-1.26
[[ 9.99093655e-01 -4.12423647e-02  1.05326301e-02  1.19473016e+02]
 [ 4.12419134e-02  9.99149156e-01  2.60134308e-04  5.27824587e+00]
 [-1.05343970e-02  1.74487280e-04  9.99944496e-01 -1.26077602e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.167702638
Centerline is valid?  [True, True]
Translation: X:119.54, Y:5.28, Z:-1.26
[[ 9.99089184e-01 -4.13505228e-02  1.05326655e-02  1.19535682e+02]
 [ 4.13500927e-02  9.99144686e-01  2.58691682e-04  5.27838237e+00]
 [-1.05343538e-02  1.77070633e-04  9.99944496e-01 -1.26143506e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.22770263799998
Centerline is valid?  [True, True]
Translation: X:119.60, Y:5.28, Z:-1.26
[[ 9.99015659e-01 -4.30903061e-02  1.05327029e-02  1.19596608e+02]
 [ 4.30899888e-02  9.99071162e-01  2.57157890e-04  5.27894541e+00]
 [-1.05340008e-02  1.96949293e-04  9.99944496e-01 -1.26207582e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.28770263799998
Centerline is valid?  [True, True]
Translation: X:119.66, Y:5.28, Z:-1.26
[[ 9.98999724e-01 -4.34581740e-02  1.05327107e-02  1.19659043e+02]
 [ 4.34578806e-02  9.99055227e-01  2.56840830e-04  5.28128087e+00]
 [-1.05339215e-02  2.01145364e-04  9.99944496e-01 -1.26273382e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.34770263799999
Centerline is valid?  [True, True]
Translation: X:119.72, Y:5.28, Z:-1.26
[[ 9.98994322e-01 -4.35821732e-02  1.05327524e-02  1.19721123e+02]
 [ 4.35819048e-02  9.99049825e-01  2.55118781e-04  5.28175613e+00]
 [-1.05338631e-02  2.04175197e-04  9.99944496e-01 -1.26338658e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.40770263799999
Centerline is valid?  [True, True]
Translation: X:119.78, Y:5.28, Z:-1.26
[[ 9.98969831e-01 -4.41399647e-02  1.05327901e-02  1.19783005e+02]
 [ 4.41397438e-02  9.99025334e-01  2.53550708e-04  5.28252147e+00]
 [-1.05337159e-02  2.11625150e-04  9.99944496e-01 -1.26403745e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.46770263799999
Centerline is valid?  [True, True]
Translation: X:119.84, Y:5.28, Z:-1.26
[[ 9.98970265e-01 -4.41301347e-02  1.05328017e-02  1.19842973e+02]
 [ 4.41299183e-02  9.99025769e-01  2.53067185e-04  5.28461713e+00]
 [-1.05337082e-02  2.12005087e-04  9.99944496e-01 -1.26466928e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.527702638
Centerline is valid?  [True, True]
Translation: X:119.91, Y:5.28, Z:-1.27
[[ 9.99018238e-01 -4.30304638e-02  1.05328044e-02  1.19905276e+02]
 [ 4.30301875e-02  9.99073741e-01  2.52956908e-04  5.28434760e+00]
 [-1.05339331e-02  2.00519984e-04  9.99944496e-01 -1.26532540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.587702638
Centerline is valid?  [True, True]
Translation: X:119.97, Y:5.29, Z:-1.27
[[ 9.99039542e-01 -4.25329719e-02  1.05328416e-02  1.19966028e+02]
 [ 4.25326844e-02  9.99095044e-01  2.51398743e-04  5.28738494e+00]
 [-1.05340026e-02  1.96832742e-04  9.99944496e-01 -1.26596494e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.64770263799998
Centerline is valid?  [True, True]
Translation: X:120.03, Y:5.29, Z:-1.27
[[ 9.99042322e-01 -4.24676204e-02  1.05328443e-02  1.20027183e+02]
 [ 4.24673305e-02  9.99097824e-01  2.51285800e-04  5.28717819e+00]
 [-1.05340133e-02  1.96256630e-04  9.99944496e-01 -1.26660898e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.70770263799999
Centerline is valid?  [True, True]
Translation: X:120.09, Y:5.29, Z:-1.27
[[ 9.98968777e-01 -4.41637998e-02  1.05328785e-02  1.20088076e+02]
 [ 4.41636193e-02  9.99024280e-01  2.49842342e-04  5.28716717e+00]
 [-1.05336354e-02  2.15585338e-04  9.99944496e-01 -1.26724933e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.76770263799999
Centerline is valid?  [True, True]
Translation: X:120.15, Y:5.29, Z:-1.27
[[ 9.98911752e-01 -4.54353459e-02  1.05328795e-02  1.20150269e+02]
 [ 4.54352365e-02  9.98967255e-01  2.49800875e-04  5.28807542e+00]
 [-1.05333515e-02  2.29034842e-04  9.99944496e-01 -1.26790463e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 118.82770263799999
Centerline is valid?  [True, True]
Translation: X:120.21, Y:5.29, Z:-1.27
[[ 9.98962128e-01 -4.43139375e-02  1.05328925e-02  1.20212707e+02]
 [ 4.43137716e-02  9.99017631e-01  2.49253017e-04  5.28739642e+00]
 [-1.05335907e-02  2.17757867e-04  9.99944496e-01 -1.26856175e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.887702638
Centerline is valid?  [True, True]
Translation: X:120.27, Y:5.29, Z:-1.27
[[ 9.99100058e-01 -4.10868662e-02  1.05329288e-02  1.20273844e+02]
 [ 4.10865373e-02  9.99155561e-01  2.47706284e-04  5.28968555e+00]
 [-1.05342119e-02  1.85278211e-04  9.99944496e-01 -1.26920517e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 118.947702638
Centerline is valid?  [True, True]
Translation: X:120.34, Y:5.29, Z:-1.27
[[ 9.99276976e-01 -3.65319388e-02  1.05329623e-02  1.20335484e+02]
 [ 3.65313719e-02  9.99332476e-01  2.46274347e-04  5.29163960e+00]
 [-1.05349282e-02  1.38687280e-04  9.99944496e-01 -1.26985390e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.00770263799998
Centerline is valid?  [True, True]
Translation: X:120.40, Y:5.29, Z:-1.27
[[ 9.99460819e-01 -3.10986695e-02  1.05329727e-02  1.20396110e+02]
 [ 3.10978056e-02  9.99516316e-01  2.45830360e-04  5.29098352e+00]
 [-1.05355231e-02  8.18545243e-05  9.99944496e-01 -1.27049201e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.06770263799999
Centerline is valid?  [True, True]
Translation: X:120.46, Y:5.29, Z:-1.27
[[ 9.99608441e-01 -2.59233653e-02  1.05329732e-02  1.20456019e+02]
 [ 2.59222143e-02  9.99663933e-01  2.45809265e-04  5.29310664e+00]
 [-1.05358056e-02  2.73249711e-05  9.99944496e-01 -1.27112357e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.12770263799999
Centerline is valid?  [True, True]
Translation: X:120.52, Y:5.30, Z:-1.27
[[ 9.99726864e-01 -2.08627390e-02  1.05329732e-02  1.20516105e+02]
 [ 2.08613071e-02  9.99782349e-01  2.45809265e-04  5.29520665e+00]
 [-1.05358089e-02 -2.60105380e-05  9.99944496e-01 -1.27175701e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.18770263799999
Centerline is valid?  [True, True]
Translation: X:120.58, Y:5.30, Z:-1.27
[[ 9.99807423e-01 -1.65581634e-02  1.05329758e-02  1.20578383e+02]
 [ 1.65564938e-02  9.99862902e-01  2.45698748e-04  5.29601520e+00]
 [-1.05356000e-02 -7.12622845e-05  9.99944496e-01 -1.27241314e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.24770263799999
Centerline is valid?  [True, True]
Translation: X:120.64, Y:5.30, Z:-1.27
[[ 9.99889079e-01 -1.05302521e-02  1.05329865e-02  1.20639144e+02]
 [ 1.05282529e-02  9.99944546e-01  2.45235291e-04  5.29965100e+00]
 [-1.05349848e-02 -1.34314143e-04  9.99944496e-01 -1.27305372e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.307702638
Centerline is valid?  [True, True]
Translation: X:120.70, Y:5.30, Z:-1.27
[[ 9.99926653e-01 -5.97876781e-03  1.05329893e-02  1.20702344e+02]
 [ 5.97651737e-03  9.99982110e-01  2.45118963e-04  5.30050807e+00]
 [-1.05342663e-02 -1.82150391e-04  9.99944496e-01 -1.27371957e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.36770263799998
Centerline is valid?  [True, True]
Translation: X:120.76, Y:5.30, Z:-1.27
[[ 9.99941034e-01 -2.64288462e-03  1.05330079e-02  1.20761656e+02]
 [ 2.64045767e-03  9.99996484e-01  2.44313393e-04  5.30179416e+00]
 [-1.05336166e-02 -2.16487025e-04  9.99944496e-01 -1.27434405e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.42770263799999
Centerline is valid?  [True, True]
Translation: X:120.82, Y:5.31, Z:-1.27
[[ 9.99943566e-01  1.38621754e-03  1.05330057e-02  1.20822648e+02]
 [-1.38886891e-03  9.99999006e-01  2.44409024e-04  5.30623268e+00]
 [-1.05326564e-02 -2.59024195e-04  9.99944496e-01 -1.27498768e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.48770263799999
Centerline is valid?  [True, True]
Translation: X:120.88, Y:5.31, Z:-1.28
[[ 9.99939394e-01  3.20363598e-03  1.05330110e-02  1.20882686e+02]
 [-3.20638570e-03  9.99994830e-01  2.44181327e-04  5.30824715e+00]
 [-1.05321743e-02 -2.77939425e-04  9.99944496e-01 -1.27562041e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.54770263799999
Centerline is valid?  [True, True]
Translation: X:120.94, Y:5.31, Z:-1.28
[[ 9.99930082e-01  5.37472392e-03  1.05330083e-02  1.20943245e+02]
 [-5.37759522e-03  9.99985511e-01  2.44297228e-04  5.30955519e+00]
 [-1.05315427e-02 -3.00922402e-04  9.99944496e-01 -1.27625872e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.60770263799999
Centerline is valid?  [True, True]
Translation: X:121.00, Y:5.31, Z:-1.28
[[ 9.99919875e-01  7.02135563e-03  1.05330083e-02  1.21002120e+02]
 [-7.02431820e-03  9.99975299e-01  2.44297228e-04  5.31251873e+00]
 [-1.05310328e-02 -3.18264856e-04  9.99944496e-01 -1.27687961e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.667702638
Centerline is valid?  [True, True]
Translation: X:121.06, Y:5.31, Z:-1.28
[[ 9.99899206e-01  9.52013679e-03  1.05330030e-02  1.21059455e+02]
 [-9.52324027e-03  9.99954623e-01  2.44525859e-04  5.31386715e+00]
 [-1.05301971e-02 -3.44809531e-04  9.99944496e-01 -1.27748406e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.72770263799998
Centerline is valid?  [True, True]
Translation: X:121.12, Y:5.32, Z:-1.28
[[ 9.99880672e-01  1.13003823e-02  1.05329898e-02  1.21118533e+02]
 [-1.13035905e-02  9.99936082e-01  2.45095263e-04  5.31593560e+00]
 [-1.05295468e-02 -3.64126619e-04  9.99944496e-01 -1.27810729e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.78770263799998
Centerline is valid?  [True, True]
Translation: X:121.18, Y:5.32, Z:-1.28
[[ 9.99816221e-01  1.60181574e-02  1.05329819e-02  1.21178986e+02]
 [-1.60216305e-02  9.99871615e-01  2.45433078e-04  5.32151705e+00]
 [-1.05276982e-02 -4.14143516e-04  9.99944496e-01 -1.27874569e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.84770263799999
Centerline is valid?  [True, True]
Translation: X:121.24, Y:5.32, Z:-1.28
[[ 9.99760533e-01  1.91815684e-02  1.05329821e-02  1.21238547e+02]
 [-1.91852166e-02  9.99815917e-01  2.45422492e-04  5.32291625e+00]
 [-1.05263356e-02 -4.47441265e-04  9.99944496e-01 -1.27937342e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.90770263799999
Centerline is valid?  [True, True]
Translation: X:121.30, Y:5.33, Z:-1.28
[[ 9.99724553e-01  2.09731872e-02  1.05329661e-02  1.21298359e+02]
 [-2.09769418e-02  9.99779929e-01  2.46106896e-04  5.32671865e+00]
 [-1.05254865e-02 -4.66988525e-04  9.99944496e-01 -1.28000490e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 119.96770263799999
Centerline is valid?  [True, True]
Translation: X:121.36, Y:5.33, Z:-1.28
[[ 9.99705686e-01  2.18539962e-02  1.05329666e-02  1.21357850e+02]
 [-2.18577995e-02  9.99761059e-01  2.46088768e-04  5.32923660e+00]
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Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 120.027702638
Centerline is valid?  [True, True]
Translation: X:121.42, Y:5.33, Z:-1.28
[[ 9.99684572e-01  2.27994136e-02  1.05329613e-02  1.21416803e+02]
 [-2.28032716e-02  9.99739941e-01  2.46312518e-04  5.33117965e+00]
 [-1.05246064e-02 -4.86420802e-04  9.99944496e-01 -1.28125378e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.087702638
Centerline is valid?  [True, True]
Translation: X:121.48, Y:5.33, Z:-1.28
[[ 9.99639353e-01  2.47026291e-02  1.05329561e-02  1.21476504e+02]
 [-2.47065949e-02  9.99694715e-01  2.46537589e-04  5.33335515e+00]
 [-1.05236504e-02 -5.06682154e-04  9.99944496e-01 -1.28188335e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.14770263799998
Centerline is valid?  [True, True]
Translation: X:121.54, Y:5.34, Z:-1.28
[[ 9.99618074e-01  2.55492382e-02  1.05329534e-02  1.21535960e+02]
 [-2.55532521e-02  9.99673432e-01  2.46651779e-04  5.33851929e+00]
 [-1.05232119e-02 -5.15708789e-04  9.99944496e-01 -1.28251100e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.20770263799999
Centerline is valid?  [True, True]
Translation: X:121.60, Y:5.34, Z:-1.28
[[ 9.99657693e-01  2.39489762e-02  1.05329534e-02  1.21596365e+02]
 [-2.39529015e-02  9.99713058e-01  2.46651779e-04  5.33993209e+00]
 [-1.05240240e-02 -4.98862143e-04  9.99944496e-01 -1.28314762e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.26770263799999
Centerline is valid?  [True, True]
Translation: X:121.66, Y:5.34, Z:-1.28
[[ 9.99733074e-01  2.05630082e-02  1.05329507e-02  1.21655235e+02]
 [-2.05667471e-02  9.99788452e-01  2.46765100e-04  5.34165444e+00]
 [-1.05256483e-02 -4.63327766e-04  9.99944496e-01 -1.28376824e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.32770263799999
Centerline is valid?  [True, True]
Translation: X:121.71, Y:5.34, Z:-1.28
[[ 9.99790149e-01  1.75702680e-02  1.05329448e-02  1.21714487e+02]
 [-1.75738438e-02  9.99845538e-01  2.47017209e-04  5.34478737e+00]
 [-1.05269777e-02 -4.32069699e-04  9.99944496e-01 -1.28439333e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.387702638
Centerline is valid?  [True, True]
Translation: X:121.77, Y:5.35, Z:-1.29
[[ 9.99824708e-01  1.54793376e-02  1.05329397e-02  1.21774065e+02]
 [-1.54827998e-02  9.99880104e-01  2.47234819e-04  5.34769434e+00]
 [-1.05278498e-02 -4.10270877e-04  9.99944496e-01 -1.28502178e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.447702638
Centerline is valid?  [True, True]
Translation: X:121.83, Y:5.35, Z:-1.29
[[ 9.99851207e-01  1.36609354e-02  1.05329371e-02  1.21832524e+02]
 [-1.36642980e-02  9.99906609e-01  2.47346044e-04  5.34931875e+00]
 [-1.05285744e-02 -3.91234432e-04  9.99944496e-01 -1.28563805e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.50770263799998
Centerline is valid?  [True, True]
Translation: X:121.89, Y:5.35, Z:-1.29
[[ 9.99897265e-01  9.72201606e-03  1.05329023e-02  1.21893031e+02]
 [-9.72517591e-03  9.99952678e-01  2.48820266e-04  5.35384987e+00]
 [-1.05299848e-02 -3.51229031e-04  9.99944496e-01 -1.28627764e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.56770263799999
Centerline is valid?  [True, True]
Translation: X:121.95, Y:5.36, Z:-1.29
[[ 9.99931959e-01  5.01345530e-03  1.05329019e-02  1.21952837e+02]
 [-5.01635437e-03  9.99987387e-01  2.48838097e-04  5.35569540e+00]
 [-1.05315215e-02 -3.01657934e-04  9.99944496e-01 -1.28690808e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.62770263799999
Centerline is valid?  [True, True]
Translation: X:122.01, Y:5.36, Z:-1.29
[[ 9.99942717e-01  1.90303666e-03  1.05328964e-02  1.22012410e+02]
 [-1.90576571e-03  9.99998153e-01  2.49066916e-04  5.35732001e+00]
 [-1.05324030e-02 -2.69125881e-04  9.99944496e-01 -1.28753617e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.68770263799999
Centerline is valid?  [True, True]
Translation: X:122.07, Y:5.36, Z:-1.29
[[ 9.99942954e-01 -1.77371624e-03  1.05328933e-02  1.22070826e+02]
 [ 1.77118966e-03  9.99998400e-01  2.49198431e-04  5.36160037e+00]
 [-1.05333185e-02 -2.30528463e-04  9.99944496e-01 -1.28815266e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.74770263799999
Centerline is valid?  [True, True]
Translation: X:122.13, Y:5.37, Z:-1.29
[[ 9.99938518e-01 -3.46675092e-03  1.05328882e-02  1.22131775e+02]
 [ 3.46431593e-03  9.99993968e-01  2.49416729e-04  5.36569353e+00]
 [-1.05336893e-02 -2.12912142e-04  9.99944496e-01 -1.28879585e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.807702638
Centerline is valid?  [True, True]
Translation: X:122.19, Y:5.37, Z:-1.29
[[ 9.99923466e-01 -6.49004893e-03  1.05328934e-02  1.22193698e+02]
 [ 6.48778394e-03  9.99978923e-01  2.49194039e-04  5.36607300e+00]
 [-1.05342887e-02 -1.80839830e-04  9.99944496e-01 -1.28944804e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.86770263799998
Centerline is valid?  [True, True]
Translation: X:122.25, Y:5.37, Z:-1.29
[[ 9.99922836e-01 -6.58637137e-03  1.05329296e-02  1.22254474e+02]
 [ 6.58412792e-03  9.99978294e-01  2.47656549e-04  5.37109167e+00]
 [-1.05343321e-02 -1.78287283e-04  9.99944496e-01 -1.29008829e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.92770263799999
Centerline is valid?  [True, True]
Translation: X:122.31, Y:5.37, Z:-1.29
[[ 9.99934044e-01 -4.57884682e-03  1.05329347e-02  1.22314166e+02]
 [ 4.57649431e-03  9.99989497e-01  2.47440497e-04  5.37415355e+00]
 [-1.05339570e-02 -1.99220261e-04  9.99944496e-01 -1.29071765e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 120.98770263799999
Centerline is valid?  [True, True]
Translation: X:122.38, Y:5.38, Z:-1.29
[[ 9.99941558e-01 -2.43684830e-03  1.05329327e-02  1.22376345e+02]
 [ 2.43437610e-03  9.99997006e-01  2.47525592e-04  5.37729287e+00]
 [-1.05335043e-02 -2.21870006e-04  9.99944496e-01 -1.29137346e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.04770263799999
Centerline is valid?  [True, True]
Translation: X:122.44, Y:5.38, Z:-1.29
[[ 9.99942583e-01  1.97192485e-03  1.05329467e-02  1.22436170e+02]
 [-1.97463518e-03  9.99998020e-01  2.46925932e-04  5.38221994e+00]
 [-1.05324389e-02 -2.67710481e-04  9.99944496e-01 -1.29200438e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.10770263799999
Centerline is valid?  [True, True]
Translation: X:122.50, Y:5.38, Z:-1.29
[[ 9.99928681e-01  5.62936964e-03  1.05329561e-02  1.22496617e+02]
 [-5.63227848e-03  9.99984108e-01  2.46522907e-04  5.38425676e+00]
 [-1.05314010e-02 -3.05829867e-04  9.99944496e-01 -1.29264129e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.167702638
Centerline is valid?  [True, True]
Translation: X:122.56, Y:5.39, Z:-1.29
[[ 9.99879101e-01  1.14385052e-02  1.05329586e-02  1.22557026e+02]
 [-1.14417349e-02  9.99934511e-01  2.46419454e-04  5.38604381e+00]
 [-1.05294501e-02 -3.66904982e-04  9.99944496e-01 -1.29327797e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 121.22770263799998
Centerline is valid?  [True, True]
Translation: X:122.62, Y:5.39, Z:-1.29
[[ 9.99859611e-01  1.30313091e-02  1.05329587e-02  1.22616853e+02]
 [-1.30346270e-02  9.99915015e-01  2.46414098e-04  5.38991772e+00]
 [-1.05288525e-02 -3.83672692e-04  9.99944496e-01 -1.29390911e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.28770263799998
Centerline is valid?  [True, True]
Translation: X:122.68, Y:5.40, Z:-1.29
[[ 9.99714243e-01  2.14590285e-02  1.05329561e-02  1.22676599e+02]
 [-2.14628145e-02  9.99769617e-01  2.46524071e-04  5.39565891e+00]
 [-1.05252393e-02 -4.72520507e-04  9.99944496e-01 -1.29453995e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.34770263799999
Centerline is valid?  [True, True]
Translation: X:122.74, Y:5.40, Z:-1.30
[[ 9.99572592e-01  2.72706915e-02  1.05329538e-02  1.22736679e+02]
 [-2.72748003e-02  9.99627943e-01  2.46620943e-04  5.39876881e+00]
 [-1.05223095e-02 -5.33799748e-04  9.99944496e-01 -1.29517365e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.40770263799999
Centerline is valid?  [True, True]
Translation: X:122.80, Y:5.40, Z:-1.30
[[ 9.99516649e-01  2.92493560e-02  1.05329532e-02  1.22796940e+02]
 [-2.92535748e-02  9.99571992e-01  2.46650598e-04  5.40295582e+00]
 [-1.05212306e-02 -5.54657911e-04  9.99944496e-01 -1.29580946e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.46770263799999
Centerline is valid?  [True, True]
Translation: X:122.85, Y:5.41, Z:-1.30
[[ 9.99484357e-01  3.03327668e-02  1.05329526e-02  1.22854770e+02]
 [-3.03370458e-02  9.99539695e-01  2.46674197e-04  5.40684729e+00]
 [-1.05206219e-02 -5.66085666e-04  9.99944496e-01 -1.29641959e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.527702638
Centerline is valid?  [True, True]
Translation: X:122.91, Y:5.41, Z:-1.30
[[ 9.99476396e-01  3.05939639e-02  1.05329399e-02  1.22914732e+02]
 [-3.05982630e-02  9.99531733e-01  2.47214293e-04  5.40987572e+00]
 [-1.05204444e-02 -5.69374516e-04  9.99944496e-01 -1.29705239e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.587702638
Centerline is valid?  [True, True]
Translation: X:122.98, Y:5.41, Z:-1.30
[[ 9.99550858e-01  2.80559957e-02  1.05329399e-02  1.22975578e+02]
 [-2.80601543e-02  9.99606206e-01  2.47214293e-04  5.41339512e+00]
 [-1.05218563e-02 -5.42659177e-04  9.99944496e-01 -1.29769418e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.64770263799998
Centerline is valid?  [True, True]
Translation: X:123.03, Y:5.41, Z:-1.30
[[ 9.99633402e-01  2.49422966e-02  1.05329418e-02  1.23034618e+02]
 [-2.49462819e-02  9.99688763e-01  2.47132646e-04  5.41468685e+00]
 [-1.05234995e-02 -5.09799785e-04  9.99944496e-01 -1.29831633e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.70770263799999
Centerline is valid?  [True, True]
Translation: X:123.09, Y:5.42, Z:-1.30
[[ 9.99746477e-01  1.99007245e-02  1.05329318e-02  1.23094501e+02]
 [-1.99044351e-02  9.99801856e-01  2.47559685e-04  5.41667710e+00]
 [-1.05259182e-02 -4.57148981e-04  9.99944496e-01 -1.29894794e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.76770263799999
Centerline is valid?  [True, True]
Translation: X:123.15, Y:5.42, Z:-1.30
[[ 9.99832398e-01  1.49743900e-02  1.05329312e-02  1.23154959e+02]
 [-1.49778279e-02  9.99887795e-01  2.47585841e-04  5.41831461e+00]
 [-1.05280419e-02 -4.05304775e-04  9.99944496e-01 -1.29958521e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.82770263799999
Centerline is valid?  [True, True]
Translation: X:123.22, Y:5.42, Z:-1.30
[[ 9.99881682e-01  1.12106670e-02  1.05329307e-02  1.23215596e+02]
 [-1.12138966e-02  9.99937092e-01  2.47607521e-04  5.41926634e+00]
 [-1.05294922e-02 -3.65693420e-04  9.99944496e-01 -1.30022418e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.887702638
Centerline is valid?  [True, True]
Translation: X:123.27, Y:5.42, Z:-1.30
[[ 9.99887445e-01  1.06843330e-02  1.05329302e-02  1.23273424e+02]
 [-1.06875336e-02  9.99942856e-01  2.47625972e-04  5.42100647e+00]
 [-1.05296826e-02 -3.60169146e-04  9.99944496e-01 -1.30083375e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 121.947702638
Centerline is valid?  [True, True]
Translation: X:123.33, Y:5.42, Z:-1.30
[[ 9.99885998e-01  1.08189392e-02  1.05328882e-02  1.23331486e+02]
 [-1.08221660e-02  9.99941408e-01  2.49401940e-04  5.42274856e+00]
 [-1.05295728e-02 -3.63362172e-04  9.99944496e-01 -1.30144719e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.00770263799998
Centerline is valid?  [True, True]
Translation: X:123.39, Y:5.43, Z:-1.30
[[ 9.99855779e-01  1.33221764e-02  1.05328776e-02  1.23390604e+02]
 [-1.33255466e-02  9.99911180e-01  2.49849784e-04  5.42572815e+00]
 [-1.05286135e-02 -3.90170101e-04  9.99944496e-01 -1.30207101e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.06770263799999
Centerline is valid?  [True, True]
Translation: X:123.45, Y:5.43, Z:-1.30
[[ 9.99791417e-01  1.74980414e-02  1.05328747e-02  1.23451077e+02]
 [-1.75016442e-02  9.99846803e-01  2.49971472e-04  5.42811948e+00]
 [-1.05268871e-02 -4.34261958e-04  9.99944496e-01 -1.30270869e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.12770263799999
Centerline is valid?  [True, True]
Translation: X:123.51, Y:5.43, Z:-1.30
[[ 9.99725171e-01  2.09437632e-02  1.05328748e-02  1.23510032e+02]
 [-2.09475568e-02  9.99780545e-01  2.49967019e-04  5.43136594e+00]
 [-1.05253280e-02 -4.70536314e-04  9.99944496e-01 -1.30333050e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.18770263799999
Centerline is valid?  [True, True]
Translation: X:123.57, Y:5.43, Z:-1.30
[[ 9.99713200e-01  2.15076042e-02  1.05328669e-02  1.23569273e+02]
 [-2.15114326e-02  9.99768571e-01  2.50299751e-04  5.43340887e+00]
 [-1.05250459e-02 -4.76805021e-04  9.99944496e-01 -1.30395529e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.24770263799999
Centerline is valid?  [True, True]
Translation: X:123.63, Y:5.44, Z:-1.30
[[ 9.99720730e-01  2.11546763e-02  1.05328591e-02  1.23627445e+02]
 [-2.11584886e-02  9.99776103e-01  2.50628174e-04  5.43686342e+00]
 [-1.05251988e-02 -4.73417559e-04  9.99944496e-01 -1.30456917e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.307702638
Centerline is valid?  [True, True]
Translation: X:123.69, Y:5.44, Z:-1.31
[[ 9.99754040e-01  1.95171416e-02  1.05328514e-02  1.23687275e+02]
 [-1.95208666e-02  9.99809418e-01  2.50950281e-04  5.43923349e+00]
 [-1.05259462e-02 -4.56498945e-04  9.99944496e-01 -1.30520024e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.36770263799998
Centerline is valid?  [True, True]
Translation: X:123.75, Y:5.44, Z:-1.31
[[ 9.99788808e-01  1.76464959e-02  1.05328463e-02  1.23746466e+02]
 [-1.76501195e-02  9.99844193e-01  2.51165357e-04  5.44141581e+00]
 [-1.05267730e-02 -4.37018308e-04  9.99944496e-01 -1.30582445e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 122.42770263799999
Centerline is valid?  [True, True]
Translation: X:123.81, Y:5.44, Z:-1.31
[[ 9.99802524e-01  1.68514763e-02  1.05328412e-02  1.23805935e+02]
 [-1.68550581e-02  9.99857912e-01  2.51378881e-04  5.44472209e+00]
 [-1.05271085e-02 -4.28860890e-04  9.99944496e-01 -1.30645186e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.48770263799999
Centerline is valid?  [True, True]
Translation: X:123.86, Y:5.45, Z:-1.31
[[ 9.99798060e-01  1.71142588e-02  1.05328360e-02  1.23864541e+02]
 [-1.71178574e-02  9.99853447e-01  2.51594315e-04  5.44779846e+00]
 [-1.05269866e-02 -4.31843093e-04  9.99944496e-01 -1.30707013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.54770263799999
Centerline is valid?  [True, True]
Translation: X:123.92, Y:5.45, Z:-1.31
[[ 9.99820169e-01  1.57698702e-02  1.05328311e-02  1.23923330e+02]
 [-1.57733965e-02  9.99875561e-01  2.51798904e-04  5.44977151e+00]
 [-1.05275496e-02 -4.17892144e-04  9.99944496e-01 -1.30769004e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.60770263799999
Centerline is valid?  [True, True]
Translation: X:123.98, Y:5.45, Z:-1.31
[[ 9.99861004e-01  1.29240833e-02  1.05328211e-02  1.23982673e+02]
 [-1.29274564e-02  9.99916405e-01  2.52216657e-04  5.45162289e+00]
 [-1.05286810e-02 -3.88344185e-04  9.99944496e-01 -1.30831593e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.667702638
Centerline is valid?  [True, True]
Translation: X:124.04, Y:5.45, Z:-1.31
[[ 9.99874911e-01  1.17992656e-02  1.05328207e-02  1.24041161e+02]
 [-1.18025765e-02  9.99930315e-01  2.52234672e-04  5.45243856e+00]
 [-1.05291105e-02 -3.76517542e-04  9.99944496e-01 -1.30893223e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.72770263799998
Centerline is valid?  [True, True]
Translation: X:124.10, Y:5.45, Z:-1.31
[[ 9.99879220e-01  1.14282463e-02  1.05328103e-02  1.24099314e+02]
 [-1.14315411e-02  9.99934626e-01  2.52667742e-04  5.45499341e+00]
 [-1.05292342e-02 -3.73043479e-04  9.99944496e-01 -1.30954577e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.78770263799998
Centerline is valid?  [True, True]
Translation: X:124.16, Y:5.46, Z:-1.31
[[ 9.99885424e-01  1.08719318e-02  1.05327744e-02  1.24157574e+02]
 [-1.08752115e-02  9.99940831e-01  2.54154949e-04  5.45884384e+00]
 [-1.05293880e-02 -3.68671978e-04  9.99944496e-01 -1.31016163e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.84770263799999
Centerline is valid?  [True, True]
Translation: X:124.22, Y:5.46, Z:-1.31
[[ 9.99887901e-01  1.06417692e-02  1.05327406e-02  1.24215871e+02]
 [-1.06450508e-02  9.99943307e-01  2.55548556e-04  5.46082463e+00]
 [-1.05294240e-02 -3.67641468e-04  9.99944496e-01 -1.31077732e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.90770263799999
Centerline is valid?  [True, True]
Translation: X:124.28, Y:5.46, Z:-1.31
[[ 9.99902653e-01  9.15125128e-03  1.05327302e-02  1.24275655e+02]
 [-9.15445481e-03  9.99958064e-01  2.55976938e-04  5.46443157e+00]
 [-1.05299460e-02 -3.52373422e-04  9.99944496e-01 -1.31140832e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 122.96770263799999
Centerline is valid?  [True, True]
Translation: X:124.33, Y:5.47, Z:-1.31
[[ 9.99915969e-01  7.55755386e-03  1.05327263e-02  1.24332992e+02]
 [-7.56067076e-03  9.99971385e-01  2.56137950e-04  5.46937239e+00]
 [-1.05304891e-02 -3.35750902e-04  9.99944496e-01 -1.31201367e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.027702638
Centerline is valid?  [True, True]
Translation: X:124.39, Y:5.47, Z:-1.31
[[ 9.99929529e-01  5.47707324e-03  1.05327157e-02  1.24391598e+02]
 [-5.48007939e-03  9.99984951e-01  2.56571462e-04  5.47218970e+00]
 [-1.05311520e-02 -3.14273499e-04  9.99944496e-01 -1.31263206e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.087702638
Centerline is valid?  [True, True]
Translation: X:124.45, Y:5.48, Z:-1.31
[[ 9.99940449e-01  2.85667686e-03  1.05327051e-02  1.24450523e+02]
 [-2.85954236e-03  9.99995878e-01  2.57007053e-04  5.47513609e+00]
 [-1.05319275e-02 -2.87110464e-04  9.99944496e-01 -1.31325385e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.14770263799998
Centerline is valid?  [True, True]
Translation: X:124.51, Y:5.48, Z:-1.31
[[ 9.99944392e-01 -5.24749618e-04  1.05326910e-02  1.24510838e+02]
 [ 5.22065535e-04  9.99999831e-01  2.57581357e-04  5.47795314e+00]
 [-1.05328244e-02 -2.52068279e-04  9.99944496e-01 -1.31389036e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.20770263799999
Centerline is valid?  [True, True]
Translation: X:124.57, Y:5.48, Z:-1.31
[[ 9.99934507e-01 -4.47716201e-03  1.05326884e-02  1.24570914e+02]
 [ 4.47469594e-03  9.99989955e-01  2.57689204e-04  5.48027974e+00]
 [-1.05337363e-02 -2.10541749e-04  9.99944496e-01 -1.31452383e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.26770263799999
Centerline is valid?  [True, True]
Translation: X:124.63, Y:5.48, Z:-1.32
[[ 9.99920228e-01 -6.97135465e-03  1.05326884e-02  1.24632229e+02]
 [ 6.96902690e-03  9.99975683e-01  2.57689204e-04  5.48297076e+00]
 [-1.05342287e-02 -1.84266059e-04  9.99944496e-01 -1.31517038e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.32770263799999
Centerline is valid?  [True, True]
Translation: X:124.69, Y:5.49, Z:-1.32
[[ 9.99885428e-01 -1.08716407e-02  1.05327221e-02  1.24693213e+02]
 [ 1.08695438e-02  9.99940892e-01  2.56305925e-04  5.48771091e+00]
 [-1.05348860e-02 -1.41790675e-04  9.99944496e-01 -1.31581282e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.387702638
Centerline is valid?  [True, True]
Translation: X:124.76, Y:5.49, Z:-1.32
[[ 9.99845624e-01 -1.40638135e-02  1.05327233e-02  1.24755761e+02]
 [ 1.40618943e-02  9.99901094e-01  2.56256677e-04  5.49117261e+00]
 [-1.05352855e-02 -1.08107076e-04  9.99944496e-01 -1.31647251e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.447702638
Centerline is valid?  [True, True]
Translation: X:124.82, Y:5.49, Z:-1.32
[[ 9.99819343e-01 -1.58222578e-02  1.05327359e-02  1.24817070e+02]
 [ 1.58204415e-02  9.99874816e-01  2.55737939e-04  5.49494831e+00]
 [-1.05354637e-02 -8.90592057e-05  9.99944496e-01 -1.31711882e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.50770263799998
Centerline is valid?  [True, True]
Translation: X:124.88, Y:5.50, Z:-1.32
[[ 9.99805680e-01 -1.66632413e-02  1.05327458e-02  1.24877850e+02]
 [ 1.66614761e-02  9.99861155e-01  2.55327972e-04  5.49871766e+00]
 [-1.05355380e-02 -7.97872644e-05  9.99944496e-01 -1.31775966e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.56770263799999
Centerline is valid?  [True, True]
Translation: X:124.94, Y:5.50, Z:-1.32
[[ 9.99815348e-01 -1.60726361e-02  1.05327807e-02  1.24940270e+02]
 [ 1.60708533e-02  9.99870823e-01  2.53879532e-04  5.50125637e+00]
 [-1.05355006e-02 -8.45618789e-05  9.99944496e-01 -1.31841660e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 123.62770263799999
Centerline is valid?  [True, True]
Translation: X:125.00, Y:5.51, Z:-1.32
[[ 9.99850983e-01 -1.36774288e-02  1.05328154e-02  1.25002238e+02]
 [ 1.36755285e-02  9.99906454e-01  2.52430181e-04  5.50595162e+00]
 [-1.05352827e-02 -1.08350747e-04  9.99944496e-01 -1.31906930e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.68770263799999
Centerline is valid?  [True, True]
Translation: X:125.06, Y:5.51, Z:-1.32
[[ 9.99896416e-01 -9.80903229e-03  1.05328253e-02  1.25064383e+02]
 [ 9.80692163e-03  9.99951879e-01  2.52019412e-04  5.51016006e+00]
 [-1.05347905e-02 -1.48698715e-04  9.99944496e-01 -1.31972462e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.74770263799999
Centerline is valid?  [True, True]
Translation: X:125.13, Y:5.51, Z:-1.32
[[ 9.99923225e-01 -6.52708227e-03  1.05328373e-02  1.25125918e+02]
 [ 6.52479487e-03  9.99978682e-01  2.51517799e-04  5.51258103e+00]
 [-1.05342544e-02 -1.82773887e-04  9.99944496e-01 -1.32037298e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.807702638
Centerline is valid?  [True, True]
Translation: X:125.19, Y:5.52, Z:-1.32
[[ 9.99943968e-01 -1.05801438e-03  1.05328472e-02  1.25185885e+02]
 [ 1.05542807e-03  9.99999412e-01  2.51102702e-04  5.51617899e+00]
 [-1.05331066e-02 -2.39971969e-04  9.99944496e-01 -1.32100520e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.86770263799998
Centerline is valid?  [True, True]
Translation: X:125.25, Y:5.52, Z:-1.32
[[ 9.99937086e-01  3.85783537e-03  1.05328451e-02  1.25246978e+02]
 [-3.86069514e-03  9.99992516e-01  2.51190452e-04  5.52073178e+00]
 [-1.05317972e-02 -2.91838753e-04  9.99944496e-01 -1.32164994e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.92770263799999
Centerline is valid?  [True, True]
Translation: X:125.31, Y:5.52, Z:-1.32
[[ 9.99922960e-01  6.56750724e-03  1.05328501e-02  1.25306407e+02]
 [-6.57051497e-03  9.99978382e-01  2.50977250e-04  5.52351692e+00]
 [-1.05309741e-02 -3.20164164e-04  9.99944496e-01 -1.32227644e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 123.98770263799999
Centerline is valid?  [True, True]
Translation: X:125.37, Y:5.53, Z:-1.32
[[ 9.99922101e-01  6.69703494e-03  1.05328501e-02  1.25365381e+02]
 [-6.70004984e-03  9.99977523e-01  2.50977250e-04  5.52540558e+00]
 [-1.05309326e-02 -3.21528320e-04  9.99944496e-01 -1.32289812e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.04770263799999
Centerline is valid?  [True, True]
Translation: X:125.42, Y:5.53, Z:-1.32
[[ 9.99929683e-01  5.44872130e-03  1.05328140e-02  1.25423572e+02]
 [-5.45168290e-03  9.99985108e-01  2.52486754e-04  5.52656214e+00]
 [-1.05312814e-02 -3.09890561e-04  9.99944496e-01 -1.32351263e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.10770263799999
Centerline is valid?  [True, True]
Translation: X:125.48, Y:5.53, Z:-1.32
[[ 9.99936191e-01  4.08345515e-03  1.05328010e-02  1.25483577e+02]
 [-4.08634673e-03  9.99991619e-01  2.53024476e-04  5.52660685e+00]
 [-1.05316795e-02 -2.96049007e-04  9.99944497e-01 -1.32414516e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.167702638
Centerline is valid?  [True, True]
Translation: X:125.54, Y:5.53, Z:-1.32
[[ 9.99937892e-01  3.64302815e-03  1.05327911e-02  1.25543479e+02]
 [-3.64589967e-03  9.99993322e-01  2.53438603e-04  5.52657983e+00]
 [-1.05317974e-02 -2.91824362e-04  9.99944497e-01 -1.32477648e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.22770263799998
Centerline is valid?  [True, True]
Translation: X:125.60, Y:5.53, Z:-1.33
[[ 9.99934676e-01  4.43898982e-03  1.05327859e-02  1.25601868e+02]
 [-4.44190772e-03  9.99990103e-01  2.53652977e-04  5.52678480e+00]
 [-1.05315557e-02 -3.00422070e-04  9.99944497e-01 -1.32539174e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.28770263799998
Centerline is valid?  [True, True]
Translation: X:125.66, Y:5.53, Z:-1.33
[[ 9.99924036e-01  6.40183225e-03  1.05327498e-02  1.25660659e+02]
 [-6.40487465e-03  9.99979456e-01  2.55144778e-04  5.52578241e+00]
 [-1.05309000e-02 -3.22586338e-04  9.99944497e-01 -1.32601201e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.34770263799999
Centerline is valid?  [True, True]
Translation: X:125.72, Y:5.53, Z:-1.33
[[ 9.99889075e-01  1.05308617e-02  1.05327155e-02  1.25719419e+02]
 [-1.05341477e-02  9.99944481e-01  2.56550916e-04  5.52754935e+00]
 [-1.05294291e-02 -3.67475639e-04  9.99944497e-01 -1.32663258e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.40770263799999
Centerline is valid?  [True, True]
Translation: X:125.78, Y:5.53, Z:-1.33
[[ 9.99841375e-01  1.43626609e-02  1.05327076e-02  1.25779713e+02]
 [-1.43661626e-02  9.99896768e-01  2.56875293e-04  5.52827497e+00]
 [-1.05279309e-02 -4.08149136e-04  9.99944497e-01 -1.32726814e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.46770263799999
Centerline is valid?  [True, True]
Translation: X:125.84, Y:5.53, Z:-1.33
[[ 9.99797843e-01  1.71270376e-02  1.05327067e-02  1.25839760e+02]
 [-1.71306928e-02  9.99853226e-01  2.56912294e-04  5.52896925e+00]
 [-1.05267606e-02 -4.37292921e-04  9.99944497e-01 -1.32790084e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.527702638
Centerline is valid?  [True, True]
Translation: X:125.90, Y:5.53, Z:-1.33
[[ 9.99762828e-01  1.90617410e-02  1.05327041e-02  1.25898234e+02]
 [-1.90655045e-02  9.99818204e-01  2.57017451e-04  5.52984721e+00]
 [-1.05258901e-02 -4.57767811e-04  9.99944497e-01 -1.32851708e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.587702638
Centerline is valid?  [True, True]
Translation: X:125.96, Y:5.53, Z:-1.33
[[ 9.99742362e-01  2.01065262e-02  1.05326965e-02  1.25957041e+02]
 [-2.01103509e-02  9.99797733e-01  2.57331483e-04  5.53182932e+00]
 [-1.05253920e-02 -4.69081407e-04  9.99944497e-01 -1.32913728e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.64770263799998
Centerline is valid?  [True, True]
Translation: X:126.02, Y:5.53, Z:-1.33
[[ 9.99751238e-01  1.96602241e-02  1.05326938e-02  1.26016449e+02]
 [-1.96640252e-02  9.99806611e-01  2.57442318e-04  5.53408140e+00]
 [-1.05255955e-02 -4.64493432e-04  9.99944497e-01 -1.32976371e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.70770263799999
Centerline is valid?  [True, True]
Translation: X:126.07, Y:5.53, Z:-1.33
[[ 9.99783632e-01  1.79374576e-02  1.05326871e-02  1.26074192e+02]
 [-1.79411662e-02  9.99839011e-01  2.57712592e-04  5.53385243e+00]
 [-1.05263688e-02 -4.46625521e-04  9.99944497e-01 -1.33037210e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.76770263799999
Centerline is valid?  [True, True]
Translation: X:126.13, Y:5.53, Z:-1.33
[[ 9.99838847e-01  1.45376396e-02  1.05326676e-02  1.26133704e+02]
 [-1.45411683e-02  9.99894238e-01  2.58509238e-04  5.53338713e+00]
 [-1.05277955e-02 -4.11624870e-04  9.99944497e-01 -1.33099951e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 124.82770263799999
Centerline is valid?  [True, True]
Translation: X:126.19, Y:5.53, Z:-1.33
[[ 9.99879398e-01  1.14128223e-02  1.05326623e-02  1.26192755e+02]
 [-1.14161800e-02  9.99934800e-01  2.58724832e-04  5.53212375e+00]
 [-1.05290228e-02 -3.78936398e-04  9.99944497e-01 -1.33162136e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.887702638
Centerline is valid?  [True, True]
Translation: X:126.25, Y:5.53, Z:-1.33
[[ 9.99911759e-01  8.09549232e-03  1.05326592e-02  1.26253269e+02]
 [-8.09866759e-03  9.99967172e-01  2.58851076e-04  5.53406902e+00]
 [-1.05302179e-02 -3.44128741e-04  9.99944497e-01 -1.33225938e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 124.947702638
Centerline is valid?  [True, True]
Translation: X:126.31, Y:5.53, Z:-1.33
[[ 9.99919383e-01  7.09164353e-03  1.05326588e-02  1.26312011e+02]
 [-7.09476332e-03  9.99974798e-01  2.58866142e-04  5.53251211e+00]
 [-1.05305576e-02 -3.33571994e-04  9.99944497e-01 -1.33287773e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.00770263799998
Centerline is valid?  [True, True]
Translation: X:126.37, Y:5.53, Z:-1.33
[[ 9.99917428e-01  7.36210032e-03  1.05326513e-02  1.26370243e+02]
 [-7.36523830e-03  9.99972843e-01  2.59170623e-04  5.53409229e+00]
 [-1.05304573e-02 -3.36724710e-04  9.99944497e-01 -1.33349176e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.06770263799999
Centerline is valid?  [True, True]
Translation: X:126.43, Y:5.54, Z:-1.33
[[ 9.99917322e-01  7.37653561e-03  1.05326157e-02  1.26429839e+02]
 [-7.37968953e-03  9.99972736e-01  2.60609938e-04  5.53573819e+00]
 [-1.05304062e-02 -3.38315825e-04  9.99944497e-01 -1.33412113e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.12770263799999
Centerline is valid?  [True, True]
Translation: X:126.49, Y:5.53, Z:-1.33
[[ 9.99901910e-01  9.23228275e-03  1.05326131e-02  1.26488483e+02]
 [-9.23554062e-03  9.99957318e-01  2.60714220e-04  5.53439871e+00]
 [-1.05297566e-02 -3.57963023e-04  9.99944497e-01 -1.33473857e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.18770263799999
Centerline is valid?  [True, True]
Translation: X:126.55, Y:5.53, Z:-1.34
[[ 9.99891529e-01  1.02953256e-02  1.05326079e-02  1.26548980e+02]
 [-1.02986446e-02  9.99946934e-01  2.60927245e-04  5.53397380e+00]
 [-1.05293626e-02 -3.69370527e-04  9.99944497e-01 -1.33537587e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.24770263799999
Centerline is valid?  [True, True]
Translation: X:126.61, Y:5.53, Z:-1.34
[[ 9.99914456e-01  7.75530204e-03  1.05326079e-02  1.26608640e+02]
 [-7.75848030e-03  9.99969868e-01  2.60927245e-04  5.53408267e+00]
 [-1.05302669e-02 -3.42621955e-04  9.99944497e-01 -1.33600430e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.307702638
Centerline is valid?  [True, True]
Translation: X:126.67, Y:5.53, Z:-1.34
[[ 9.99927462e-01  5.84253730e-03  1.05326047e-02  1.26667313e+02]
 [-5.84561090e-03  9.99982880e-01  2.61055542e-04  5.53406816e+00]
 [-1.05308991e-02 -3.22606115e-04  9.99944497e-01 -1.33662242e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.36770263799998
Centerline is valid?  [True, True]
Translation: X:126.73, Y:5.53, Z:-1.34
[[ 9.99937348e-01  3.79007802e-03  1.05325943e-02  1.26727336e+02]
 [-3.79304227e-03  9.99992772e-01  2.61474163e-04  5.53275818e+00]
 [-1.05315272e-02 -3.01408357e-04  9.99944497e-01 -1.33725466e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.42770263799999
Centerline is valid?  [True, True]
Translation: X:126.79, Y:5.53, Z:-1.34
[[ 9.99944252e-01  7.46451471e-04  1.05325916e-02  1.26785473e+02]
 [-7.49248136e-04  9.99999685e-01  2.61581457e-04  5.53319419e+00]
 [-1.05323931e-02 -2.69458399e-04  9.99944497e-01 -1.33786723e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.48770263799999
Centerline is valid?  [True, True]
Translation: X:126.85, Y:5.53, Z:-1.34
[[ 9.99943746e-01 -1.25282959e-03  1.05325788e-02  1.26845594e+02]
 [ 1.25013832e-03  9.99999184e-01  2.62098595e-04  5.53300561e+00]
 [-1.05328985e-02 -2.48916670e-04  9.99944497e-01 -1.33850086e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.54770263799999
Centerline is valid?  [True, True]
Translation: X:126.91, Y:5.53, Z:-1.34
[[ 9.99938659e-01 -3.42676344e-03  1.05325773e-02  1.26906697e+02]
 [ 3.42419208e-03  9.99994103e-01  2.62157308e-04  5.53401442e+00]
 [-1.05334135e-02 -2.26075660e-04  9.99944497e-01 -1.33914479e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.60770263799999
Centerline is valid?  [True, True]
Translation: X:126.97, Y:5.53, Z:-1.34
[[ 9.99930517e-01 -5.29391794e-03  1.05325799e-02  1.26966884e+02]
 [ 5.29145123e-03  9.99985966e-01  2.62051324e-04  5.53454950e+00]
 [-1.05338194e-02 -2.06300483e-04  9.99944497e-01 -1.33977880e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.667702638
Centerline is valid?  [True, True]
Translation: X:127.03, Y:5.53, Z:-1.34
[[ 9.99884937e-01 -1.09168480e-02  1.05325826e-02  1.27028494e+02]
 [ 1.09146942e-02  9.99940399e-01  2.61945894e-04  5.53447863e+00]
 [-1.05348144e-02 -1.46955836e-04  9.99944497e-01 -1.34042764e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.72770263799998
Centerline is valid?  [True, True]
Translation: X:127.09, Y:5.54, Z:-1.34
[[ 9.99834992e-01 -1.48004244e-02  1.05326161e-02  1.27090517e+02]
 [ 1.47985004e-02  9.99890462e-01  2.60588654e-04  5.53526193e+00]
 [-1.05353192e-02 -1.04678731e-04  9.99944497e-01 -1.34108004e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.78770263799998
Centerline is valid?  [True, True]
Translation: X:127.15, Y:5.54, Z:-1.34
[[ 9.99773208e-01 -1.85093749e-02  1.05326241e-02  1.27152133e+02]
 [ 1.85076601e-02  9.99828685e-01  2.60267724e-04  5.53767081e+00]
 [-1.05356371e-02 -6.52744714e-05  9.99944497e-01 -1.34172942e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.84770263799999
Centerline is valid?  [True, True]
Translation: X:127.21, Y:5.54, Z:-1.34
[[ 9.99716010e-01 -2.13766697e-02  1.05326628e-02  1.27213827e+02]
 [ 2.13751306e-02  9.99771492e-01  2.58690233e-04  5.53987907e+00]
 [-1.05357860e-02 -3.34797246e-05  9.99944497e-01 -1.34237854e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.90770263799999
Centerline is valid?  [True, True]
Translation: X:127.28, Y:5.54, Z:-1.34
[[ 9.99690161e-01 -2.25531341e-02  1.05326967e-02  1.27275760e+02]
 [ 2.25516748e-02  9.99745646e-01  2.57304353e-04  5.54149528e+00]
 [-1.05358206e-02 -1.96946802e-05  9.99944497e-01 -1.34303018e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 125.96770263799999
Centerline is valid?  [True, True]
Translation: X:127.34, Y:5.54, Z:-1.34
[[ 9.99605563e-01 -2.60342003e-02  1.05327046e-02  1.27336935e+02]
 [ 2.60329377e-02  9.99661053e-01  2.56979543e-04  5.54180336e+00]
 [-1.05358248e-02  1.73190612e-05  9.99944497e-01 -1.34367437e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 126.027702638
Centerline is valid?  [True, True]
Translation: X:127.40, Y:5.54, Z:-1.34
[[ 9.99503928e-01 -2.96809653e-02  1.05327410e-02  1.27398461e+02]
 [ 2.96799210e-02  9.99559421e-01  2.55480295e-04  5.54388075e+00]
 [-1.05356834e-02  5.72573611e-05  9.99944497e-01 -1.34432176e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.087702638
Centerline is valid?  [True, True]
Translation: X:127.46, Y:5.54, Z:-1.34
[[ 9.99344859e-01 -3.46253295e-02  1.05327462e-02  1.27459365e+02]
 [ 3.46245620e-02  9.99400357e-01  2.55265905e-04  5.54366556e+00]
 [-1.05352689e-02  1.09593052e-04  9.99944497e-01 -1.34496305e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.14770263799998
Centerline is valid?  [True, True]
Translation: X:127.52, Y:5.54, Z:-1.35
[[ 9.99242827e-01 -3.74544171e-02  1.05327494e-02  1.27521617e+02]
 [ 3.74538081e-02  9.99298327e-01  2.55129919e-04  5.54270690e+00]
 [-1.05349146e-02  1.39554835e-04  9.99944497e-01 -1.34561841e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.20770263799999
Centerline is valid?  [True, True]
Translation: X:127.58, Y:5.54, Z:-1.35
[[ 9.99085034e-01 -4.14506260e-02  1.05327853e-02  1.27582967e+02]
 [ 4.14502547e-02  9.99140537e-01  2.53642220e-04  5.54259173e+00]
 [-1.05342464e-02  1.83176486e-04  9.99944497e-01 -1.34626339e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.26770263799999
Centerline is valid?  [True, True]
Translation: X:127.64, Y:5.54, Z:-1.35
[[ 9.98949698e-01 -4.45932715e-02  1.05328180e-02  1.27644214e+02]
 [ 4.45930892e-02  9.99005202e-01  2.52274274e-04  5.54091238e+00]
 [-1.05335897e-02  2.17681584e-04  9.99944497e-01 -1.34690700e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.32770263799999
Centerline is valid?  [True, True]
Translation: X:127.71, Y:5.54, Z:-1.35
[[ 9.98928864e-01 -4.50575711e-02  1.05328199e-02  1.27706926e+02]
 [ 4.50574154e-02  9.98984367e-01  2.52196421e-04  5.54179064e+00]
 [-1.05334858e-02  2.22655357e-04  9.99944497e-01 -1.34756773e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.387702638
Centerline is valid?  [True, True]
Translation: X:127.77, Y:5.54, Z:-1.35
[[ 9.98815820e-01 -4.74975437e-02  1.05328326e-02  1.27768455e+02]
 [ 4.74975292e-02  9.98871324e-01  2.51665571e-04  5.53937843e+00]
 [-1.05328979e-02  2.48915970e-04  9.99944497e-01 -1.34821481e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.447702638
Centerline is valid?  [True, True]
Translation: X:127.83, Y:5.54, Z:-1.35
[[ 9.98795624e-01 -4.79203488e-02  1.05328678e-02  1.27830287e+02]
 [ 4.79203735e-02  9.98851128e-01  2.50183949e-04  5.53811010e+00]
 [-1.05327558e-02  2.54856324e-04  9.99944497e-01 -1.34886460e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.50770263799998
Centerline is valid?  [True, True]
Translation: X:127.89, Y:5.54, Z:-1.35
[[ 9.98829246e-01 -4.72143518e-02  1.05329018e-02  1.27892744e+02]
 [ 4.72143524e-02  9.98884750e-01  2.48741444e-04  5.53836450e+00]
 [-1.05328992e-02  2.48853911e-04  9.99944497e-01 -1.34952140e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.56770263799999
Centerline is valid?  [True, True]
Translation: X:127.95, Y:5.54, Z:-1.35
[[ 9.99125181e-01 -4.04713351e-02  1.05329376e-02  1.27952564e+02]
 [ 4.04709771e-02  9.99180684e-01  2.47217706e-04  5.53816029e+00]
 [-1.05343130e-02  1.79276841e-04  9.99944497e-01 -1.35015025e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.62770263799999
Centerline is valid?  [True, True]
Translation: X:128.01, Y:5.54, Z:-1.35
[[ 9.99337532e-01 -3.48361155e-02  1.05329401e-02  1.28013047e+02]
 [ 3.48354456e-02  9.99393031e-01  2.47109975e-04  5.53972850e+00]
 [-1.05351553e-02  1.19973391e-04  9.99944497e-01 -1.35078765e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.68770263799999
Centerline is valid?  [True, True]
Translation: X:128.07, Y:5.54, Z:-1.35
[[ 9.99593780e-01 -2.64826856e-02  1.05329401e-02  1.28074761e+02]
 [ 2.64815519e-02  9.99649272e-01  2.47109975e-04  5.54057842e+00]
 [-1.05357901e-02  3.19190066e-05  9.99944497e-01 -1.35143793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.74770263799999
Centerline is valid?  [True, True]
Translation: X:128.14, Y:5.54, Z:-1.35
[[ 9.99758884e-01 -1.92673504e-02  1.05329579e-02  1.28136470e+02]
 [ 1.92658242e-02  9.99814366e-01  2.46349407e-04  5.54044491e+00]
 [-1.05357492e-02 -4.33638919e-05  9.99944497e-01 -1.35208730e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.807702638
Centerline is valid?  [True, True]
Translation: X:128.20, Y:5.54, Z:-1.35
[[ 9.99879251e-01 -1.14253697e-02  1.05329654e-02  1.28198176e+02]
 [ 1.14234118e-02  9.99934720e-01  2.46029611e-04  5.54107486e+00]
 [-1.05350888e-02 -1.25677502e-04  9.99944497e-01 -1.35273718e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.86770263799998
Centerline is valid?  [True, True]
Translation: X:128.26, Y:5.54, Z:-1.35
[[ 9.99919273e-01 -7.10660079e-03  1.05329752e-02  1.28259064e+02]
 [ 7.10440777e-03  9.99974733e-01  2.45607394e-04  5.54024889e+00]
 [-1.05344545e-02 -1.70757016e-04  9.99944497e-01 -1.35337801e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.92770263799999
Centerline is valid?  [True, True]
Translation: X:128.32, Y:5.54, Z:-1.35
[[ 9.99931755e-01 -5.05387038e-03  1.05329768e-02  1.28321560e+02]
 [ 5.05156424e-03  9.99987211e-01  2.45538172e-04  5.54133395e+00]
 [-1.05340831e-02 -1.92313406e-04  9.99944497e-01 -1.35403653e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 126.98770263799999
Centerline is valid?  [True, True]
Translation: X:128.38, Y:5.54, Z:-1.35
[[ 9.99944475e-01 -3.21779960e-04  1.05329868e-02  1.28383820e+02]
 [ 3.19215928e-04  9.99999919e-01  2.45109056e-04  5.54151222e+00]
 [-1.05330649e-02 -2.41733149e-04  9.99944497e-01 -1.35469205e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.04770263799999
Centerline is valid?  [True, True]
Translation: X:128.44, Y:5.54, Z:-1.36
[[ 9.99938902e-01  3.35376787e-03  1.05329970e-02  1.28444381e+02]
 [-3.35653107e-03  9.99994337e-01  2.44670650e-04  5.54120440e+00]
 [-1.05321168e-02 -2.80010033e-04  9.99944497e-01 -1.35532955e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.10770263799999
Centerline is valid?  [True, True]
Translation: X:128.51, Y:5.54, Z:-1.36
[[ 9.99904963e-01  8.89503424e-03  1.05329969e-02  1.28505143e+02]
 [-8.89810467e-03  9.99960381e-01  2.44677428e-04  5.54317721e+00]
 [-1.05304031e-02 -3.38377883e-04  9.99944497e-01 -1.35597009e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.167702638
Centerline is valid?  [True, True]
Translation: X:128.56, Y:5.54, Z:-1.36
[[ 9.99888684e-01  1.05676548e-02  1.05329961e-02  1.28564480e+02]
 [-1.05708183e-02  9.99944097e-01  2.44708375e-04  5.54396916e+00]
 [-1.05298213e-02 -3.56023523e-04  9.99944497e-01 -1.35659534e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 127.22770263799998
Centerline is valid?  [True, True]
Translation: X:128.63, Y:5.54, Z:-1.36
[[ 9.99823835e-01  1.55356367e-02  1.05329936e-02  1.28625254e+02]
 [-1.55390766e-02  9.99879231e-01  2.44817884e-04  5.54354078e+00]
 [-1.05279181e-02 -4.08447750e-04  9.99944497e-01 -1.35723549e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.28770263799998
Centerline is valid?  [True, True]
Translation: X:128.69, Y:5.54, Z:-1.36
[[ 9.99727165e-01  2.08483235e-02  1.05329935e-02  1.28685205e+02]
 [-2.08520578e-02  9.99782542e-01  2.44822822e-04  5.54451239e+00]
 [-1.05255989e-02 -4.64390614e-04  9.99944497e-01 -1.35786723e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.34770263799999
Centerline is valid?  [True, True]
Translation: X:128.74, Y:5.55, Z:-1.36
[[ 9.99588233e-01  2.66912035e-02  1.05329912e-02  1.28744080e+02]
 [-2.66952624e-02  9.99643588e-01  2.44920328e-04  5.54643818e+00]
 [-1.05226999e-02 -5.26000442e-04  9.99944497e-01 -1.35848794e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.40770263799999
Centerline is valid?  [True, True]
Translation: X:128.80, Y:5.55, Z:-1.36
[[ 9.99451580e-01  3.13942039e-02  1.05329926e-02  1.28803715e+02]
 [-3.13985226e-02  9.99506915e-01  2.44860160e-04  5.54658874e+00]
 [-1.05201118e-02 -5.75446280e-04  9.99944497e-01 -1.35911610e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.46770263799999
Centerline is valid?  [True, True]
Translation: X:128.86, Y:5.55, Z:-1.36
[[ 9.99391304e-01  3.32577349e-02  1.05329919e-02  1.28863714e+02]
 [-3.32621570e-02  9.99446631e-01  2.44889651e-04  5.54844664e+00]
 [-1.05190188e-02 -5.95090620e-04  9.99944497e-01 -1.35974858e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.527702638
Centerline is valid?  [True, True]
Translation: X:128.92, Y:5.55, Z:-1.36
[[ 9.99320829e-01  3.53120056e-02  1.05329941e-02  1.28922361e+02]
 [-3.53165406e-02  9.99376146e-01  2.44797819e-04  5.54845713e+00]
 [-1.05177787e-02 -6.16620471e-04  9.99944497e-01 -1.36036628e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.587702638
Centerline is valid?  [True, True]
Translation: X:128.98, Y:5.55, Z:-1.36
[[ 9.99326878e-01  3.51403882e-02  1.05329584e-02  1.28981824e+02]
 [-3.51449296e-02  9.99382196e-01  2.46324254e-04  5.54820005e+00]
 [-1.05177951e-02 -6.16338528e-04  9.99944497e-01 -1.36099376e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.64770263799998
Centerline is valid?  [True, True]
Translation: X:129.04, Y:5.55, Z:-1.36
[[ 9.99338545e-01  3.48070206e-02  1.05329558e-02  1.29041889e+02]
 [-3.48115448e-02  9.99393864e-01  2.46434584e-04  5.54944106e+00]
 [-1.05179937e-02 -6.12940041e-04  9.99944497e-01 -1.36162685e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.70770263799999
Centerline is valid?  [True, True]
Translation: X:129.10, Y:5.55, Z:-1.36
[[ 9.99443548e-01  3.16488703e-02  1.05329508e-02  1.29101836e+02]
 [-3.16532219e-02  9.99498881e-01  2.46649355e-04  5.54910931e+00]
 [-1.05198663e-02 -5.79913934e-04  9.99944497e-01 -1.36225840e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.76770263799999
Centerline is valid?  [True, True]
Translation: X:129.16, Y:5.55, Z:-1.36
[[ 9.99510909e-01  2.94448428e-02  1.05329498e-02  1.29160172e+02]
 [-2.94490728e-02  9.99566252e-01  2.46691296e-04  5.55063491e+00]
 [-1.05211173e-02 -5.56756246e-04  9.99944497e-01 -1.36287329e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.82770263799999
Centerline is valid?  [True, True]
Translation: X:129.22, Y:5.55, Z:-1.36
[[ 9.99574422e-01  2.72035246e-02  1.05329129e-02  1.29219511e+02]
 [-2.72076469e-02  9.99629773e-01  2.48254397e-04  5.55236258e+00]
 [-1.05222600e-02 -5.34724521e-04  9.99944497e-01 -1.36349999e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.887702638
Centerline is valid?  [True, True]
Translation: X:129.28, Y:5.55, Z:-1.36
[[ 9.99669413e-01  2.34546980e-02  1.05329097e-02  1.29279752e+02]
 [-2.34586142e-02  9.99724778e-01  2.48393093e-04  5.55259943e+00]
 [-1.05241848e-02 -4.95398442e-04  9.99944497e-01 -1.36413470e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 127.947702638
Centerline is valid?  [True, True]
Translation: X:129.34, Y:5.55, Z:-1.36
[[ 9.99793292e-01  1.73905245e-02  1.05329086e-02  1.29340359e+02]
 [-1.73941052e-02  9.99848680e-01  2.48437967e-04  5.55330720e+00]
 [-1.05269943e-02 -4.31597134e-04  9.99944497e-01 -1.36477332e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.00770263799998
Centerline is valid?  [True, True]
Translation: X:129.40, Y:5.55, Z:-1.37
[[ 9.99880785e-01  1.12904217e-02  1.05329072e-02  1.29400750e+02]
 [-1.12936650e-02  9.99936194e-01  2.48495261e-04  5.55369433e+00]
 [-1.05294296e-02 -3.67420763e-04  9.99944497e-01 -1.36540958e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.067702638
Centerline is valid?  [True, True]
Translation: X:129.46, Y:5.55, Z:-1.37
[[ 9.99927522e-01  5.83171681e-03  1.05328956e-02  1.29460144e+02]
 [-5.83466282e-03  9.99982947e-01  2.48988943e-04  5.55310202e+00]
 [-1.05312639e-02 -3.10426791e-04  9.99944497e-01 -1.36603544e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.127702638
Centerline is valid?  [True, True]
Translation: X:129.52, Y:5.55, Z:-1.37
[[ 9.99943592e-01 -1.36781459e-03  1.05328888e-02  1.29521099e+02]
 [ 1.36526471e-03  9.99999037e-01  2.49273361e-04  5.55145837e+00]
 [-1.05332197e-02 -2.34879119e-04  9.99944497e-01 -1.36667732e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.187702638
Centerline is valid?  [True, True]
Translation: X:129.58, Y:5.55, Z:-1.37
[[ 9.99909371e-01 -8.38494728e-03  1.05328884e-02  1.29581702e+02]
 [ 8.38278636e-03  9.99964833e-01  2.49292609e-04  5.55075609e+00]
 [-1.05346083e-02 -1.60975063e-04  9.99944497e-01 -1.36731553e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.247702638
Centerline is valid?  [True, True]
Translation: X:129.64, Y:5.55, Z:-1.37
[[ 9.99870451e-01 -1.21712762e-02  1.05328911e-02  1.29643746e+02]
 [ 1.21693265e-02  9.99925920e-01  2.49179805e-04  5.54993554e+00]
 [-1.05351436e-02 -1.20969334e-04  9.99944497e-01 -1.36796877e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.307702638
Centerline is valid?  [True, True]
Translation: X:129.71, Y:5.55, Z:-1.37
[[ 9.99749016e-01 -1.97727816e-02  1.05329018e-02  1.29705599e+02]
 [ 1.97712585e-02  9.99804499e-01  2.48725027e-04  5.54656912e+00]
 [-1.05357606e-02 -4.04138763e-05  9.99944497e-01 -1.36861911e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.367702638
Centerline is valid?  [True, True]
Translation: X:129.77, Y:5.54, Z:-1.37
[[ 9.99628816e-01 -2.51254437e-02  1.05329119e-02  1.29767313e+02]
 [ 2.51242222e-02  9.99684306e-01  2.48294558e-04  5.54431308e+00]
 [-1.05358253e-02  1.64288251e-05  9.99944497e-01 -1.36926829e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 128.427702638
Centerline is valid?  [True, True]
Translation: X:129.83, Y:5.54, Z:-1.37
[[ 9.99520368e-01 -2.91220034e-02  1.05329447e-02  1.29829498e+02]
 [ 2.91210185e-02  9.99575863e-01  2.46897061e-04  5.54100290e+00]
 [-1.05356674e-02  5.99514363e-05  9.99944497e-01 -1.36992144e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.487702638
Centerline is valid?  [True, True]
Translation: X:129.89, Y:5.54, Z:-1.37
[[ 9.99462155e-01 -3.10557069e-02  1.05329792e-02  1.29891730e+02]
 [ 3.10548450e-02  9.99517652e-01  2.45415801e-04  5.53849279e+00]
 [-1.05355202e-02  8.18162320e-05  9.99944497e-01 -1.37057522e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.54770263799998
Centerline is valid?  [True, True]
Translation: X:129.95, Y:5.54, Z:-1.37
[[ 9.99453090e-01 -3.13460735e-02  1.05330133e-02  1.29954271e+02]
 [ 3.13452432e-02  9.99508587e-01  2.43944138e-04  5.53867051e+00]
 [-1.05354839e-02  8.63491416e-05  9.99944497e-01 -1.37123295e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.60770263799998
Centerline is valid?  [True, True]
Translation: X:130.02, Y:5.54, Z:-1.37
[[ 9.99445369e-01 -3.15913035e-02  1.05330256e-02  1.30015383e+02]
 [ 3.15904925e-02  9.99500866e-01  2.43411353e-04  5.53626773e+00]
 [-1.05354579e-02  8.94671168e-05  9.99944497e-01 -1.37187568e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.66770263799998
Centerline is valid?  [True, True]
Translation: X:130.08, Y:5.53, Z:-1.37
[[ 9.99454328e-01 -3.13065684e-02  1.05330307e-02  1.30076582e+02]
 [ 3.13057438e-02  9.99509825e-01  2.43193173e-04  5.53391673e+00]
 [-1.05354812e-02  8.66838895e-05  9.99944497e-01 -1.37251960e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.72770263799998
Centerline is valid?  [True, True]
Translation: X:130.14, Y:5.53, Z:-1.37
[[ 9.99489881e-01 -3.01501854e-02  1.05330358e-02  1.30138167e+02]
 [ 3.01492990e-02  9.99545377e-01  2.42967895e-04  5.53289597e+00]
 [-1.05355728e-02  7.47196949e-05  9.99944497e-01 -1.37316790e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.78770263799998
Centerline is valid?  [True, True]
Translation: X:130.20, Y:5.53, Z:-1.37
[[ 9.99568832e-01 -2.74081286e-02  1.05330410e-02  1.30200301e+02]
 [ 2.74070923e-02  9.99624326e-01  2.42742839e-04  5.53083243e+00]
 [-1.05357372e-02  4.60418523e-05  9.99944497e-01 -1.37382173e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.847702638
Centerline is valid?  [True, True]
Translation: X:130.26, Y:5.53, Z:-1.37
[[ 9.99618804e-01 -2.55206032e-02  1.05330767e-02  1.30262623e+02]
 [ 2.55194785e-02  9.99674296e-01  2.41185896e-04  5.53218362e+00]
 [-1.05358012e-02  2.77046668e-05  9.99944497e-01 -1.37447738e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.907702638
Centerline is valid?  [True, True]
Translation: X:130.32, Y:5.53, Z:-1.38
[[ 9.99692248e-01 -2.24602402e-02  1.05331121e-02  1.30323948e+02]
 [ 2.24589620e-02  9.99747737e-01  2.39631314e-04  5.52923031e+00]
 [-1.05358371e-02 -2.99480322e-06  9.99944497e-01 -1.37512151e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 128.967702638
Centerline is valid?  [True, True]
Translation: X:130.39, Y:5.53, Z:-1.38
[[ 9.99765358e-01 -1.89283396e-02  1.05331474e-02  1.30386235e+02]
 [ 1.89268819e-02  9.99820842e-01  2.38067000e-04  5.52590354e+00]
 [-1.05357665e-02 -3.86515021e-05  9.99944497e-01 -1.37577568e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.027702638
Centerline is valid?  [True, True]
Translation: X:130.45, Y:5.52, Z:-1.38
[[ 9.99833419e-01 -1.49059303e-02  1.05331830e-02  1.30448620e+02]
 [ 1.49042660e-02  9.99888897e-01  2.36480611e-04  5.52450315e+00]
 [-1.05355377e-02 -7.94518555e-05  9.99944497e-01 -1.37643134e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.087702638
Centerline is valid?  [True, True]
Translation: X:130.51, Y:5.52, Z:-1.38
[[ 9.99878466e-01 -1.14936994e-02  1.05331934e-02  1.30509540e+02]
 [ 1.14918507e-02  9.99933939e-01  2.36019054e-04  5.52393815e+00]
 [-1.05352103e-02 -1.14944484e-04  9.99944497e-01 -1.37707260e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.147702638
Centerline is valid?  [True, True]
Translation: X:130.57, Y:5.52, Z:-1.38
[[ 9.99917811e-01 -7.30912357e-03  1.05332036e-02  1.30570621e+02]
 [ 7.30704759e-03  9.99973275e-01  2.35560566e-04  5.52464421e+00]
 [-1.05346439e-02 -1.58574585e-04  9.99944497e-01 -1.37771585e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.207702638
Centerline is valid?  [True, True]
Translation: X:130.63, Y:5.52, Z:-1.38
[[ 9.99942593e-01 -1.96540487e-03  1.05332062e-02  1.30633274e+02]
 [ 1.96303372e-03  9.99998046e-01  2.35445631e-04  5.52482998e+00]
 [-1.05336484e-02 -2.14755075e-04  9.99944497e-01 -1.37837578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.267702638
Centerline is valid?  [True, True]
Translation: X:130.69, Y:5.53, Z:-1.38
[[ 9.99944516e-01 -1.28710472e-04  1.05332164e-02  1.30694569e+02]
 [ 1.26242299e-04  9.99999964e-01  2.34987406e-04  5.52563065e+00]
 [-1.05332463e-02 -2.33644630e-04  9.99944497e-01 -1.37902130e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.32770263799998
Centerline is valid?  [True, True]
Translation: X:130.75, Y:5.53, Z:-1.38
[[ 9.99942692e-01  1.91415701e-03  1.05332215e-02  1.30754611e+02]
 [-1.91673607e-03  9.99998136e-01  2.34760383e-04  5.52682993e+00]
 [-1.05327525e-02 -2.54936335e-04  9.99944497e-01 -1.37965389e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.38770263799998
Centerline is valid?  [True, True]
Translation: X:130.81, Y:5.53, Z:-1.38
[[ 9.99941301e-01  2.53878908e-03  1.05332319e-02  1.30813630e+02]
 [-2.54139786e-03  9.99996743e-01  2.34293878e-04  5.52728840e+00]
 [-1.05326027e-02 -2.61049258e-04  9.99944497e-01 -1.38027536e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.44770263799998
Centerline is valid?  [True, True]
Translation: X:130.87, Y:5.53, Z:-1.38
[[ 9.99940956e-01  2.67122550e-03  1.05332269e-02  1.30872671e+02]
 [-2.67384398e-03  9.99996398e-01  2.34517676e-04  5.52761893e+00]
 [-1.05325625e-02 -2.62668034e-04  9.99944497e-01 -1.38089752e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.50770263799998
Centerline is valid?  [True, True]
Translation: X:130.93, Y:5.53, Z:-1.38
[[ 9.99937151e-01  3.84000715e-03  1.05332169e-02  1.30930790e+02]
 [-3.84269514e-03  9.99992589e-01  2.34964696e-04  5.52695710e+00]
 [-1.05322366e-02 -2.75425870e-04  9.99944497e-01 -1.38150991e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.567702638
Centerline is valid?  [True, True]
Translation: X:130.99, Y:5.53, Z:-1.38
[[ 9.99932030e-01  4.99869169e-03  1.05331825e-02  1.30988923e+02]
 [-5.00146004e-03  9.99987465e-01  2.36496007e-04  5.52989450e+00]
 [-1.05318683e-02 -2.89161224e-04  9.99944497e-01 -1.38212406e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 129.627702638
Centerline is valid?  [True, True]
Translation: X:131.05, Y:5.53, Z:-1.38
[[ 9.99927912e-01  5.76399186e-03  1.05331697e-02  1.31047082e+02]
 [-5.76680863e-03  9.99983344e-01  2.37065565e-04  5.52941915e+00]
 [-1.05316278e-02 -2.97791250e-04  9.99944497e-01 -1.38273699e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.687702638
Centerline is valid?  [True, True]
Translation: X:131.11, Y:5.53, Z:-1.38
[[ 9.99923622e-01  6.46555750e-03  1.05331333e-02  1.31106698e+02]
 [-6.46843006e-03  9.99979051e-01  2.38672284e-04  5.53203878e+00]
 [-1.05313695e-02 -3.06786891e-04  9.99944497e-01 -1.38336674e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.747702638
Centerline is valid?  [True, True]
Translation: X:131.17, Y:5.53, Z:-1.38
[[ 9.99913320e-01  7.89967417e-03  1.05331307e-02  1.31165101e+02]
 [-7.90262745e-03  9.99968745e-01  2.38787441e-04  5.53488375e+00]
 [-1.05309151e-02 -3.22006151e-04  9.99944497e-01 -1.38398271e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.807702638
Centerline is valid?  [True, True]
Translation: X:131.23, Y:5.54, Z:-1.38
[[ 9.99900771e-01  9.35428104e-03  1.05330937e-02  1.31225011e+02]
 [-9.35733200e-03  9.99956190e-01  2.40408775e-04  5.53548273e+00]
 [-1.05303834e-02 -3.38946574e-04  9.99944497e-01 -1.38461509e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.867702638
Centerline is valid?  [True, True]
Translation: X:131.28, Y:5.54, Z:-1.39
[[ 9.99900608e-01  9.37171364e-03  1.05330884e-02  1.31283868e+02]
 [-9.37476800e-03  9.99956027e-01  2.40639513e-04  5.53864708e+00]
 [-1.05303700e-02 -3.39360855e-04  9.99944497e-01 -1.38523600e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.927702638
Centerline is valid?  [True, True]
Translation: X:131.34, Y:5.54, Z:-1.39
[[ 9.99893943e-01  1.00577201e-02  1.05330512e-02  1.31342893e+02]
 [-1.00608295e-02  9.99949359e-01  2.42256316e-04  5.54280215e+00]
 [-1.05300813e-02 -3.48201855e-04  9.99944497e-01 -1.38585992e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 129.987702638
Centerline is valid?  [True, True]
Translation: X:131.40, Y:5.55, Z:-1.39
[[ 9.99886391e-01  1.07824501e-02  1.05330168e-02  1.31403125e+02]
 [-1.07856153e-02  9.99941804e-01  2.43745602e-04  5.54505458e+00]
 [-1.05297756e-02 -3.57322977e-04  9.99944497e-01 -1.38649601e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.04770263799998
Centerline is valid?  [True, True]
Translation: X:131.46, Y:5.55, Z:-1.39
[[ 9.99896458e-01  9.80451895e-03  1.05330141e-02  1.31463288e+02]
 [-9.80763118e-03  9.99951874e-01  2.43859699e-04  5.55006522e+00]
 [-1.05301163e-02 -3.47138367e-04  9.99944497e-01 -1.38713104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.10770263799998
Centerline is valid?  [True, True]
Translation: X:131.52, Y:5.55, Z:-1.39
[[ 9.99917639e-01  7.33288386e-03  1.05330141e-02  1.31522023e+02]
 [-7.33585910e-03  9.99973062e-01  2.43859699e-04  5.55200088e+00]
 [-1.05309422e-02 -3.21108322e-04  9.99944497e-01 -1.38775020e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.16770263799998
Centerline is valid?  [True, True]
Translation: X:131.58, Y:5.55, Z:-1.39
[[ 9.99931155e-01  5.17125601e-03  1.05330034e-02  1.31582163e+02]
 [-5.17411631e-03  9.99986584e-01  2.44323001e-04  5.55352262e+00]
 [-1.05315986e-02 -2.98805164e-04  9.99944497e-01 -1.38838440e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.22770263799998
Centerline is valid?  [True, True]
Translation: X:131.64, Y:5.56, Z:-1.39
[[ 9.99944437e-01  4.22607110e-04  1.05329971e-02  1.31641655e+02]
 [-4.25206991e-04  9.99999880e-01  2.44593830e-04  5.55791100e+00]
 [-1.05328924e-02 -2.49058944e-04  9.99944497e-01 -1.38901234e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.28770263799998
Centerline is valid?  [True, True]
Translation: X:131.70, Y:5.56, Z:-1.39
[[ 9.99933418e-01 -4.71343418e-03  1.05329917e-02  1.31702261e+02]
 [ 4.71111665e-03  9.99988873e-01  2.44826770e-04  5.55985522e+00]
 [-1.05340284e-02 -1.95188316e-04  9.99944497e-01 -1.38965138e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.347702638
Centerline is valid?  [True, True]
Translation: X:131.76, Y:5.57, Z:-1.39
[[ 9.99901885e-01 -9.23448383e-03  1.05329917e-02  1.31763459e+02]
 [ 9.23241706e-03  9.99957350e-01  2.44826770e-04  5.56533658e+00]
 [-1.05348033e-02 -1.47557777e-04  9.99944497e-01 -1.39029736e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.407702638
Centerline is valid?  [True, True]
Translation: X:131.82, Y:5.57, Z:-1.39
[[ 9.99898758e-01 -9.56710691e-03  1.05329997e-02  1.31824782e+02]
 [ 9.56506224e-03  9.99954224e-01  2.44480288e-04  5.56871656e+00]
 [-1.05348565e-02 -1.43706739e-04  9.99944497e-01 -1.39094388e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.467702638
Centerline is valid?  [True, True]
Translation: X:131.89, Y:5.57, Z:-1.39
[[ 9.99852886e-01 -1.35374461e-02  1.05330343e-02  1.31886146e+02]
 [ 1.35356375e-02  9.99908360e-01  2.42982142e-04  5.57302915e+00]
 [-1.05353584e-02 -1.00375062e-04  9.99944497e-01 -1.39159021e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.527702638
Centerline is valid?  [True, True]
Translation: X:131.95, Y:5.58, Z:-1.39
[[ 9.99762200e-01 -1.90944642e-02  1.05330396e-02  1.31948065e+02]
 [ 1.90929664e-02  9.99817683e-01  2.42749807e-04  5.57796469e+00]
 [-1.05357544e-02 -4.15851101e-05  9.99944497e-01 -1.39224346e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.587702638
Centerline is valid?  [True, True]
Translation: X:132.01, Y:5.58, Z:-1.39
[[ 9.99644990e-01 -2.44734028e-02  1.05330787e-02  1.32010624e+02]
 [ 2.44722216e-02  9.99700481e-01  2.41041983e-04  5.58267588e+00]
 [-1.05358230e-02  1.68114248e-05  9.99944497e-01 -1.39290230e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.647702638
Centerline is valid?  [True, True]
Translation: X:132.07, Y:5.59, Z:-1.39
[[ 9.99537662e-01 -2.85221959e-02  1.05330940e-02  1.32071492e+02]
 [ 2.85212464e-02  9.99593158e-01  2.40373300e-04  5.58605613e+00]
 [-1.05356646e-02  6.01548014e-05  9.99944497e-01 -1.39354378e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.707702638
Centerline is valid?  [True, True]
Translation: X:132.13, Y:5.59, Z:-1.39
[[ 9.99453646e-01 -3.13282949e-02  1.05331268e-02  1.32132228e+02]
 [ 3.13275165e-02  9.99509144e-01  2.38924963e-04  5.58935399e+00]
 [-1.05354417e-02  9.11822787e-05  9.99944497e-01 -1.39418326e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.767702638
Centerline is valid?  [True, True]
Translation: X:132.19, Y:5.59, Z:-1.39
[[ 9.99380637e-01 -3.35767217e-02  1.05331316e-02  1.32193583e+02]
 [ 3.35760704e-02  9.99436136e-01  2.38712068e-04  5.59249194e+00]
 [-1.05352076e-02  1.15096952e-04  9.99944497e-01 -1.39483014e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 130.82770263799998
Centerline is valid?  [True, True]
Translation: X:132.26, Y:5.59, Z:-1.40
[[ 9.99307070e-01 -3.56992024e-02  1.05331365e-02  1.32255927e+02]
 [ 3.56986712e-02  9.99362571e-01  2.38495681e-04  5.59473453e+00]
 [-1.05349365e-02  1.37688558e-04  9.99944497e-01 -1.39548723e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.88770263799998
Centerline is valid?  [True, True]
Translation: X:132.32, Y:5.60, Z:-1.40
[[ 9.99200511e-01 -3.85667246e-02  1.05331464e-02  1.32317977e+02]
 [ 3.85663573e-02  9.99256013e-01  2.38057764e-04  5.59693667e+00]
 [-1.05344910e-02  1.68357650e-04  9.99944497e-01 -1.39614104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 130.94770263799998
Centerline is valid?  [True, True]
Translation: X:132.38, Y:5.60, Z:-1.40
[[ 9.99116546e-01 -4.06838986e-02  1.05331807e-02  1.32378659e+02]
 [ 4.06836650e-02  9.99172049e-01  2.36533791e-04  5.60022355e+00]
 [-1.05340828e-02  1.92203569e-04  9.99944497e-01 -1.39677988e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.00770263799998
Centerline is valid?  [True, True]
Translation: X:132.44, Y:5.60, Z:-1.40
[[ 9.99041831e-01 -4.24790648e-02  1.05332116e-02  1.32440614e+02]
 [ 4.24789455e-02  9.99097335e-01  2.35145831e-04  5.60164850e+00]
 [-1.05336924e-02  2.12519202e-04  9.99944497e-01 -1.39743179e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.067702638
Centerline is valid?  [True, True]
Translation: X:132.50, Y:5.60, Z:-1.40
[[ 9.99014944e-01 -4.31067656e-02  1.05332442e-02  1.32502901e+02]
 [ 4.31066967e-02  9.99070447e-01  2.33677309e-04  5.60406373e+00]
 [-1.05335261e-02  2.20606241e-04  9.99944497e-01 -1.39808736e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.127702638
Centerline is valid?  [True, True]
Translation: X:132.57, Y:5.61, Z:-1.40
[[ 9.99041234e-01 -4.24930923e-02  1.05332761e-02  1.32565345e+02]
 [ 4.24930046e-02  9.99096737e-01  2.32231875e-04  5.60712804e+00]
 [-1.05336300e-02  2.15581330e-04  9.99944497e-01 -1.39874475e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.187702638
Centerline is valid?  [True, True]
Translation: X:132.63, Y:5.61, Z:-1.40
[[ 9.99069864e-01 -4.18145501e-02  1.05333089e-02  1.32625863e+02]
 [ 4.18144404e-02  9.99125367e-01  2.30735064e-04  5.60767622e+00]
 [-1.05337442e-02  2.09923967e-04  9.99944497e-01 -1.39938123e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.247702638
Centerline is valid?  [True, True]
Translation: X:132.69, Y:5.61, Z:-1.40
[[ 9.99084353e-01 -4.14669160e-02  1.05333136e-02  1.32687460e+02]
 [ 4.14667893e-02  9.99139856e-01  2.30521089e-04  5.60865213e+00]
 [-1.05338124e-02  2.06472681e-04  9.99944497e-01 -1.40003015e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.307702638
Centerline is valid?  [True, True]
Translation: X:132.75, Y:5.61, Z:-1.40
[[ 9.99110393e-01 -4.08346951e-02  1.05333367e-02  1.32748673e+02]
 [ 4.08345445e-02  9.99165896e-01  2.29456958e-04  5.60918830e+00]
 [-1.05339206e-02  2.00871176e-04  9.99944497e-01 -1.40067428e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.367702638
Centerline is valid?  [True, True]
Translation: X:132.81, Y:5.61, Z:-1.40
[[ 9.99170867e-01 -3.93271707e-02  1.05333391e-02  1.32809992e+02]
 [ 3.93269375e-02  9.99226370e-01  2.29349719e-04  5.60922047e+00]
 [-1.05342098e-02  1.85084409e-04  9.99944497e-01 -1.40132013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.427702638
Centerline is valid?  [True, True]
Translation: X:132.87, Y:5.61, Z:-1.40
[[ 9.99286992e-01 -3.62568150e-02  1.05333691e-02  1.32872264e+02]
 [ 3.62564258e-02  9.99342494e-01  2.27963885e-04  5.61234351e+00]
 [-1.05347086e-02  1.54100969e-04  9.99944497e-01 -1.40197577e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.487702638
Centerline is valid?  [True, True]
Translation: X:132.93, Y:5.61, Z:-1.40
[[ 9.99422167e-01 -3.23168565e-02  1.05333805e-02  1.32933334e+02]
 [ 3.23162541e-02  9.99477668e-01  2.27433290e-04  5.61226188e+00]
 [-1.05352285e-02  1.13097530e-04  9.99944497e-01 -1.40261866e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.54770263799998
Centerline is valid?  [True, True]
Translation: X:133.00, Y:5.61, Z:-1.40
[[ 9.99586758e-01 -2.67462198e-02  1.05333829e-02  1.32996519e+02]
 [ 2.67453093e-02  9.99642254e-01  2.27324234e-04  5.61453523e+00]
 [-1.05356947e-02  5.44882879e-05  9.99944497e-01 -1.40328468e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.60770263799998
Centerline is valid?  [True, True]
Translation: X:133.06, Y:5.62, Z:-1.40
[[ 9.99703657e-01 -2.19464029e-02  1.05334199e-02  1.33058544e+02]
 [ 2.19452441e-02  9.99759149e-01  2.25597786e-04  5.61700351e+00]
 [-1.05358339e-02  5.62753834e-06  9.99944497e-01 -1.40393731e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.66770263799998
Centerline is valid?  [True, True]
Translation: X:133.12, Y:5.62, Z:-1.40
[[ 9.99821009e-01 -1.57161145e-02  1.05334519e-02  1.33120313e+02]
 [ 1.57146257e-02  9.99876493e-01  2.24089030e-04  5.61725213e+00]
 [-1.05356728e-02 -5.85196647e-05  9.99944497e-01 -1.40458689e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.72770263799998
Centerline is valid?  [True, True]
Translation: X:133.18, Y:5.62, Z:-1.41
[[ 9.99896295e-01 -9.82060215e-03  1.05334842e-02  1.33182236e+02]
 [ 9.81880238e-03  9.99951770e-01  2.22564014e-04  5.61969058e+00]
 [-1.05351619e-02 -1.19114734e-04  9.99944497e-01 -1.40523858e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.78770263799998
Centerline is valid?  [True, True]
Translation: X:133.24, Y:5.62, Z:-1.41
[[ 9.99927055e-01 -5.91022063e-03  1.05334936e-02  1.33243464e+02]
 [ 5.90820865e-03  9.99982522e-01  2.22116056e-04  5.61962978e+00]
 [-1.05346223e-02 -1.59865775e-04  9.99944497e-01 -1.40588321e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.847702638
Centerline is valid?  [True, True]
Translation: X:133.31, Y:5.62, Z:-1.41
[[ 9.99934833e-01 -4.40174257e-03  1.05334984e-02  1.33305788e+02]
 [ 4.39964928e-03  9.99990297e-01  2.21890881e-04  5.62000740e+00]
 [-1.05343729e-02 -1.75532722e-04  9.99944497e-01 -1.40653965e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.907702638
Centerline is valid?  [True, True]
Translation: X:133.37, Y:5.62, Z:-1.41
[[ 9.99942307e-01 -2.10435885e-03  1.05335078e-02  1.33366917e+02]
 [ 2.10214289e-03  9.99997766e-01  2.21439765e-04  5.62023854e+00]
 [-1.05339503e-02 -1.99284051e-04  9.99944497e-01 -1.40718330e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 131.967702638
Centerline is valid?  [True, True]
Translation: X:133.43, Y:5.62, Z:-1.41
[[ 9.99939635e-01 -3.12585430e-03  1.05335102e-02  1.33429074e+02]
 [ 3.12369620e-03  9.99995097e-01  2.21325929e-04  5.62004566e+00]
 [-1.05341504e-02 -1.88409083e-04  9.99944497e-01 -1.40783793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 132.027702638
Centerline is valid?  [True, True]
Translation: X:133.49, Y:5.62, Z:-1.41
[[ 9.99937893e-01 -3.64075295e-03  1.05335432e-02  1.33491747e+02]
 [ 3.63864007e-03  9.99993356e-01  2.19743603e-04  5.61774670e+00]
 [-1.05342733e-02 -1.81402183e-04  9.99944497e-01 -1.40849645e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.087702638
Centerline is valid?  [True, True]
Translation: X:133.55, Y:5.62, Z:-1.41
[[ 9.99924461e-01 -6.33380219e-03  1.05335549e-02  1.33553048e+02]
 [ 6.33184460e-03  9.99979930e-01  2.19182329e-04  5.61691945e+00]
 [-1.05347318e-02 -1.52468939e-04  9.99944497e-01 -1.40914160e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.147702638
Centerline is valid?  [True, True]
Translation: X:133.61, Y:5.61, Z:-1.41
[[ 9.99916740e-01 -7.45360715e-03  1.05335596e-02  1.33613765e+02]
 [ 7.45171407e-03  9.99972212e-01  2.18956082e-04  5.61498266e+00]
 [-1.05348989e-02 -1.40444778e-04  9.99944497e-01 -1.40978061e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.207702638
Centerline is valid?  [True, True]
Translation: X:133.67, Y:5.61, Z:-1.41
[[ 9.99921755e-01 -6.74738347e-03  1.05335664e-02  1.33673978e+02]
 [ 6.74545466e-03  9.99977225e-01  2.18628954e-04  5.61370361e+00]
 [-1.05348017e-02 -1.47558152e-04  9.99944497e-01 -1.41041437e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.267702638
Centerline is valid?  [True, True]
Translation: X:133.74, Y:5.61, Z:-1.41
[[ 9.99931012e-01 -5.19761099e-03  1.05335687e-02  1.33735390e+02]
 [ 5.19559734e-03  9.99986479e-01  2.18520824e-04  5.61260591e+00]
 [-1.05345620e-02 -1.63777567e-04  9.99944497e-01 -1.41106097e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.32770263799998
Centerline is valid?  [True, True]
Translation: X:133.80, Y:5.61, Z:-1.41
[[ 9.99933931e-01 -4.60192682e-03  1.05335733e-02  1.33798032e+02]
 [ 4.59988248e-03  9.99989397e-01  2.18297429e-04  5.61248148e+00]
 [-1.05344662e-02 -1.69829807e-04  9.99944497e-01 -1.41172067e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.38770263799998
Centerline is valid?  [True, True]
Translation: X:133.86, Y:5.61, Z:-1.41
[[ 9.99934462e-01 -4.48497232e-03  1.05335876e-02  1.33861134e+02]
 [ 4.48292878e-03  9.99989928e-01  2.17606637e-04  5.61335437e+00]
 [-1.05344574e-02 -1.70371053e-04  9.99944497e-01 -1.41238507e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.44770263799998
Centerline is valid?  [True, True]
Translation: X:133.92, Y:5.61, Z:-1.41
[[ 9.99932075e-01 -4.98889005e-03  1.05336255e-02  1.33923719e+02]
 [ 4.98689397e-03  9.99987542e-01  2.15754019e-04  5.61249966e+00]
 [-1.05345707e-02 -1.63209290e-04  9.99944497e-01 -1.41304280e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.50770263799998
Centerline is valid?  [True, True]
Translation: X:133.98, Y:5.61, Z:-1.41
[[ 9.99929435e-01 -5.49240636e-03  1.05336580e-02  1.33984642e+02]
 [ 5.49045504e-03  9.99984904e-01  2.14155298e-04  5.61239262e+00]
 [-1.05346752e-02 -1.56305610e-04  9.99944497e-01 -1.41368339e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.567702638
Centerline is valid?  [True, True]
Translation: X:134.05, Y:5.62, Z:-1.41
[[ 9.99922075e-01 -6.69957752e-03  1.05336900e-02  1.34046101e+02]
 [ 6.69770986e-03  9.99977547e-01  2.12570352e-04  5.61525962e+00]
 [-1.05348776e-02 -1.42002188e-04  9.99944497e-01 -1.41433026e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.627702638
Centerline is valid?  [True, True]
Translation: X:134.11, Y:5.61, Z:-1.41
[[ 9.99894953e-01 -9.95610520e-03  1.05336946e-02  1.34108793e+02]
 [ 9.95442065e-03  9.99950431e-01  2.12339677e-04  5.61459357e+00]
 [-1.05352866e-02 -1.07460544e-04  9.99944497e-01 -1.41499037e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.687702638
Centerline is valid?  [True, True]
Translation: X:134.17, Y:5.62, Z:-1.42
[[ 9.99870721e-01 -1.21483337e-02  1.05337061e-02  1.34168154e+02]
 [ 1.21467768e-02  9.99926203e-01  2.11768922e-04  5.61600021e+00]
 [-1.05355014e-02 -8.37909678e-05  9.99944497e-01 -1.41561557e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.747702638
Centerline is valid?  [True, True]
Translation: X:134.23, Y:5.62, Z:-1.42
[[ 9.99870404e-01 -1.21744081e-02  1.05337038e-02  1.34229913e+02]
 [ 1.21728514e-02  9.99925886e-01  2.11882968e-04  5.61874047e+00]
 [-1.05355027e-02 -8.36302971e-05  9.99944497e-01 -1.41626682e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.807702638
Centerline is valid?  [True, True]
Translation: X:134.29, Y:5.62, Z:-1.42
[[ 9.99884792e-01 -1.09290258e-02  1.05337128e-02  1.34292479e+02]
 [ 1.09274048e-02  9.99940272e-01  2.11433540e-04  5.62032622e+00]
 [-1.05353944e-02 -9.63030371e-05  9.99944497e-01 -1.41692592e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.867702638
Centerline is valid?  [True, True]
Translation: X:134.35, Y:5.62, Z:-1.42
[[ 9.99924615e-01 -6.30907326e-03  1.05337222e-02  1.34353248e+02]
 [ 6.30720085e-03  9.99980087e-01  2.10964501e-04  5.62289641e+00]
 [-1.05348435e-02 -1.44510296e-04  9.99944497e-01 -1.41756626e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.927702638
Centerline is valid?  [True, True]
Translation: X:134.41, Y:5.63, Z:-1.42
[[ 9.99942214e-01  2.14677653e-03  1.05337400e-02  1.34413141e+02]
 [-2.14910856e-03  9.99997669e-01  2.10071925e-04  5.62946569e+00]
 [-1.05332645e-02 -2.32697936e-04  9.99944497e-01 -1.41819792e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 132.987702638
Centerline is valid?  [True, True]
Translation: X:134.47, Y:5.63, Z:-1.42
[[ 9.99913241e-01  7.90887355e-03  1.05337415e-02  1.34471789e+02]
 [-7.91152434e-03  9.99968681e-01  2.10000621e-04  5.63133292e+00]
 [-1.05317507e-02 -2.93320354e-04  9.99944497e-01 -1.41881608e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.04770263799998
Centerline is valid?  [True, True]
Translation: X:134.53, Y:5.63, Z:-1.42
[[ 9.99850612e-01  1.37038156e-02  1.05337348e-02  1.34531797e+02]
 [-1.37067911e-02  9.99906035e-01  2.10335265e-04  5.63440250e+00]
 [-1.05298626e-02 -3.54687546e-04  9.99944497e-01 -1.41944912e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.10770263799998
Centerline is valid?  [True, True]
Translation: X:134.59, Y:5.64, Z:-1.42
[[ 9.99792915e-01  1.74116852e-02  1.05337326e-02  1.34592457e+02]
 [-1.74148675e-02  9.99848328e-01  2.10446620e-04  5.63701693e+00]
 [-1.05284706e-02 -3.93846596e-04  9.99944497e-01 -1.42008877e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.16770263799998
Centerline is valid?  [True, True]
Translation: X:134.65, Y:5.64, Z:-1.42
[[ 9.99786763e-01  1.77614472e-02  1.05337325e-02  1.34651037e+02]
 [-1.77646489e-02  9.99842174e-01  2.10450338e-04  5.63862062e+00]
 [-1.05283321e-02 -3.97533522e-04  9.99944497e-01 -1.42070621e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 133.22770263799998
Centerline is valid?  [True, True]
Translation: X:134.71, Y:5.64, Z:-1.42
[[ 9.99790471e-01  1.75515256e-02  1.05337006e-02  1.34710249e+02]
 [-1.75547324e-02  9.99845881e-01  2.12036464e-04  5.64070748e+00]
 [-1.05283555e-02 -3.96908330e-04  9.99944497e-01 -1.42133159e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.28770263799998
Centerline is valid?  [True, True]
Translation: X:134.77, Y:5.64, Z:-1.42
[[ 9.99814334e-01  1.61350307e-02  1.05336708e-02  1.34768186e+02]
 [-1.61381744e-02  9.99869748e-01  2.13503553e-04  5.64292966e+00]
 [-1.05288539e-02 -3.83458129e-04  9.99944497e-01 -1.42194348e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.347702638
Centerline is valid?  [True, True]
Translation: X:134.83, Y:5.64, Z:-1.42
[[ 9.99827671e-01  1.52862901e-02  1.05336384e-02  1.34826502e+02]
 [-1.52894035e-02  9.99883087e-01  2.15092714e-04  5.64403634e+00]
 [-1.05291189e-02 -3.76108694e-04  9.99944497e-01 -1.42255922e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.407702638
Centerline is valid?  [True, True]
Translation: X:134.89, Y:5.65, Z:-1.42
[[ 9.99846395e-01  1.40081876e-02  1.05336269e-02  1.34885866e+02]
 [-1.40112360e-02  9.99901815e-01  2.15654092e-04  5.64712873e+00]
 [-1.05295717e-02 -3.63210098e-04  9.99944497e-01 -1.42318566e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.467702638
Centerline is valid?  [True, True]
Translation: X:134.95, Y:5.65, Z:-1.42
[[ 9.99875601e-01  1.17399035e-02  1.05336223e-02  1.34945825e+02]
 [-1.17428286e-02  9.99931027e-01  2.15879672e-04  5.64886743e+00]
 [-1.05303613e-02 -3.39547337e-04  9.99944497e-01 -1.42381783e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.527702638
Centerline is valid?  [True, True]
Translation: X:135.00, Y:5.65, Z:-1.42
[[ 9.99889007e-01  1.05364501e-02  1.05336223e-02  1.35004708e+02]
 [-1.05393084e-02  9.99944437e-01  2.15879672e-04  5.65046329e+00]
 [-1.05307624e-02 -3.26872805e-04  9.99944497e-01 -1.42443846e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.587702638
Centerline is valid?  [True, True]
Translation: X:135.06, Y:5.65, Z:-1.43
[[ 9.99909331e-01  8.38886619e-03  1.05336128e-02  1.35063828e+02]
 [-8.39161034e-03  9.99964766e-01  2.16341836e-04  5.65318060e+00]
 [-1.05314268e-02 -3.04716194e-04  9.99944497e-01 -1.42506217e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.647702638
Centerline is valid?  [True, True]
Translation: X:135.12, Y:5.66, Z:-1.43
[[ 9.99922553e-01  6.62805536e-03  1.05336036e-02  1.35122289e+02]
 [-6.63070658e-03  9.99977993e-01  2.16786931e-04  5.65599074e+00]
 [-1.05319349e-02 -2.86615376e-04  9.99944497e-01 -1.42567896e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.707702638
Centerline is valid?  [True, True]
Translation: X:135.18, Y:5.66, Z:-1.43
[[ 9.99926524e-01  5.99920902e-03  1.05335943e-02  1.35181269e+02]
 [-6.00183012e-03  9.99981965e-01  2.17239239e-04  5.65850823e+00]
 [-1.05321010e-02 -2.80444121e-04  9.99944497e-01 -1.42630115e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.767702638
Centerline is valid?  [True, True]
Translation: X:135.24, Y:5.66, Z:-1.43
[[ 9.99925776e-01  6.12254389e-03  1.05335896e-02  1.35239129e+02]
 [-6.12517421e-03  9.99981217e-01  2.17465246e-04  5.66154042e+00]
 [-1.05320603e-02 -2.81969176e-04  9.99944497e-01 -1.42691149e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.82770263799998
Centerline is valid?  [True, True]
Translation: X:135.30, Y:5.66, Z:-1.43
[[ 9.99926092e-01  6.07083323e-03  1.05335805e-02  1.35299307e+02]
 [-6.07346531e-03  9.99981533e-01  2.17904337e-04  5.66454790e+00]
 [-1.05320631e-02 -2.81863568e-04  9.99944497e-01 -1.42754641e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.88770263799998
Centerline is valid?  [True, True]
Translation: X:135.36, Y:5.67, Z:-1.43
[[ 9.99931598e-01  5.08353529e-03  1.05335689e-02  1.35358049e+02]
 [-5.08611855e-03  9.99987042e-01  2.18465941e-04  5.66628886e+00]
 [-1.05323218e-02 -2.72025978e-04  9.99944497e-01 -1.42816601e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 133.94770263799998
Centerline is valid?  [True, True]
Translation: X:135.42, Y:5.67, Z:-1.43
[[ 9.99931237e-01  5.15408743e-03  1.05335595e-02  1.35416685e+02]
 [-5.15667936e-03  9.99986680e-01  2.18919079e-04  5.66703353e+00]
 [-1.05322908e-02 -2.73222214e-04  9.99944497e-01 -1.42878420e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.00770263799998
Centerline is valid?  [True, True]
Translation: X:135.47, Y:5.67, Z:-1.43
[[ 9.99934897e-01  4.38697861e-03  1.05335501e-02  1.35474645e+02]
 [-4.38953272e-03  9.99990342e-01  2.19366283e-04  5.67382985e+00]
 [-1.05324861e-02 -2.65589365e-04  9.99944497e-01 -1.42939658e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.067702638
Centerline is valid?  [True, True]
Translation: X:135.53, Y:5.68, Z:-1.43
[[ 9.99935863e-01  4.16109000e-03  1.05335385e-02  1.35532784e+02]
 [-4.16363743e-03  9.99991308e-01  2.19922396e-04  5.67618088e+00]
 [-1.05325319e-02 -2.63766126e-04  9.99944497e-01 -1.43000997e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.127702638
Centerline is valid?  [True, True]
Translation: X:135.59, Y:5.68, Z:-1.43
[[ 9.99939810e-01  3.06949993e-03  1.05335272e-02  1.35592367e+02]
 [-3.07199256e-03  9.99995257e-01  2.20466061e-04  5.67841597e+00]
 [-1.05328005e-02 -2.52811708e-04  9.99944497e-01 -1.43063854e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.187702638
Centerline is valid?  [True, True]
Translation: X:135.65, Y:5.68, Z:-1.43
[[ 9.99944503e-01  1.89614829e-04  1.05335226e-02  1.35651701e+02]
 [-1.91950046e-04  9.99999957e-01  2.20683287e-04  5.68094614e+00]
 [-1.05334803e-02 -2.22692950e-04  9.99944497e-01 -1.43126429e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.247702638
Centerline is valid?  [True, True]
Translation: X:135.71, Y:5.68, Z:-1.43
[[ 9.99937965e-01 -3.62086846e-03  1.05335179e-02  1.35711679e+02]
 [ 3.61874224e-03  9.99993428e-01  2.20906144e-04  5.68033132e+00]
 [-1.05342486e-02 -1.82774354e-04  9.99944497e-01 -1.43189614e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.307702638
Centerline is valid?  [True, True]
Translation: X:135.77, Y:5.68, Z:-1.43
[[ 9.99927599e-01 -5.81737378e-03  1.05335202e-02  1.35773180e+02]
 [ 5.81537054e-03  9.99983066e-01  2.20796778e-04  5.68337119e+00]
 [-1.05346263e-02 -1.59524468e-04  9.99944497e-01 -1.43254458e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.367702638
Centerline is valid?  [True, True]
Translation: X:135.83, Y:5.69, Z:-1.43
[[ 9.99902897e-01 -9.12369710e-03  1.05335248e-02  1.35834168e+02]
 [ 9.12187961e-03  9.99958370e-01  2.20576089e-04  5.68557118e+00]
 [-1.05350988e-02 -1.24469125e-04  9.99944497e-01 -1.43318735e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 134.427702638
Centerline is valid?  [True, True]
Translation: X:135.90, Y:5.69, Z:-1.43
[[ 9.99856173e-01 -1.32920030e-02  1.05335256e-02  1.35895523e+02]
 [ 1.32904172e-02  9.99911654e-01  2.20541503e-04  5.68761726e+00]
 [-1.05355264e-02 -8.05148346e-05  9.99944497e-01 -1.43383410e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.487702638
Centerline is valid?  [True, True]
Translation: X:135.96, Y:5.69, Z:-1.43
[[ 9.99844169e-01 -1.41662650e-02  1.05335402e-02  1.35956978e+02]
 [ 1.41647351e-02  9.99899651e-01  2.19841289e-04  5.68613434e+00]
 [-1.05355975e-02 -7.06022250e-05  9.99944497e-01 -1.43448061e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.54770263799998
Centerline is valid?  [True, True]
Translation: X:136.02, Y:5.69, Z:-1.44
[[ 9.99824431e-01 -1.54968093e-02  1.05335446e-02  1.36019654e+02]
 [ 1.54953554e-02  9.99879916e-01  2.19628322e-04  5.69023583e+00]
 [-1.05356832e-02 -5.63687445e-05  9.99944497e-01 -1.43514158e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.60770263799998
Centerline is valid?  [True, True]
Translation: X:136.08, Y:5.69, Z:-1.44
[[ 9.99796282e-01 -1.72173989e-02  1.05335582e-02  1.36081751e+02]
 [ 1.72160474e-02  9.99851769e-01  2.18973893e-04  5.69180363e+00]
 [-1.05357670e-02 -3.75830463e-05  9.99944497e-01 -1.43579556e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.66770263799998
Centerline is valid?  [True, True]
Translation: X:136.14, Y:5.69, Z:-1.44
[[ 9.99761663e-01 -1.91222371e-02  1.05335903e-02  1.36142964e+02]
 [ 1.91210076e-02  9.99817153e-01  2.17421047e-04  5.69352388e+00]
 [-1.05358218e-02 -1.59563679e-05  9.99944497e-01 -1.43643956e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.72770263799998
Centerline is valid?  [True, True]
Translation: X:136.20, Y:5.69, Z:-1.44
[[ 9.99739117e-01 -2.02667325e-02  1.05336214e-02  1.36204850e+02]
 [ 2.02655826e-02  9.99794609e-01  2.15903899e-04  5.69006872e+00]
 [-1.05358335e-02 -2.37759935e-06  9.99944497e-01 -1.43708957e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.78770263799998
Centerline is valid?  [True, True]
Translation: X:136.27, Y:5.69, Z:-1.44
[[ 9.99686657e-01 -2.27074782e-02  1.05336524e-02  1.36266037e+02]
 [ 2.27064798e-02  9.99742152e-01  2.14380258e-04  5.69027955e+00]
 [-1.05358043e-02  2.48690823e-05  9.99944497e-01 -1.43773301e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.847702638
Centerline is valid?  [True, True]
Translation: X:136.33, Y:5.69, Z:-1.44
[[ 9.99634509e-01 -2.48975728e-02  1.05336810e-02  1.36326016e+02]
 [ 2.48967109e-02  9.99690006e-01  2.12965008e-04  5.69049752e+00]
 [-1.05357179e-02  4.93668397e-05  9.99944497e-01 -1.43836381e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.907702638
Centerline is valid?  [True, True]
Translation: X:136.39, Y:5.69, Z:-1.44
[[ 9.99596833e-01 -2.63668945e-02  1.05336831e-02  1.36388128e+02]
 [ 2.63661153e-02  9.99652331e-01  2.12860647e-04  5.68887933e+00]
 [-1.05356333e-02  6.49574742e-05  9.99944497e-01 -1.43901769e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 134.967702638
Centerline is valid?  [True, True]
Translation: X:136.45, Y:5.69, Z:-1.44
[[ 9.99545153e-01 -2.82582543e-02  1.05337130e-02  1.36450593e+02]
 [ 2.82575958e-02  9.99600652e-01  2.11369942e-04  5.68895603e+00]
 [-1.05354793e-02  8.63836032e-05  9.99944497e-01 -1.43967460e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.027702638
Centerline is valid?  [True, True]
Translation: X:136.51, Y:5.69, Z:-1.44
[[ 9.99471624e-01 -3.07492026e-02  1.05337438e-02  1.36512708e+02]
 [ 3.07486987e-02  9.99527125e-01  2.09824123e-04  5.68587139e+00]
 [-1.05352146e-02  1.14185658e-04  9.99944497e-01 -1.44032712e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.087702638
Centerline is valid?  [True, True]
Translation: X:136.57, Y:5.68, Z:-1.44
[[ 9.99405291e-01 -3.28344785e-02  1.05337739e-02  1.36574971e+02]
 [ 3.28341064e-02  9.99460794e-01  2.08302865e-04  5.68110621e+00]
 [-1.05349335e-02  1.37688067e-04  9.99944497e-01 -1.44098088e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.147702638
Centerline is valid?  [True, True]
Translation: X:136.64, Y:5.68, Z:-1.44
[[ 9.99399085e-01 -3.30228333e-02  1.05337825e-02  1.36636293e+02]
 [ 3.30224763e-02  9.99454588e-01  2.07866030e-04  5.68039585e+00]
 [-1.05349016e-02  1.40110463e-04  9.99944497e-01 -1.44162638e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.207702638
Centerline is valid?  [True, True]
Translation: X:136.70, Y:5.68, Z:-1.44
[[ 9.99501065e-01 -2.97768518e-02  1.05337892e-02  1.36697140e+02]
 [ 2.97763181e-02  9.99556566e-01  2.07528759e-04  5.67894445e+00]
 [-1.05352977e-02  1.06232242e-04  9.99944497e-01 -1.44226682e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.267702638
Centerline is valid?  [True, True]
Translation: X:136.76, Y:5.68, Z:-1.44
[[ 9.99586220e-01 -2.67661732e-02  1.05338178e-02  1.36760589e+02]
 [ 2.67654878e-02  9.99641719e-01  2.06064949e-04  5.67829484e+00]
 [-1.05355593e-02  7.59630881e-05  9.99944497e-01 -1.44293399e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.32770263799998
Centerline is valid?  [True, True]
Translation: X:136.82, Y:5.68, Z:-1.44
[[ 9.99710755e-01 -2.16204426e-02  1.05338524e-02  1.36822991e+02]
 [ 2.16194902e-02  9.99766251e-01  2.04282901e-04  5.67727395e+00]
 [-1.05358068e-02  2.35127048e-05  9.99944497e-01 -1.44358983e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.38770263799998
Centerline is valid?  [True, True]
Translation: X:136.88, Y:5.68, Z:-1.44
[[ 9.99729991e-01 -2.07118848e-02  1.05338823e-02  1.36883953e+02]
 [ 2.07108985e-02  9.99785486e-01  2.02726886e-04  5.67879390e+00]
 [-1.05358215e-02  1.54940183e-05  9.99944497e-01 -1.44423119e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.44770263799998
Centerline is valid?  [True, True]
Translation: X:136.95, Y:5.68, Z:-1.44
[[ 9.99754554e-01 -1.94902067e-02  1.05339122e-02  1.36946094e+02]
 [ 1.94891690e-02  9.99810048e-01  2.01162248e-04  5.67780268e+00]
 [-1.05358319e-02  4.18432085e-06  9.99944497e-01 -1.44488446e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.50770263799998
Centerline is valid?  [True, True]
Translation: X:137.01, Y:5.68, Z:-1.45
[[ 9.99749062e-01 -1.97698814e-02  1.05339423e-02  1.37009483e+02]
 [ 1.97688760e-02  9.99804557e-01  1.99572916e-04  5.67622678e+00]
 [-1.05358290e-02  8.72136324e-06  9.99944497e-01 -1.44555074e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.567702638
Centerline is valid?  [True, True]
Translation: X:137.07, Y:5.68, Z:-1.45
[[ 9.99754769e-01 -1.94791419e-02  1.05339660e-02  1.37070471e+02]
 [ 1.94781336e-02  9.99810263e-01  1.98313957e-04  5.67645805e+00]
 [-1.05358303e-02  6.91667189e-06  9.99944497e-01 -1.44619235e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 135.627702638
Centerline is valid?  [True, True]
Translation: X:137.13, Y:5.68, Z:-1.45
[[ 9.99730187e-01 -2.07023647e-02  1.05339800e-02  1.37133161e+02]
 [ 2.07014322e-02  9.99785683e-01  1.97565926e-04  5.67553851e+00]
 [-1.05358125e-02  2.05558524e-05  9.99944497e-01 -1.44685202e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.687702638
Centerline is valid?  [True, True]
Translation: X:137.19, Y:5.68, Z:-1.45
[[ 9.99722081e-01 -2.10901651e-02  1.05339905e-02  1.37194513e+02]
 [ 2.10892600e-02  9.99777577e-01  1.97006730e-04  5.67543563e+00]
 [-1.05358024e-02  2.52020858e-05  9.99944497e-01 -1.44749791e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.747702638
Centerline is valid?  [True, True]
Translation: X:137.26, Y:5.68, Z:-1.45
[[ 9.99703032e-01 -2.19745884e-02  1.05340187e-02  1.37256517e+02]
 [ 2.19737484e-02  9.99758529e-01  1.95485437e-04  5.67697925e+00]
 [-1.05357708e-02  3.60444928e-05  9.99944497e-01 -1.44815029e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.807702638
Centerline is valid?  [True, True]
Translation: X:137.32, Y:5.68, Z:-1.45
[[ 9.99672823e-01 -2.33083994e-02  1.05340248e-02  1.37317762e+02]
 [ 2.33076370e-02  9.99728321e-01  1.95158453e-04  5.67686718e+00]
 [-1.05357117e-02  5.04286235e-05  9.99944497e-01 -1.44879522e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.867702638
Centerline is valid?  [True, True]
Translation: X:137.38, Y:5.68, Z:-1.45
[[ 9.99638684e-01 -2.47292519e-02  1.05340288e-02  1.37379599e+02]
 [ 2.47285706e-02  9.99694183e-01  1.94940521e-04  5.67751272e+00]
 [-1.05356280e-02  6.56213887e-05  9.99944497e-01 -1.44944662e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.927702638
Centerline is valid?  [True, True]
Translation: X:137.44, Y:5.68, Z:-1.45
[[ 9.99622689e-01 -2.53675677e-02  1.05340390e-02  1.37442098e+02]
 [ 2.53669277e-02  9.99678189e-01  1.94385374e-04  5.67973498e+00]
 [-1.05355802e-02  7.29041760e-05  9.99944497e-01 -1.45010505e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 135.987702638
Centerline is valid?  [True, True]
Translation: X:137.50, Y:5.68, Z:-1.45
[[ 9.99653543e-01 -2.41210941e-02  1.05340494e-02  1.37502965e+02]
 [ 2.41203908e-02  9.99709042e-01  1.93822098e-04  5.68024063e+00]
 [-1.05356596e-02  6.03304413e-05  9.99944497e-01 -1.45074595e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.04770263799998
Centerline is valid?  [True, True]
Translation: X:137.56, Y:5.68, Z:-1.45
[[ 9.99673782e-01 -2.32672188e-02  1.05340761e-02  1.37563638e+02]
 [ 2.32664836e-02  9.99729280e-01  1.92359077e-04  5.68256068e+00]
 [-1.05357000e-02  5.27945832e-05  9.99944497e-01 -1.45138449e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.10770263799998
Centerline is valid?  [True, True]
Translation: X:137.62, Y:5.68, Z:-1.45
[[ 9.99688661e-01 -2.26188991e-02  1.05340781e-02  1.37623677e+02]
 [ 2.26181289e-02  9.99744159e-01  1.92249797e-04  5.68270314e+00]
 [-1.05357315e-02  4.60711946e-05  9.99944497e-01 -1.45201693e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.16770263799998
Centerline is valid?  [True, True]
Translation: X:137.69, Y:5.68, Z:-1.45
[[ 9.99656076e-01 -2.40158743e-02  1.05340801e-02  1.37686340e+02]
 [ 2.40151828e-02  9.99711575e-01  1.92141125e-04  5.68414059e+00]
 [-1.05356562e-02  6.09028169e-05  9.99944497e-01 -1.45267726e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.22770263799998
Centerline is valid?  [True, True]
Translation: X:137.75, Y:5.69, Z:-1.45
[[ 9.99670303e-01 -2.34161902e-02  1.05340975e-02  1.37748341e+02]
 [ 2.34154756e-02  9.99725802e-01  1.91184933e-04  5.68671090e+00]
 [-1.05356858e-02  5.55390021e-05  9.99944497e-01 -1.45333022e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.28770263799998
Centerline is valid?  [True, True]
Translation: X:137.81, Y:5.69, Z:-1.45
[[ 9.99666186e-01 -2.35912879e-02  1.05341251e-02  1.37810677e+02]
 [ 2.35905992e-02  9.99721685e-01  1.89646653e-04  5.68820903e+00]
 [-1.05356674e-02  5.89229783e-05  9.99944497e-01 -1.45398606e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.347702638
Centerline is valid?  [True, True]
Translation: X:137.87, Y:5.69, Z:-1.45
[[ 9.99643853e-01 -2.45193521e-02  1.05341538e-02  1.37871737e+02]
 [ 2.45187319e-02  9.99699353e-01  1.88038756e-04  5.68801347e+00]
 [-1.05355974e-02  7.03123080e-05  9.99944497e-01 -1.45462810e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.407702638
Centerline is valid?  [True, True]
Translation: X:137.93, Y:5.69, Z:-1.46
[[ 9.99642131e-01 -2.45894669e-02  1.05341800e-02  1.37934245e+02]
 [ 2.45888662e-02  9.99697631e-01  1.86560220e-04  5.69019240e+00]
 [-1.05355822e-02  7.25300875e-05  9.99944497e-01 -1.45528594e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.467702638
Centerline is valid?  [True, True]
Translation: X:138.00, Y:5.69, Z:-1.46
[[ 9.99643397e-01 -2.45379014e-02  1.05342072e-02  1.37996712e+02]
 [ 2.45373141e-02  9.99698898e-01  1.85012682e-04  5.69193884e+00]
 [-1.05355752e-02  7.35344453e-05  9.99944497e-01 -1.45594321e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.527702638
Centerline is valid?  [True, True]
Translation: X:138.06, Y:5.69, Z:-1.46
[[ 9.99680807e-01 -2.29633322e-02  1.05342351e-02  1.38058008e+02]
 [ 2.29626743e-02  9.99736306e-01  1.83412768e-04  5.69284807e+00]
 [-1.05356690e-02  5.85399855e-05  9.99944497e-01 -1.45658794e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.587702638
Centerline is valid?  [True, True]
Translation: X:138.12, Y:5.69, Z:-1.46
[[ 9.99690873e-01 -2.25208471e-02  1.05342602e-02  1.38120189e+02]
 [ 2.25201801e-02  9.99746372e-01  1.81956034e-04  5.69407628e+00]
 [-1.05356863e-02  5.53336504e-05  9.99944497e-01 -1.45724217e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.647702638
Centerline is valid?  [True, True]
Translation: X:138.18, Y:5.69, Z:-1.46
[[ 9.99654326e-01 -2.40885316e-02  1.05342869e-02  1.38181928e+02]
 [ 2.40879680e-02  9.99709827e-01  1.80398496e-04  5.69386558e+00]
 [-1.05355757e-02  7.34134290e-05  9.99944497e-01 -1.45789140e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.707702638
Centerline is valid?  [True, True]
Translation: X:138.24, Y:5.70, Z:-1.46
[[ 9.99679542e-01 -2.30183073e-02  1.05343129e-02  1.38243072e+02]
 [ 2.30177003e-02  9.99735042e-01  1.78870134e-04  5.69638681e+00]
 [-1.05356390e-02  6.36628433e-05  9.99944497e-01 -1.45853487e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.767702638
Centerline is valid?  [True, True]
Translation: X:138.30, Y:5.70, Z:-1.46
[[ 9.99690210e-01 -2.25502296e-02  1.05343166e-02  1.38303850e+02]
 [ 2.25495990e-02  9.99745710e-01  1.78651492e-04  5.69598915e+00]
 [-1.05356664e-02  5.89484669e-05  9.99944497e-01 -1.45917494e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 136.82770263799998
Centerline is valid?  [True, True]
Translation: X:138.36, Y:5.70, Z:-1.46
[[ 9.99699249e-01 -2.21458850e-02  1.05343171e-02  1.38364538e+02]
 [ 2.21452323e-02  9.99754748e-01  1.78617548e-04  5.69619024e+00]
 [-1.05356892e-02  5.47210713e-05  9.99944497e-01 -1.45981429e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.88770263799998
Centerline is valid?  [True, True]
Translation: X:138.43, Y:5.70, Z:-1.46
[[ 9.99676211e-01 -2.31625123e-02  1.05343190e-02  1.38425549e+02]
 [ 2.31619172e-02  9.99731711e-01  1.78507971e-04  5.69844618e+00]
 [-1.05356274e-02  6.55448519e-05  9.99944497e-01 -1.46045735e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 136.94770263799998
Centerline is valid?  [True, True]
Translation: X:138.49, Y:5.70, Z:-1.46
[[ 9.99632177e-01 -2.49907781e-02  1.05343439e-02  1.38488056e+02]
 [ 2.49903000e-02  9.99687678e-01  1.77028192e-04  5.69929520e+00]
 [-1.05354778e-02  8.62933374e-05  9.99944497e-01 -1.46111493e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.00770263799998
Centerline is valid?  [True, True]
Translation: X:138.55, Y:5.70, Z:-1.46
[[ 9.99600297e-01 -2.62349718e-02  1.05343700e-02  1.38548771e+02]
 [ 2.62345794e-02  9.99655799e-01  1.75460094e-04  5.69944214e+00]
 [-1.05353472e-02  1.00974804e-04  9.99944497e-01 -1.46175344e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.067702638
Centerline is valid?  [True, True]
Translation: X:138.61, Y:5.70, Z:-1.46
[[ 9.99588147e-01 -2.66938637e-02  1.05343737e-02  1.38610718e+02]
 [ 2.66934991e-02  9.99643650e-01  1.75237718e-04  5.70122660e+00]
 [-1.05352975e-02  1.06033749e-04  9.99944497e-01 -1.46240621e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.127702638
Centerline is valid?  [True, True]
Translation: X:138.67, Y:5.70, Z:-1.46
[[ 9.99577813e-01 -2.70780961e-02  1.05343831e-02  1.38671753e+02]
 [ 2.70777588e-02  9.99633315e-01  1.74669748e-04  5.70066086e+00]
 [-1.05352500e-02  1.10651480e-04  9.99944497e-01 -1.46304869e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.187702638
Centerline is valid?  [True, True]
Translation: X:138.73, Y:5.70, Z:-1.46
[[ 9.99566561e-01 -2.74903202e-02  1.05343850e-02  1.38731998e+02]
 [ 2.74900070e-02  9.99622063e-01  1.74555801e-04  5.70372424e+00]
 [-1.05352022e-02  1.15110175e-04  9.99944497e-01 -1.46368383e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.247702638
Centerline is valid?  [True, True]
Translation: X:138.79, Y:5.71, Z:-1.46
[[ 9.99640720e-01 -2.46466584e-02  1.05343887e-02  1.38794146e+02]
 [ 2.46461897e-02  9.99696221e-01  1.74331855e-04  5.70737407e+00]
 [-1.05354853e-02  8.53633211e-05  9.99944497e-01 -1.46433903e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.307702638
Centerline is valid?  [True, True]
Translation: X:138.86, Y:5.71, Z:-1.46
[[ 9.99707262e-01 -2.17811213e-02  1.05344147e-02  1.38856283e+02]
 [ 2.17805102e-02  9.99762762e-01  1.72744848e-04  5.70986978e+00]
 [-1.05356781e-02  5.67506486e-05  9.99944497e-01 -1.46499290e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.367702638
Centerline is valid?  [True, True]
Translation: X:138.92, Y:5.71, Z:-1.47
[[ 9.99732599e-01 -2.05853235e-02  1.05344408e-02  1.38917678e+02]
 [ 2.05846630e-02  9.99788099e-01  1.71139360e-04  5.71281714e+00]
 [-1.05357315e-02  4.57543168e-05  9.99944497e-01 -1.46563902e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.427702638
Centerline is valid?  [True, True]
Translation: X:138.98, Y:5.72, Z:-1.47
[[ 9.99817619e-01 -1.59296830e-02  1.05344463e-02  1.38978473e+02]
 [ 1.59287676e-02  9.99873115e-01  1.70801792e-04  5.71702790e+00]
 [-1.05358304e-02 -2.96989469e-06  9.99944497e-01 -1.46627998e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.487702638
Centerline is valid?  [True, True]
Translation: X:139.04, Y:5.72, Z:-1.47
[[ 9.99897630e-01 -9.68265523e-03  1.05344697e-02  1.39039503e+02]
 [ 9.68140845e-03  9.99953120e-01  1.69342290e-04  5.72181090e+00]
 [-1.05356156e-02 -6.73364501e-05  9.99944497e-01 -1.46692266e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.54770263799998
Centerline is valid?  [True, True]
Translation: X:139.10, Y:5.72, Z:-1.47
[[ 9.99926447e-01 -6.01047697e-03  1.05344732e-02  1.39099790e+02]
 [ 6.00902872e-03  9.99981931e-01  1.69123268e-04  5.72343436e+00]
 [-1.05352994e-02 -1.05808876e-04  9.99944497e-01 -1.46755790e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.60770263799998
Centerline is valid?  [True, True]
Translation: X:139.16, Y:5.73, Z:-1.47
[[ 9.99941548e-01 -2.43435100e-03  1.05344769e-02  1.39159821e+02]
 [ 2.43270675e-03  9.99997027e-01  1.68893611e-04  5.72729321e+00]
 [-1.05348568e-02 -1.43256445e-04  9.99944497e-01 -1.46819081e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.66770263799998
Centerline is valid?  [True, True]
Translation: X:139.22, Y:5.73, Z:-1.47
[[ 9.99944430e-01  4.01270780e-04  1.05344769e-02  1.39221658e+02]
 [-4.03072346e-04  9.99999905e-01  1.68893611e-04  5.72936233e+00]
 [-1.05344082e-02 -1.73130382e-04  9.99944497e-01 -1.46884261e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.72770263799998
Centerline is valid?  [True, True]
Translation: X:139.28, Y:5.73, Z:-1.47
[[ 9.99934457e-01  4.48396213e-03  1.05344841e-02  1.39281399e+02]
 [-4.48598548e-03  9.99989924e-01  1.68447811e-04  5.73299165e+00]
 [-1.05336226e-02 -2.15694313e-04  9.99944497e-01 -1.46947226e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.78770263799998
Centerline is valid?  [True, True]
Translation: X:139.34, Y:5.74, Z:-1.47
[[ 9.99910927e-01  8.19522423e-03  1.05344907e-02  1.39341734e+02]
 [-8.19744904e-03  9.99966386e-01  1.68030642e-04  5.73812808e+00]
 [-1.05327596e-02 -2.54371626e-04  9.99944497e-01 -1.47010845e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.847702638
Centerline is valid?  [True, True]
Translation: X:139.40, Y:5.74, Z:-1.47
[[ 9.99883835e-01  1.10154461e-02  1.05344921e-02  1.39400162e+02]
 [-1.10178264e-02  9.99939288e-01  1.67943340e-04  5.74084573e+00]
 [-1.05320026e-02 -2.83991037e-04  9.99944497e-01 -1.47072438e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.907702638
Centerline is valid?  [True, True]
Translation: X:139.46, Y:5.75, Z:-1.47
[[ 9.99779045e-01  1.81902782e-02  1.05344886e-02  1.39459190e+02]
 [-1.81930586e-02  9.99834478e-01  1.68161286e-04  5.74567855e+00]
 [-1.05296860e-02 -3.59778700e-04  9.99944497e-01 -1.47134722e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 137.967702638
Centerline is valid?  [True, True]
Translation: X:139.52, Y:5.75, Z:-1.47
[[ 9.99635732e-01  2.48480847e-02  1.05344863e-02  1.39518990e+02]
 [-2.48512358e-02  9.99691146e-01  1.68308915e-04  5.75201611e+00]
 [-1.05270505e-02 -4.30042607e-04  9.99944497e-01 -1.47197840e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 138.027702638
Centerline is valid?  [True, True]
Translation: X:139.58, Y:5.75, Z:-1.47
[[ 9.99573746e-01  2.72277720e-02  1.05344847e-02  1.39577364e+02]
 [-2.72310561e-02  9.99629152e-01  1.68409488e-04  5.75434919e+00]
 [-1.05259925e-02 -4.55202845e-04  9.99944497e-01 -1.47259384e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.087702638
Centerline is valid?  [True, True]
Translation: X:139.64, Y:5.76, Z:-1.47
[[ 9.99460852e-01  3.10971171e-02  1.05344597e-02  1.39636423e+02]
 [-3.11006319e-02  9.99516244e-01  1.69956327e-04  5.76044049e+00]
 [-1.05240784e-02 -4.97493049e-04  9.99944497e-01 -1.47321825e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.147702638
Centerline is valid?  [True, True]
Translation: X:139.70, Y:5.76, Z:-1.47
[[ 9.99438208e-01  3.18165716e-02  1.05344579e-02  1.39695872e+02]
 [-3.18201275e-02  9.99493597e-01  1.70067073e-04  5.76213387e+00]
 [-1.05237123e-02 -5.05179324e-04  9.99944497e-01 -1.47384492e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.207702638
Centerline is valid?  [True, True]
Translation: X:139.75, Y:5.77, Z:-1.47
[[ 9.99376998e-01  3.36844312e-02  1.05344544e-02  1.39754208e+02]
 [-3.36880929e-02  9.99432381e-01  1.70286971e-04  5.76532565e+00]
 [-1.05227388e-02 -5.25066559e-04  9.99944497e-01 -1.47446022e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.267702638
Centerline is valid?  [True, True]
Translation: X:139.81, Y:5.77, Z:-1.48
[[ 9.99340607e-01  3.47473241e-02  1.05344491e-02  1.39813929e+02]
 [-3.47510481e-02  9.99395985e-01  1.70611244e-04  5.76784292e+00]
 [-1.05221579e-02 -5.36581892e-04  9.99944497e-01 -1.47509006e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.32770263799998
Centerline is valid?  [True, True]
Translation: X:139.87, Y:5.77, Z:-1.48
[[ 9.99366252e-01  3.40017510e-02  1.05344491e-02  1.39874144e+02]
 [-3.40054337e-02  9.99421633e-01  1.70610603e-04  5.77032089e+00]
 [-1.05225553e-02 -5.28730990e-04  9.99944497e-01 -1.47572484e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.38770263799998
Centerline is valid?  [True, True]
Translation: X:139.93, Y:5.77, Z:-1.48
[[ 9.99397233e-01  3.30786298e-02  1.05344474e-02  1.39932868e+02]
 [-3.30822624e-02  9.99452618e-01  1.70717391e-04  5.77298171e+00]
 [-1.05230339e-02 -5.19117841e-04  9.99944497e-01 -1.47634405e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.44770263799998
Centerline is valid?  [True, True]
Translation: X:139.99, Y:5.78, Z:-1.48
[[ 9.99455104e-01  3.12813308e-02  1.05344235e-02  1.39993589e+02]
 [-3.12848792e-02  9.99510494e-01  1.72179297e-04  5.77527193e+00]
 [-1.05238808e-02 -5.01653644e-04  9.99944497e-01 -1.47698527e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.50770263799998
Centerline is valid?  [True, True]
Translation: X:140.05, Y:5.78, Z:-1.48
[[ 9.99510998e-01  2.94413063e-02  1.05344228e-02  1.40052418e+02]
 [-2.94447532e-02  9.99566394e-01  1.72219550e-04  5.77641352e+00]
 [-1.05247847e-02 -4.82318815e-04  9.99944497e-01 -1.47760527e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.567702638
Centerline is valid?  [True, True]
Translation: X:140.11, Y:5.78, Z:-1.48
[[ 9.99595498e-01  2.64171508e-02  1.05343996e-02  1.40113029e+02]
 [-2.64204449e-02  9.99650904e-01  1.73628123e-04  5.78027103e+00]
 [-1.05261353e-02 -4.51881415e-04  9.99944497e-01 -1.47824557e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.627702638
Centerline is valid?  [True, True]
Translation: X:140.17, Y:5.78, Z:-1.48
[[ 9.99677869e-01  2.30908039e-02  1.05343992e-02  1.40171661e+02]
 [-2.30939139e-02  9.99733285e-01  1.73655279e-04  5.78001217e+00]
 [-1.05275796e-02 -4.16879847e-04  9.99944497e-01 -1.47886324e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.687702638
Centerline is valid?  [True, True]
Translation: X:140.23, Y:5.78, Z:-1.48
[[ 9.99751599e-01  1.96409709e-02  1.05343946e-02  1.40229814e+02]
 [-1.96438925e-02  9.99807025e-01  1.73933154e-04  5.78220412e+00]
 [-1.05289455e-02 -3.80826463e-04  9.99944497e-01 -1.47947649e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.747702638
Centerline is valid?  [True, True]
Translation: X:140.29, Y:5.79, Z:-1.48
[[ 9.99814481e-01  1.61254698e-02  1.05343655e-02  1.40288713e+02]
 [-1.61282149e-02  9.99869916e-01  1.75678459e-04  5.78523810e+00]
 [-1.05301622e-02 -3.45546377e-04  9.99944497e-01 -1.48009888e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.807702638
Centerline is valid?  [True, True]
Translation: X:140.35, Y:5.78, Z:-1.48
[[ 9.99870707e-01  1.21489060e-02  1.05343606e-02  1.40346551e+02]
 [-1.21514337e-02  9.99926153e-01  1.75968638e-04  5.78450762e+00]
 [-1.05314449e-02 -3.03953471e-04  9.99944497e-01 -1.48070830e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.867702638
Centerline is valid?  [True, True]
Translation: X:140.41, Y:5.79, Z:-1.48
[[ 9.99887245e-01  1.07016385e-02  1.05343500e-02  1.40406676e+02]
 [-1.07040926e-02  9.99942694e-01  1.76604562e-04  5.78672753e+00]
 [-1.05318563e-02 -2.89345306e-04  9.99944497e-01 -1.48134261e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.927702638
Centerline is valid?  [True, True]
Translation: X:140.47, Y:5.79, Z:-1.48
[[ 9.99907149e-01  8.64418311e-03  1.05343463e-02  1.40465425e+02]
 [-8.64652540e-03  9.99962602e-01  1.76822825e-04  5.79014531e+00]
 [-1.05324239e-02 -2.67891900e-04  9.99944497e-01 -1.48196230e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 138.987702638
Centerline is valid?  [True, True]
Translation: X:140.52, Y:5.79, Z:-1.48
[[ 9.99924398e-01  6.34245003e-03  1.05343410e-02  1.40524038e+02]
 [-6.34466798e-03  9.99979857e-01  1.77137998e-04  5.79119065e+00]
 [-1.05330053e-02 -2.43961502e-04  9.99944497e-01 -1.48258022e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.04770263799998
Centerline is valid?  [True, True]
Translation: X:140.58, Y:5.79, Z:-1.48
[[ 9.99937103e-01  3.84945277e-03  1.05343355e-02  1.40583803e+02]
 [-3.85153590e-03  9.99992567e-01  1.77465913e-04  5.79336437e+00]
 [-1.05335740e-02 -2.18028122e-04  9.99944497e-01 -1.48321049e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.10770263799998
Centerline is valid?  [True, True]
Translation: X:140.64, Y:5.80, Z:-1.48
[[ 9.99940730e-01  2.75046580e-03  1.05343336e-02  1.40643038e+02]
 [-2.75248914e-03  9.99996196e-01  1.77577423e-04  5.79517974e+00]
 [-1.05338051e-02 -2.06562537e-04  9.99944497e-01 -1.48383493e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.16770263799998
Centerline is valid?  [True, True]
Translation: X:140.70, Y:5.79, Z:-1.48
[[ 9.99944489e-01 -2.14864920e-04  1.05343299e-02  1.40701268e+02]
 [ 2.13003766e-04  9.99999962e-01  1.77796752e-04  5.79472377e+00]
 [-1.05343677e-02 -1.75543031e-04  9.99944497e-01 -1.48444847e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 139.22770263799998
Centerline is valid?  [True, True]
Translation: X:140.76, Y:5.80, Z:-1.49
[[ 9.99944082e-01 -9.27812591e-04  1.05343206e-02  1.40761259e+02]
 [ 9.25985212e-04  9.99999555e-01  1.78345248e-04  5.79785773e+00]
 [-1.05344814e-02 -1.68580650e-04  9.99944497e-01 -1.48508146e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.28770263799998
Centerline is valid?  [True, True]
Translation: X:140.82, Y:5.80, Z:-1.49
[[ 9.99943712e-01 -1.26490871e-03  1.05343206e-02  1.40823032e+02]
 [ 1.26310003e-03  9.99999186e-01  1.78345248e-04  5.79953461e+00]
 [-1.05345376e-02 -1.65029309e-04  9.99944497e-01 -1.48573253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.347702638
Centerline is valid?  [True, True]
Translation: X:140.88, Y:5.80, Z:-1.49
[[ 9.99939740e-01 -3.08948441e-03  1.05343244e-02  1.40883368e+02]
 [ 3.08777929e-03  9.99995217e-01  1.78123632e-04  5.79808505e+00]
 [-1.05348243e-02 -1.45585230e-04  9.99944497e-01 -1.48636773e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.407702638
Centerline is valid?  [True, True]
Translation: X:140.95, Y:5.80, Z:-1.49
[[ 9.99933581e-01 -4.67572985e-03  1.05343257e-02  1.40945836e+02]
 [ 4.67411357e-03  9.99989060e-01  1.78044499e-04  5.80053422e+00]
 [-1.05350429e-02 -1.28794038e-04  9.99944497e-01 -1.48702620e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.467702638
Centerline is valid?  [True, True]
Translation: X:141.01, Y:5.80, Z:-1.49
[[ 9.99916359e-01 -7.50346489e-03  1.05343348e-02  1.41006907e+02]
 [ 7.50201117e-03  9.99971844e-01  1.77507079e-04  5.79872651e+00]
 [-1.05353701e-02 -9.84635349e-05  9.99944497e-01 -1.48766883e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.527702638
Centerline is valid?  [True, True]
Translation: X:141.07, Y:5.80, Z:-1.49
[[ 9.99888271e-01 -1.06053141e-02  1.05343384e-02  1.41070188e+02]
 [ 1.06040348e-02  9.99943760e-01  1.77291535e-04  5.79762689e+00]
 [-1.05356262e-02 -6.55652357e-05  9.99944497e-01 -1.48833513e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.587702638
Centerline is valid?  [True, True]
Translation: X:141.13, Y:5.80, Z:-1.49
[[ 9.99849306e-01 -1.37982836e-02  1.05343666e-02  1.41130655e+02]
 [ 1.37971993e-02  9.99904799e-01  1.75600183e-04  5.79822266e+00]
 [-1.05357867e-02 -3.02289661e-05  9.99944497e-01 -1.48897092e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.647702638
Centerline is valid?  [True, True]
Translation: X:141.19, Y:5.79, Z:-1.49
[[ 9.99804274e-01 -1.67463730e-02  1.05343701e-02  1.41192062e+02]
 [ 1.67454546e-02  9.99859770e-01  1.75391322e-04  5.79288947e+00]
 [-1.05358300e-02  1.04582170e-06  9.99944497e-01 -1.48961674e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.707702638
Centerline is valid?  [True, True]
Translation: X:141.25, Y:5.79, Z:-1.49
[[ 9.99762532e-01 -1.90763141e-02  1.05343756e-02  1.41253343e+02]
 [ 1.90755284e-02  9.99818030e-01  1.75059811e-04  5.79262759e+00]
 [-1.05357981e-02  2.59305402e-05  9.99944497e-01 -1.49026203e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.76770263799997
Centerline is valid?  [True, True]
Translation: X:141.31, Y:5.79, Z:-1.49
[[ 9.99718812e-01 -2.12443658e-02  1.05343793e-02  1.41314257e+02]
 [ 2.12437029e-02  9.99774312e-01  1.74836079e-04  5.79281789e+00]
 [-1.05357161e-02  4.90023059e-05  9.99944497e-01 -1.49090362e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.82770263799998
Centerline is valid?  [True, True]
Translation: X:141.38, Y:5.79, Z:-1.49
[[ 9.99703299e-01 -2.19622475e-02  1.05344022e-02  1.41375096e+02]
 [ 2.19616391e-02  9.99758799e-01  1.73445042e-04  5.79004720e+00]
 [-1.05356705e-02  5.79591584e-05  9.99944497e-01 -1.49154299e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.88770263799998
Centerline is valid?  [True, True]
Translation: X:141.44, Y:5.79, Z:-1.49
[[ 9.99724850e-01 -2.09582857e-02  1.05344092e-02  1.41437295e+02]
 [ 2.09576261e-02  9.99780350e-01  1.73019370e-04  5.78944892e+00]
 [-1.05357215e-02  4.78044443e-05  9.99944497e-01 -1.49219782e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 139.94770263799998
Centerline is valid?  [True, True]
Translation: X:141.50, Y:5.79, Z:-1.49
[[ 9.99774217e-01 -1.84537208e-02  1.05344332e-02  1.41499157e+02]
 [ 1.84529377e-02  9.99829715e-01  1.71540745e-04  5.79013977e+00]
 [-1.05358050e-02  2.28892266e-05  9.99944497e-01 -1.49284852e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.00770263799998
Centerline is valid?  [True, True]
Translation: X:141.56, Y:5.79, Z:-1.49
[[ 9.99811212e-01 -1.63268328e-02  1.05344419e-02  1.41559706e+02]
 [ 1.63259372e-02  9.99866708e-01  1.71006108e-04  5.78903150e+00]
 [-1.05358298e-02  1.01081353e-06  9.99944497e-01 -1.49348580e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.067702638
Centerline is valid?  [True, True]
Translation: X:141.62, Y:5.79, Z:-1.49
[[ 9.99877574e-01 -1.15699094e-02  1.05344437e-02  1.41620117e+02]
 [ 1.15687509e-02  9.99933065e-01  1.70899284e-04  5.79073621e+00]
 [-1.05357158e-02 -4.90080066e-05  9.99944497e-01 -1.49412244e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.127702638
Centerline is valid?  [True, True]
Translation: X:141.68, Y:5.79, Z:-1.49
[[ 9.99920821e-01 -6.88309776e-03  1.05344453e-02  1.41682250e+02]
 [ 6.88168032e-03  9.99976306e-01  1.70795358e-04  5.79149838e+00]
 [-1.05353713e-02 -9.82871494e-05  9.99944497e-01 -1.49477706e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.187702638
Centerline is valid?  [True, True]
Translation: X:141.74, Y:5.79, Z:-1.50
[[ 9.99939439e-01 -3.18492012e-03  1.05344523e-02  1.41743938e+02]
 [ 3.18330204e-03  9.99994919e-01  1.70362738e-04  5.79020694e+00]
 [-1.05349414e-02 -1.36818077e-04  9.99944497e-01 -1.49542640e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.247702638
Centerline is valid?  [True, True]
Translation: X:141.81, Y:5.79, Z:-1.50
[[ 9.99937661e-01  3.70117092e-03  1.05344576e-02  1.41805496e+02]
 [-3.70316759e-03  9.99993129e-01  1.70037316e-04  5.79278935e+00]
 [-1.05337559e-02 -2.09037579e-04  9.99944497e-01 -1.49607510e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.307702638
Centerline is valid?  [True, True]
Translation: X:141.86, Y:5.79, Z:-1.50
[[ 9.99935246e-01  4.30443408e-03  1.05344628e-02  1.41864382e+02]
 [-4.30646081e-03  9.99990713e-01  1.69714770e-04  5.79433434e+00]
 [-1.05336344e-02 -2.15070031e-04  9.99944497e-01 -1.49669548e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.367702638
Centerline is valid?  [True, True]
Translation: X:141.92, Y:5.79, Z:-1.50
[[ 9.99921383e-01  6.80093279e-03  1.05344576e-02  1.41923099e+02]
 [-6.80310140e-03  9.99976844e-01  1.70037525e-04  5.79436693e+00]
 [-1.05330572e-02 -2.41691140e-04  9.99944497e-01 -1.49731432e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 140.427702638
Centerline is valid?  [True, True]
Translation: X:141.98, Y:5.79, Z:-1.50
[[ 9.99901794e-01  9.24278199e-03  1.05344345e-02  1.41983366e+02]
 [-9.24510099e-03  9.99957248e-01  1.71458035e-04  5.79407336e+00]
 [-1.05323993e-02 -2.68833107e-04  9.99944497e-01 -1.49795028e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.487702638
Centerline is valid?  [True, True]
Translation: X:142.04, Y:5.80, Z:-1.50
[[ 9.99899078e-01  9.53204279e-03  1.05344319e-02  1.42041798e+02]
 [-9.53437946e-03  9.99954532e-01  1.71613393e-04  5.79510107e+00]
 [-1.05323171e-02 -2.72035345e-04  9.99944497e-01 -1.49856615e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.54770263799998
Centerline is valid?  [True, True]
Translation: X:142.10, Y:5.79, Z:-1.50
[[ 9.99908270e-01  8.51342838e-03  1.05344091e-02  1.42101872e+02]
 [-8.51572319e-03  9.99963726e-01  1.73002899e-04  5.79310308e+00]
 [-1.05325541e-02 -2.62695141e-04  9.99944497e-01 -1.49919975e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.60770263799998
Centerline is valid?  [True, True]
Translation: X:142.16, Y:5.80, Z:-1.50
[[ 9.99897813e-01  9.66379568e-03  1.05344073e-02  1.42161316e+02]
 [-9.66615544e-03  9.99953267e-01  1.73111164e-04  5.79513859e+00]
 [-1.05322421e-02 -2.74920693e-04  9.99944497e-01 -1.49982643e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.66770263799998
Centerline is valid?  [True, True]
Translation: X:142.22, Y:5.79, Z:-1.50
[[ 9.99900082e-01  9.42615250e-03  1.05344056e-02  1.42220186e+02]
 [-9.42850019e-03  9.99955536e-01  1.73217565e-04  5.79487735e+00]
 [-1.05323044e-02 -2.72523902e-04  9.99944497e-01 -1.50044666e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.72770263799998
Centerline is valid?  [True, True]
Translation: X:142.28, Y:5.79, Z:-1.50
[[ 9.99895636e-01  9.88650521e-03  1.05344038e-02  1.42279337e+02]
 [-9.88887956e-03  9.99951089e-01  1.73324161e-04  5.79402047e+00]
 [-1.05321750e-02 -2.77479523e-04  9.99944497e-01 -1.50106976e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.78770263799998
Centerline is valid?  [True, True]
Translation: X:142.34, Y:5.80, Z:-1.50
[[ 9.99851687e-01  1.36246425e-02  1.05343802e-02  1.42338543e+02]
 [-1.36272391e-02  9.99907130e-01  1.74747269e-04  5.79652493e+00]
 [-1.05310210e-02 -3.18275870e-04  9.99944497e-01 -1.50169501e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.847702638
Centerline is valid?  [True, True]
Translation: X:142.40, Y:5.80, Z:-1.50
[[ 9.99846945e-01  1.39682736e-02  1.05343782e-02  1.42397217e+02]
 [-1.39708906e-02  9.99902387e-01  1.74868478e-04  5.79590632e+00]
 [-1.05309073e-02 -3.22016359e-04  9.99944497e-01 -1.50231313e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.907702638
Centerline is valid?  [True, True]
Translation: X:142.46, Y:5.80, Z:-1.50
[[ 9.99802504e-01  1.68517326e-02  1.05343526e-02  1.42456077e+02]
 [-1.68545255e-02  9.99857937e-01  1.76396524e-04  5.79606099e+00]
 [-1.05298835e-02 -3.53913201e-04  9.99944497e-01 -1.50293441e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 140.967702638
Centerline is valid?  [True, True]
Translation: X:142.52, Y:5.80, Z:-1.50
[[ 9.99721961e-01  2.10956916e-02  1.05343508e-02  1.42516187e+02]
 [-2.10987209e-02  9.99777382e-01  1.76505558e-04  5.79910690e+00]
 [-1.05282821e-02 -3.98717810e-04  9.99944497e-01 -1.50356828e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.027702638
Centerline is valid?  [True, True]
Translation: X:142.58, Y:5.80, Z:-1.50
[[ 9.99666070e-01  2.35961084e-02  1.05343489e-02  1.42576025e+02]
 [-2.35992776e-02  9.99721483e-01  1.76616787e-04  5.80043261e+00]
 [-1.05272475e-02 -4.25160834e-04  9.99944497e-01 -1.50419899e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.087702638
Centerline is valid?  [True, True]
Translation: X:142.63, Y:5.80, Z:-1.50
[[ 9.99612298e-01  2.57736405e-02  1.05343471e-02  1.42633230e+02]
 [-2.57769315e-02  9.99667704e-01  1.76726190e-04  5.80268902e+00]
 [-1.05262917e-02 -4.48200817e-04  9.99944497e-01 -1.50480212e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.147702638
Centerline is valid?  [True, True]
Translation: X:142.69, Y:5.80, Z:-1.51
[[ 9.99627231e-01  2.51878121e-02  1.05343378e-02  1.42691939e+02]
 [-2.51910764e-02  9.99682639e-01  1.77279222e-04  5.80443688e+00]
 [-1.05265293e-02 -4.42584447e-04  9.99944497e-01 -1.50542135e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.207702638
Centerline is valid?  [True, True]
Translation: X:142.75, Y:5.81, Z:-1.51
[[ 9.99710380e-01  2.16375864e-02  1.05343116e-02  1.42752227e+02]
 [-2.16406702e-02  9.99765797e-01  1.78822330e-04  5.80582187e+00]
 [-1.05279751e-02 -4.06740103e-04  9.99944497e-01 -1.50605791e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.26770263799997
Centerline is valid?  [True, True]
Translation: X:142.81, Y:5.81, Z:-1.51
[[ 9.99753615e-01  1.95380986e-02  1.05343106e-02  1.42810848e+02]
 [-1.95410666e-02  9.99809039e-01  1.78881995e-04  5.80780699e+00]
 [-1.05288039e-02 -3.84689586e-04  9.99944497e-01 -1.50667588e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.32770263799998
Centerline is valid?  [True, True]
Translation: X:142.87, Y:5.81, Z:-1.51
[[ 9.99808783e-01  1.64749910e-02  1.05342858e-02  1.42870881e+02]
 [-1.64778044e-02  9.99864216e-01  1.80327689e-04  5.81112441e+00]
 [-1.05298845e-02 -3.53875109e-04  9.99944497e-01 -1.50731003e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.38770263799998
Centerline is valid?  [True, True]
Translation: X:142.93, Y:5.81, Z:-1.51
[[ 9.99874031e-01  1.18722784e-02  1.05342851e-02  1.42930922e+02]
 [-1.18748371e-02  9.99929475e-01  1.80372318e-04  5.81097925e+00]
 [-1.05314007e-02 -3.05442515e-04  9.99944497e-01 -1.50794256e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.44770263799998
Centerline is valid?  [True, True]
Translation: X:142.99, Y:5.81, Z:-1.51
[[ 9.99880219e-01  1.13391890e-02  1.05342831e-02  1.42989736e+02]
 [-1.13417193e-02  9.99935664e-01  1.80484427e-04  5.81491980e+00]
 [-1.05315589e-02 -2.99939691e-04  9.99944497e-01 -1.50856295e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.50770263799998
Centerline is valid?  [True, True]
Translation: X:143.05, Y:5.82, Z:-1.51
[[ 9.99878399e-01  1.14985589e-02  1.05342584e-02  1.43048363e+02]
 [-1.15011131e-02  9.99933843e-01  1.81917759e-04  5.81576109e+00]
 [-1.05314697e-02 -3.03051335e-04  9.99944497e-01 -1.50918184e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.567702638
Centerline is valid?  [True, True]
Translation: X:143.11, Y:5.82, Z:-1.51
[[ 9.99877407e-01  1.15845211e-02  1.05342527e-02  1.43107287e+02]
 [-1.15870836e-02  9.99932851e-01  1.82248406e-04  5.81792521e+00]
 [-1.05314340e-02 -3.04287330e-04  9.99944497e-01 -1.50980325e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 141.627702638
Centerline is valid?  [True, True]
Translation: X:143.17, Y:5.82, Z:-1.51
[[ 9.99887225e-01  1.07036335e-02  1.05342510e-02  1.43166369e+02]
 [-1.07061482e-02  9.99942671e-01  1.82344041e-04  5.82040392e+00]
 [-1.05316954e-02 -2.95104729e-04  9.99944497e-01 -1.51042619e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.687702638
Centerline is valid?  [True, True]
Translation: X:143.23, Y:5.82, Z:-1.51
[[ 9.99917406e-01  7.36278041e-03  1.05342436e-02  1.43226696e+02]
 [-7.36511424e-03  9.99972860e-01  1.82769259e-04  5.82003645e+00]
 [-1.05326121e-02 -2.60340071e-04  9.99944497e-01 -1.51106199e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.747702638
Centerline is valid?  [True, True]
Translation: X:143.29, Y:5.82, Z:-1.51
[[ 9.99935725e-01  4.19226084e-03  1.05342428e-02  1.43285777e+02]
 [-4.19441933e-03  9.99991187e-01  1.82816674e-04  5.82253137e+00]
 [-1.05333836e-02 -2.26989955e-04  9.99944497e-01 -1.51168488e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.807702638
Centerline is valid?  [True, True]
Translation: X:143.34, Y:5.82, Z:-1.51
[[ 9.99944508e-01  1.06255632e-04  1.05342409e-02  1.43344281e+02]
 [-1.08188613e-04  9.99999977e-01  1.82925284e-04  5.82418741e+00]
 [-1.05342213e-02 -1.84054818e-04  9.99944497e-01 -1.51230160e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.867702638
Centerline is valid?  [True, True]
Translation: X:143.40, Y:5.82, Z:-1.51
[[ 9.99926543e-01 -5.99487600e-03  1.05342291e-02  1.43404845e+02]
 [ 5.99327438e-03  9.99982023e-01  1.83601509e-04  5.82338532e+00]
 [-1.05351404e-02 -1.20453496e-04  9.99944497e-01 -1.51294002e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.927702638
Centerline is valid?  [True, True]
Translation: X:143.47, Y:5.83, Z:-1.51
[[ 9.99891694e-01 -1.02776812e-02  1.05342291e-02  1.43466640e+02]
 [ 1.02763173e-02  9.99947180e-01  1.83601509e-04  5.82504336e+00]
 [-1.05355597e-02 -7.53285425e-05  9.99944497e-01 -1.51359131e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 141.987702638
Centerline is valid?  [True, True]
Translation: X:143.53, Y:5.82, Z:-1.51
[[ 9.99828485e-01 -1.52325685e-02  1.05342348e-02  1.43528577e+02]
 [ 1.52314829e-02  9.99883977e-01  1.83278776e-04  5.82361481e+00]
 [-1.05358044e-02 -2.27953249e-05  9.99944497e-01 -1.51424330e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.04770263799998
Centerline is valid?  [True, True]
Translation: X:143.59, Y:5.83, Z:-1.51
[[ 9.99736694e-01 -2.03856029e-02  1.05342441e-02  1.43590981e+02]
 [ 2.03848090e-02  9.99792191e-01  1.82741393e-04  5.82639715e+00]
 [-1.05357803e-02  3.20452770e-05  9.99944497e-01 -1.51490081e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.10770263799998
Centerline is valid?  [True, True]
Translation: X:143.65, Y:5.83, Z:-1.52
[[ 9.99695188e-01 -2.23284908e-02  1.05342536e-02  1.43653477e+02]
 [ 2.23278106e-02  9.99750687e-01  1.82192894e-04  5.82547552e+00]
 [-1.05356953e-02  5.30694593e-05  9.99944497e-01 -1.51555860e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.16770263799998
Centerline is valid?  [True, True]
Translation: X:143.71, Y:5.83, Z:-1.52
[[ 9.99668991e-01 -2.34720425e-02  1.05342803e-02  1.43714512e+02]
 [ 2.34714422e-02  9.99724491e-01  1.80633257e-04  5.82555081e+00]
 [-1.05356179e-02  6.66812852e-05  9.99944497e-01 -1.51620041e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.22770263799998
Centerline is valid?  [True, True]
Translation: X:143.77, Y:5.83, Z:-1.52
[[ 9.99616830e-01 -2.55973091e-02  1.05343040e-02  1.43774810e+02]
 [ 2.55968415e-02  9.99672331e-01  1.79238674e-04  5.82575285e+00]
 [-1.05354403e-02  9.04749159e-05  9.99944497e-01 -1.51683460e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.28770263799998
Centerline is valid?  [True, True]
Translation: X:143.84, Y:5.82, Z:-1.52
[[ 9.99589247e-01 -2.66526833e-02  1.05343064e-02  1.43835800e+02]
 [ 2.66522757e-02  9.99644749e-01  1.79101872e-04  5.82460254e+00]
 [-1.05353376e-02  1.01734933e-04  9.99944497e-01 -1.51747681e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.347702638
Centerline is valid?  [True, True]
Translation: X:143.90, Y:5.82, Z:-1.52
[[ 9.99531750e-01 -2.87281796e-02  1.05343208e-02  1.43898214e+02]
 [ 2.87278962e-02  9.99587253e-01  1.78251222e-04  5.82313572e+00]
 [-1.05350936e-02  1.24461118e-04  9.99944497e-01 -1.51813343e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.407702638
Centerline is valid?  [True, True]
Translation: X:143.96, Y:5.82, Z:-1.52
[[ 9.99470891e-01 -3.07728018e-02  1.05343455e-02  1.43959070e+02]
 [ 3.07726475e-02  9.99526394e-01  1.76779559e-04  5.82237702e+00]
 [-1.05347963e-02  1.47483676e-04  9.99944497e-01 -1.51877328e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.467702638
Centerline is valid?  [True, True]
Translation: X:144.02, Y:5.82, Z:-1.52
[[ 9.99400838e-01 -3.29695546e-02  1.05343685e-02  1.44021000e+02]
 [ 3.29695368e-02  9.99456342e-01  1.75396635e-04  5.81923634e+00]
 [-1.05344241e-02  1.72021706e-04  9.99944497e-01 -1.51942410e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.527702638
Centerline is valid?  [True, True]
Translation: X:144.08, Y:5.82, Z:-1.52
[[ 9.99347447e-01 -3.45500632e-02  1.05343930e-02  1.44083571e+02]
 [ 3.45501488e-02  9.99402950e-01  1.73914038e-04  5.81670870e+00]
 [-1.05341121e-02  1.90164295e-04  9.99944497e-01 -1.52008172e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.587702638
Centerline is valid?  [True, True]
Translation: X:144.15, Y:5.82, Z:-1.52
[[ 9.99265631e-01 -3.68405238e-02  1.05344176e-02  1.44145178e+02]
 [ 3.68407525e-02  9.99321134e-01  1.72406744e-04  5.81501062e+00]
 [-1.05336177e-02  2.15815739e-04  9.99944497e-01 -1.52072932e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.647702638
Centerline is valid?  [True, True]
Translation: X:144.21, Y:5.81, Z:-1.52
[[ 9.99153019e-01 -3.97777637e-02  1.05344424e-02  1.44206183e+02]
 [ 3.97781716e-02  9.99208521e-01  1.70881585e-04  5.81167075e+00]
 [-1.05329019e-02  2.48304005e-04  9.99944497e-01 -1.52137029e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.707702638
Centerline is valid?  [True, True]
Translation: X:144.27, Y:5.81, Z:-1.52
[[ 9.99131479e-01 -4.03151794e-02  1.05344432e-02  1.44266273e+02]
 [ 4.03156177e-02  9.99186980e-01  1.70831252e-04  5.80980163e+00]
 [-1.05327656e-02  2.54019703e-04  9.99944497e-01 -1.52200299e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.76770263799997
Centerline is valid?  [True, True]
Translation: X:144.33, Y:5.81, Z:-1.52
[[ 9.99137302e-01 -4.01706052e-02  1.05344449e-02  1.44327831e+02]
 [ 4.01710367e-02  9.99192804e-01  1.70725004e-04  5.80880235e+00]
 [-1.05327997e-02  2.52601853e-04  9.99944497e-01 -1.52265125e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 142.82770263799998
Centerline is valid?  [True, True]
Translation: X:144.39, Y:5.80, Z:-1.52
[[ 9.99154461e-01 -3.97415088e-02  1.05344501e-02  1.44387979e+02]
 [ 3.97419198e-02  9.99209963e-01  1.70404018e-04  5.80450806e+00]
 [-1.05328996e-02  2.48399336e-04  9.99944497e-01 -1.52328394e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.88770263799998
Centerline is valid?  [True, True]
Translation: X:144.45, Y:5.80, Z:-1.52
[[ 9.99244636e-01 -3.74056438e-02  1.05344501e-02  1.44450455e+02]
 [ 3.74059251e-02  9.99300139e-01  1.70404018e-04  5.80152706e+00]
 [-1.05334515e-02  2.23775550e-04  9.99944497e-01 -1.52394162e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 142.94770263799998
Centerline is valid?  [True, True]
Translation: X:144.51, Y:5.80, Z:-1.52
[[ 9.99280619e-01 -3.64316968e-02  1.05344746e-02  1.44513242e+02]
 [ 3.64319400e-02  9.99336122e-01  1.68875632e-04  5.79903052e+00]
 [-1.05336334e-02  2.15037201e-04  9.99944497e-01 -1.52460154e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.00770263799998
Centerline is valid?  [True, True]
Translation: X:144.57, Y:5.80, Z:-1.53
[[ 9.99219787e-01 -3.80636666e-02  1.05344836e-02  1.44574660e+02]
 [ 3.80640064e-02  9.99275289e-01  1.68314308e-04  5.79587032e+00]
 [-1.05332558e-02  2.32801662e-04  9.99944497e-01 -1.52524764e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.067702638
Centerline is valid?  [True, True]
Translation: X:144.64, Y:5.79, Z:-1.53
[[ 9.99287383e-01 -3.62457127e-02  1.05344890e-02  1.44635718e+02]
 [ 3.62459551e-02  9.99342885e-01  1.67975930e-04  5.79279304e+00]
 [-1.05336550e-02  2.13976386e-04  9.99944497e-01 -1.52589013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.127702638
Centerline is valid?  [True, True]
Translation: X:144.70, Y:5.79, Z:-1.53
[[ 9.99383018e-01 -3.35053358e-02  1.05344926e-02  1.44695604e+02]
 [ 3.35054283e-02  9.99438521e-01  1.67749350e-04  5.79020838e+00]
 [-1.05341982e-02  1.85316835e-04  9.99944497e-01 -1.52652043e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.187702638
Centerline is valid?  [True, True]
Translation: X:144.76, Y:5.79, Z:-1.53
[[ 9.99420840e-01 -3.23575162e-02  1.05344923e-02  1.44758178e+02]
 [ 3.23575449e-02  9.99476343e-01  1.67763546e-04  5.79063328e+00]
 [-1.05344043e-02  1.73203925e-04  9.99944497e-01 -1.52717974e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.247702638
Centerline is valid?  [True, True]
Translation: X:144.82, Y:5.79, Z:-1.53
[[ 9.99558066e-01 -2.77974272e-02  1.05345166e-02  1.44819581e+02]
 [ 2.77972188e-02  9.99613569e-01  1.66228675e-04  5.78646415e+00]
 [-1.05350664e-02  1.26675049e-04  9.99944497e-01 -1.52782483e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.307702638
Centerline is valid?  [True, True]
Translation: X:144.88, Y:5.79, Z:-1.53
[[ 9.99601168e-01 -2.62016966e-02  1.05345202e-02  1.44880679e+02]
 [ 2.62014020e-02  9.99656671e-01  1.65998308e-04  5.78781090e+00]
 [-1.05352528e-02  1.10087096e-04  9.99944497e-01 -1.52846857e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.367702638
Centerline is valid?  [True, True]
Translation: X:144.94, Y:5.79, Z:-1.53
[[ 9.99716009e-01 -2.13757856e-02  1.05345430e-02  1.44943348e+02]
 [ 2.13752385e-02  9.99771510e-01  1.64536415e-04  5.78694819e+00]
 [-1.05356531e-02  6.06886813e-05  9.99944497e-01 -1.52912761e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.427702638
Centerline is valid?  [True, True]
Translation: X:145.01, Y:5.79, Z:-1.53
[[ 9.99759567e-01 -1.92309895e-02  1.05345713e-02  1.45006076e+02]
 [ 1.92303427e-02  9.99815067e-01  1.62703919e-04  5.78940211e+00]
 [-1.05357521e-02  3.99186170e-05  9.99944497e-01 -1.52978755e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.487702638
Centerline is valid?  [True, True]
Translation: X:145.07, Y:5.79, Z:-1.53
[[ 9.99820753e-01 -1.57316650e-02  1.05345868e-02  1.45067962e+02]
 [ 1.57308345e-02  9.99876250e-01  1.61696660e-04  5.79127208e+00]
 [-1.05358269e-02  4.05016452e-06  9.99944497e-01 -1.53043911e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.54770263799998
Centerline is valid?  [True, True]
Translation: X:145.13, Y:5.79, Z:-1.53
[[ 9.99830111e-01 -1.51252133e-02  1.05345939e-02  1.45129725e+02]
 [ 1.51243540e-02  9.99885607e-01  1.61234685e-04  5.79277978e+00]
 [-1.05358275e-02 -1.87836629e-06  9.99944497e-01 -1.53108971e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.60770263799998
Centerline is valid?  [True, True]
Translation: X:145.19, Y:5.79, Z:-1.53
[[ 9.99840103e-01 -1.44495498e-02  1.05346165e-02  1.45192443e+02]
 [ 1.44486687e-02  9.99895600e-01  1.59741500e-04  5.79355961e+00]
 [-1.05358249e-02 -7.50477367e-06  9.99944497e-01 -1.53174952e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.66770263799998
Centerline is valid?  [True, True]
Translation: X:145.25, Y:5.80, Z:-1.53
[[ 9.99832668e-01 -1.49551909e-02  1.05346250e-02  1.45254605e+02]
 [ 1.49543438e-02  9.99888165e-01  1.59176488e-04  5.79655999e+00]
 [-1.05358274e-02 -1.61144752e-06  9.99944497e-01 -1.53240448e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.72770263799998
Centerline is valid?  [True, True]
Translation: X:145.32, Y:5.80, Z:-1.53
[[ 9.99823965e-01 -1.55261166e-02  1.05346378e-02  1.45316219e+02]
 [ 1.55253102e-02  9.99879463e-01  1.58330353e-04  5.79891895e+00]
 [-1.05358262e-02  5.25103792e-06  9.99944497e-01 -1.53305337e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.78770263799998
Centerline is valid?  [True, True]
Translation: X:145.38, Y:5.80, Z:-1.53
[[ 9.99853293e-01 -1.35060408e-02  1.05346611e-02  1.45378429e+02]
 [ 1.35051388e-02  9.99908789e-01  1.56758812e-04  5.80093469e+00]
 [-1.05358175e-02 -1.44637532e-05  9.99944497e-01 -1.53370795e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.847702638
Centerline is valid?  [True, True]
Translation: X:145.44, Y:5.80, Z:-1.53
[[ 9.99856650e-01 -1.32551720e-02  1.05346678e-02  1.45439851e+02]
 [ 1.32542608e-02  9.99912146e-01  1.56307646e-04  5.80466924e+00]
 [-1.05358142e-02 -1.66560041e-05  9.99944497e-01 -1.53435530e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.907702638
Centerline is valid?  [True, True]
Translation: X:145.50, Y:5.80, Z:-1.53
[[ 9.99857834e-01 -1.31655725e-02  1.05346711e-02  1.45500575e+02]
 [ 1.31646587e-02  9.99913330e-01  1.56086243e-04  5.80475562e+00]
 [-1.05358130e-02 -1.73787027e-05  9.99944497e-01 -1.53499490e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 143.967702638
Centerline is valid?  [True, True]
Translation: X:145.56, Y:5.81, Z:-1.54
[[ 9.99851128e-01 -1.36653699e-02  1.05346721e-02  1.45562949e+02]
 [ 1.36644845e-02  9.99906624e-01  1.56022250e-04  5.81029411e+00]
 [-1.05358205e-02 -1.20481596e-05  9.99944497e-01 -1.53565285e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 144.027702638
Centerline is valid?  [True, True]
Translation: X:145.62, Y:5.81, Z:-1.54
[[ 9.99884522e-01 -1.09527484e-02  1.05346956e-02  1.45622609e+02]
 [ 1.09517293e-02  9.99940016e-01  1.54415608e-04  5.81336360e+00]
 [-1.05357550e-02 -3.90246416e-05  9.99944497e-01 -1.53628069e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.087702638
Centerline is valid?  [True, True]
Translation: X:145.68, Y:5.81, Z:-1.54
[[ 9.99898008e-01 -9.64333061e-03  1.05346956e-02  1.45684085e+02]
 [ 9.64223891e-03  9.99953501e-01  1.54415608e-04  5.81468721e+00]
 [-1.05356948e-02 -5.28218072e-05  9.99944497e-01 -1.53692856e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.147702638
Centerline is valid?  [True, True]
Translation: X:145.75, Y:5.82, Z:-1.54
[[ 9.99924166e-01 -6.37831484e-03  1.05346990e-02  1.45746035e+02]
 [ 6.37704438e-03  9.99979655e-01  1.54184600e-04  5.81822731e+00]
 [-1.05354681e-02 -8.69926642e-05  9.99944497e-01 -1.53758161e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.207702638
Centerline is valid?  [True, True]
Translation: X:145.81, Y:5.82, Z:-1.54
[[ 9.99943733e-01 -1.24493440e-03  1.05347057e-02  1.45806317e+02]
 [ 1.24338392e-03  9.99999215e-01  1.53726457e-04  5.82262155e+00]
 [-1.05348888e-02 -1.40619123e-04  9.99944497e-01 -1.53821704e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.26770263799997
Centerline is valid?  [True, True]
Translation: X:145.87, Y:5.82, Z:-1.54
[[ 9.99940487e-01  2.83576904e-03  1.05347061e-02  1.45866519e+02]
 [-2.83754565e-03  9.99995962e-01  1.53700392e-04  5.82440315e+00]
 [-1.05342277e-02 -1.83583954e-04  9.99944497e-01 -1.53885153e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.32770263799998
Centerline is valid?  [True, True]
Translation: X:145.93, Y:5.83, Z:-1.54
[[ 9.99941200e-01  2.57221180e-03  1.05347077e-02  1.45925234e+02]
 [-2.57397260e-03  9.99996676e-01  1.53588056e-04  5.82857955e+00]
 [-1.05342776e-02 -1.80695074e-04  9.99944497e-01 -1.53947067e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.38770263799998
Centerline is valid?  [True, True]
Translation: X:145.98, Y:5.83, Z:-1.54
[[ 9.99932711e-01  4.85722399e-03  1.05347028e-02  1.45983928e+02]
 [-4.85911510e-03  9.99988183e-01  1.53924264e-04  5.83230258e+00]
 [-1.05338307e-02 -2.05103240e-04  9.99944497e-01 -1.54008985e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.44770263799998
Centerline is valid?  [True, True]
Translation: X:146.04, Y:5.83, Z:-1.54
[[ 9.99929026e-01  5.56451824e-03  1.05346793e-02  1.46042385e+02]
 [-5.56646535e-03  9.99984495e-01  1.55515767e-04  5.83294863e+00]
 [-1.05336506e-02 -2.14145657e-04  9.99944497e-01 -1.54070699e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.50770263799998
Centerline is valid?  [True, True]
Translation: X:146.10, Y:5.84, Z:-1.54
[[ 9.99910425e-01  8.25610668e-03  1.05346560e-02  1.46102073e+02]
 [-8.25821954e-03  9.99965888e-01  1.57077862e-04  5.83672965e+00]
 [-1.05329998e-02 -2.44061294e-04  9.99944497e-01 -1.54133756e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.567702638
Centerline is valid?  [True, True]
Translation: X:146.16, Y:5.84, Z:-1.54
[[ 9.99872706e-01  1.19829948e-02  1.05346526e-02  1.46162196e+02]
 [-1.19853168e-02  9.99928161e-01  1.57304778e-04  5.83924809e+00]
 [-1.05320108e-02 -2.83545903e-04  9.99944497e-01 -1.54197154e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.627702638
Centerline is valid?  [True, True]
Translation: X:146.22, Y:5.84, Z:-1.54
[[ 9.99801382e-01  1.69179908e-02  1.05346520e-02  1.46221798e+02]
 [-1.69205869e-02  9.99856824e-01  1.57349136e-04  5.84020616e+00]
 [-1.05304816e-02 -3.35570378e-04  9.99944497e-01 -1.54259965e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.687702638
Centerline is valid?  [True, True]
Translation: X:146.28, Y:5.84, Z:-1.54
[[ 9.99656535e-01  2.39965207e-02  1.05346485e-02  1.46280742e+02]
 [-2.39995118e-02  9.99711958e-01  1.57580548e-04  5.84363635e+00]
 [-1.05278327e-02 -4.10352845e-04  9.99944497e-01 -1.54322135e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.747702638
Centerline is valid?  [True, True]
Translation: X:146.34, Y:5.85, Z:-1.54
[[ 9.99574283e-01  2.72079624e-02  1.05346483e-02  1.46340884e+02]
 [-2.72111317e-02  9.99629696e-01  1.57595900e-04  5.84611787e+00]
 [-1.05264594e-02 -4.44188509e-04  9.99944497e-01 -1.54385536e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.807702638
Centerline is valid?  [True, True]
Translation: X:146.40, Y:5.85, Z:-1.54
[[ 9.99457548e-01  3.12030486e-02  1.05346477e-02  1.46401357e+02]
 [-3.12064397e-02  9.99512948e-01  1.57633041e-04  5.84670592e+00]
 [-1.05245982e-02 -4.86296381e-04  9.99944497e-01 -1.54449258e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.867702638
Centerline is valid?  [True, True]
Translation: X:146.46, Y:5.85, Z:-1.55
[[ 9.99364198e-01  3.40620037e-02  1.05346477e-02  1.46461516e+02]
 [-3.40655533e-02  9.99419588e-01  1.57633041e-04  5.84830537e+00]
 [-1.05231640e-02 -5.16401421e-04  9.99944497e-01 -1.54512663e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.927702638
Centerline is valid?  [True, True]
Translation: X:146.52, Y:5.85, Z:-1.55
[[ 9.99397163e-01  3.30806819e-02  1.05346471e-02  1.46521667e+02]
 [-3.30841775e-02  9.99452556e-01  1.57673206e-04  5.85108222e+00]
 [-1.05236640e-02 -5.06108290e-04  9.99944497e-01 -1.54576079e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 144.987702638
Centerline is valid?  [True, True]
Translation: X:146.58, Y:5.85, Z:-1.55
[[ 9.99496798e-01  2.99194216e-02  1.05346471e-02  1.46579155e+02]
 [-2.99227420e-02  9.99552202e-01  1.57673206e-04  5.85168196e+00]
 [-1.05252122e-02 -4.72819392e-04  9.99944497e-01 -1.54636654e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.04770263799998
Centerline is valid?  [True, True]
Translation: X:146.64, Y:5.85, Z:-1.55
[[ 9.99595192e-01  2.64286612e-02  1.05346386e-02  1.46640051e+02]
 [-2.64317940e-02  9.99650607e-01  1.58239425e-04  5.85158363e+00]
 [-1.05267758e-02 -4.36624766e-04  9.99944497e-01 -1.54700850e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.10770263799998
Centerline is valid?  [True, True]
Translation: X:146.70, Y:5.85, Z:-1.55
[[ 9.99785620e-01  1.78251272e-02  1.05346370e-02  1.46700887e+02]
 [-1.78277841e-02  9.99841060e-01  1.58342930e-04  5.85419390e+00]
 [-1.05301402e-02 -3.46118220e-04  9.99944497e-01 -1.54764991e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.16770263799998
Centerline is valid?  [True, True]
Translation: X:146.76, Y:5.85, Z:-1.55
[[ 9.99830516e-01  1.50983817e-02  1.05346358e-02  1.46759641e+02]
 [-1.51008883e-02  9.99885963e-01  1.58426961e-04  5.85256289e+00]
 [-1.05310424e-02 -3.17482468e-04  9.99944497e-01 -1.54826871e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 145.22770263799998
Centerline is valid?  [True, True]
Translation: X:146.82, Y:5.85, Z:-1.55
[[ 9.99902725e-01  9.14127251e-03  1.05346324e-02  1.46820098e+02]
 [-9.14345103e-03  9.99958185e-01  1.58650955e-04  5.85064497e+00]
 [-1.05327416e-02 -2.54958418e-04  9.99944497e-01 -1.54890550e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.28770263799998
Centerline is valid?  [True, True]
Translation: X:146.88, Y:5.85, Z:-1.55
[[ 9.99939118e-01  3.28353398e-03  1.05346258e-02  1.46880138e+02]
 [-3.28539217e-03  9.99994590e-01  1.59088176e-04  5.84858900e+00]
 [-1.05340464e-02 -1.93688868e-04  9.99944497e-01 -1.54953803e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.347702638
Centerline is valid?  [True, True]
Translation: X:146.94, Y:5.85, Z:-1.55
[[ 9.99943457e-01 -1.45059173e-03  1.05346255e-02  1.46938562e+02]
 [ 1.44899596e-03  9.99998938e-01  1.59109078e-04  5.85142801e+00]
 [-1.05348451e-02 -1.43835451e-04  9.99944497e-01 -1.55015400e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.407702638
Centerline is valid?  [True, True]
Translation: X:147.00, Y:5.85, Z:-1.55
[[ 9.99943237e-01 -1.59528253e-03  1.05346187e-02  1.47000191e+02]
 [ 1.59369009e-03  9.99998717e-01  1.59555072e-04  5.84819553e+00]
 [-1.05348598e-02 -1.42757098e-04  9.99944497e-01 -1.55080310e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.467702638
Centerline is valid?  [True, True]
Translation: X:147.06, Y:5.85, Z:-1.55
[[ 9.99942962e-01 -1.75904467e-03  1.05346222e-02  1.47060805e+02]
 [ 1.75746371e-03  9.99998443e-01  1.59328708e-04  5.84753352e+00]
 [-1.05348860e-02 -1.40805404e-04  9.99944497e-01 -1.55144140e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.527702638
Centerline is valid?  [True, True]
Translation: X:147.12, Y:5.85, Z:-1.55
[[ 9.99944105e-01  8.99401415e-04  1.05346272e-02  1.47120603e+02]
 [-9.01126328e-04  9.99999581e-01  1.58991958e-04  5.84814767e+00]
 [-1.05344798e-02 -1.68476101e-04  9.99944497e-01 -1.55207123e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.587702638
Centerline is valid?  [True, True]
Translation: X:147.18, Y:5.85, Z:-1.55
[[ 9.99943376e-01  1.50575653e-03  1.05346272e-02  1.47180530e+02]
 [-1.50751509e-03  9.99998851e-01  1.58991958e-04  5.84967064e+00]
 [-1.05343757e-02 -1.74864065e-04  9.99944497e-01 -1.55270282e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.647702638
Centerline is valid?  [True, True]
Translation: X:147.24, Y:5.85, Z:-1.55
[[ 9.99943291e-01  1.56086529e-03  1.05346238e-02  1.47240420e+02]
 [-1.56262931e-03  9.99998766e-01  1.59220174e-04  5.84874267e+00]
 [-1.05343623e-02 -1.75672857e-04  9.99944497e-01 -1.55333380e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.707702638
Centerline is valid?  [True, True]
Translation: X:147.30, Y:5.85, Z:-1.55
[[ 9.99944229e-01 -7.48505335e-04  1.05346203e-02  1.47298723e+02]
 [ 7.46867044e-04  9.99999708e-01  1.59448201e-04  5.84959887e+00]
 [-1.05347366e-02 -1.51571347e-04  9.99944497e-01 -1.55394834e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.76770263799997
Centerline is valid?  [True, True]
Translation: X:147.36, Y:5.85, Z:-1.55
[[ 9.99922604e-01 -6.61872159e-03  1.05346169e-02  1.47359699e+02]
 [ 6.61740664e-03  9.99978092e-01  1.59673448e-04  5.84918597e+00]
 [-1.05354430e-02 -8.99492455e-05  9.99944497e-01 -1.55459083e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.82770263799998
Centerline is valid?  [True, True]
Translation: X:147.42, Y:5.85, Z:-1.56
[[ 9.99855720e-01 -1.33251975e-02  1.05346186e-02  1.47421842e+02]
 [ 1.33242559e-02  9.99911215e-01  1.59561284e-04  5.85100094e+00]
 [-1.05358095e-02 -1.91723079e-05  9.99944497e-01 -1.55524573e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.88770263799998
Centerline is valid?  [True, True]
Translation: X:147.49, Y:5.85, Z:-1.56
[[ 9.99840701e-01 -1.44081620e-02  1.05346269e-02  1.47485032e+02]
 [ 1.44072863e-02  9.99896197e-01  1.59016234e-04  5.84900838e+00]
 [-1.05358245e-02 -7.21551798e-06  9.99944497e-01 -1.55591073e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 145.94770263799998
Centerline is valid?  [True, True]
Translation: X:147.55, Y:5.85, Z:-1.56
[[ 9.99674851e-01 -2.32209821e-02  1.05346530e-02  1.47547338e+02]
 [ 2.32206141e-02  9.99730353e-01  1.57262129e-04  5.84673449e+00]
 [-1.05354642e-02  8.74101182e-05  9.99944497e-01 -1.55656549e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.00770263799998
Centerline is valid?  [True, True]
Translation: X:147.61, Y:5.85, Z:-1.56
[[ 9.99592086e-01 -2.65458483e-02  1.05346598e-02  1.47608178e+02]
 [ 2.65456697e-02  9.99647589e-01  1.56804835e-04  5.84899806e+00]
 [-1.05351098e-02  1.22908729e-04  9.99944497e-01 -1.55720648e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.067702638
Centerline is valid?  [True, True]
Translation: X:147.67, Y:5.85, Z:-1.56
[[ 9.99544181e-01 -2.82922494e-02  1.05346720e-02  1.47670052e+02]
 [ 2.82921765e-02  9.99599684e-01  1.55982155e-04  5.84541318e+00]
 [-1.05348679e-02  1.42137744e-04  9.99944497e-01 -1.55785717e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.127702638
Centerline is valid?  [True, True]
Translation: X:147.73, Y:5.85, Z:-1.56
[[ 9.99445364e-01 -3.15908860e-02  1.05346804e-02  1.47731559e+02]
 [ 3.15910022e-02  9.99500868e-01  1.55413412e-04  5.84654713e+00]
 [-1.05343319e-02  1.77473898e-04  9.99944497e-01 -1.55850492e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.187702638
Centerline is valid?  [True, True]
Translation: X:147.79, Y:5.84, Z:-1.56
[[ 9.99446057e-01 -3.15689462e-02  1.05347020e-02  1.47792674e+02]
 [ 3.15690768e-02  9.99501561e-01  1.53936021e-04  5.84407667e+00]
 [-1.05343107e-02  1.78720067e-04  9.99944497e-01 -1.55914733e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.247702638
Centerline is valid?  [True, True]
Translation: X:147.85, Y:5.85, Z:-1.56
[[ 9.99361773e-01 -3.41330627e-02  1.05347068e-02  1.47852737e+02]
 [ 3.41333392e-02  9.99417276e-01  1.53604562e-04  5.84682739e+00]
 [-1.05338110e-02  2.06078194e-04  9.99944497e-01 -1.55978030e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.307702638
Centerline is valid?  [True, True]
Translation: X:147.91, Y:5.85, Z:-1.56
[[ 9.99334272e-01 -3.49289596e-02  1.05347068e-02  1.47914653e+02]
 [ 3.49292803e-02  9.99389775e-01  1.53604562e-04  5.84512490e+00]
 [-1.05336435e-02  2.14467425e-04  9.99944497e-01 -1.56043233e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.367702638
Centerline is valid?  [True, True]
Translation: X:147.98, Y:5.84, Z:-1.56
[[ 9.99362360e-01 -3.41158846e-02  1.05347118e-02  1.47977228e+02]
 [ 3.41161637e-02  9.99417863e-01  1.53266051e-04  5.84407972e+00]
 [-1.05338079e-02  2.06235629e-04  9.99944497e-01 -1.56109118e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 146.427702638
Centerline is valid?  [True, True]
Translation: X:148.04, Y:5.84, Z:-1.56
[[ 9.99343302e-01 -3.46696459e-02  1.05347184e-02  1.48038876e+02]
 [ 3.46699606e-02  9.99398805e-01  1.52807497e-04  5.84320329e+00]
 [-1.05336828e-02  2.12531123e-04  9.99944497e-01 -1.56174019e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.487702638
Centerline is valid?  [True, True]
Translation: X:148.10, Y:5.84, Z:-1.56
[[ 9.99374729e-01 -3.37516015e-02  1.05347346e-02  1.48100805e+02]
 [ 3.37518771e-02  9.99430232e-01  1.51683359e-04  5.84007623e+00]
 [-1.05338518e-02  2.03978551e-04  9.99944497e-01 -1.56239135e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.54770263799998
Centerline is valid?  [True, True]
Translation: X:148.16, Y:5.84, Z:-1.56
[[ 9.99403085e-01 -3.29012495e-02  1.05347413e-02  1.48161991e+02]
 [ 3.29014828e-02  9.99458588e-01  1.51213274e-04  5.84139723e+00]
 [-1.05340128e-02  1.95485599e-04  9.99944497e-01 -1.56303583e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.60770263799998
Centerline is valid?  [True, True]
Translation: X:148.22, Y:5.84, Z:-1.56
[[ 9.99476720e-01 -3.05827745e-02  1.05347535e-02  1.48224541e+02]
 [ 3.05828880e-02  9.99532223e-01  1.50359382e-04  5.84081105e+00]
 [-1.05344240e-02  1.71902485e-04  9.99944497e-01 -1.56369411e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.66770263799998
Centerline is valid?  [True, True]
Translation: X:148.28, Y:5.84, Z:-1.56
[[ 9.99604150e-01 -2.60875691e-02  1.05347751e-02  1.48283960e+02]
 [ 2.60874490e-02  9.99659654e-01  1.48834574e-04  5.83930478e+00]
 [-1.05350723e-02  1.26049750e-04  9.99944497e-01 -1.56431880e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.72770263799998
Centerline is valid?  [True, True]
Translation: X:148.35, Y:5.84, Z:-1.56
[[ 9.99719188e-01 -2.12264743e-02  1.05347735e-02  1.48346210e+02]
 [ 2.12260832e-02  9.99774690e-01  1.48945219e-04  5.84068074e+00]
 [-1.05355615e-02  7.47085856e-05  9.99944497e-01 -1.56497491e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.78770263799998
Centerline is valid?  [True, True]
Translation: X:148.41, Y:5.85, Z:-1.57
[[ 9.99789664e-01 -1.75967458e-02  1.05347957e-02  1.48408551e+02]
 [ 1.75961699e-02  9.99845165e-01  1.47361623e-04  5.84502929e+00]
 [-1.05357576e-02  3.80414273e-05  9.99944497e-01 -1.56563120e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.847702638
Centerline is valid?  [True, True]
Translation: X:148.47, Y:5.84, Z:-1.57
[[ 9.99888950e-01 -1.05406604e-02  1.05348019e-02  1.48471242e+02]
 [ 1.05396976e-02  9.99944445e-01  1.46913608e-04  5.84273288e+00]
 [-1.05357652e-02 -3.58636675e-05  9.99944497e-01 -1.56629102e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.907702638
Centerline is valid?  [True, True]
Translation: X:148.53, Y:5.85, Z:-1.57
[[ 9.99913487e-01 -7.87626468e-03  1.05348153e-02  1.48533414e+02]
 [ 7.87516413e-03  9.99968980e-01  1.45946722e-04  5.84525490e+00]
 [-1.05356380e-02 -6.29706962e-05  9.99944497e-01 -1.56694570e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 146.967702638
Centerline is valid?  [True, True]
Translation: X:148.59, Y:5.85, Z:-1.57
[[ 9.99908323e-01 -8.50664476e-03  1.05348232e-02  1.48594411e+02]
 [ 8.50558524e-03  9.99963816e-01  1.45373254e-04  5.84569676e+00]
 [-1.05356787e-02 -5.57550900e-05  9.99944497e-01 -1.56758799e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.027702638
Centerline is valid?  [True, True]
Translation: X:148.66, Y:5.84, Z:-1.57
[[ 9.99919296e-01 -7.10065897e-03  1.05348264e-02  1.48655878e+02]
 [ 7.09952385e-03  9.99974788e-01  1.45142688e-04  5.84443985e+00]
 [-1.05355914e-02 -7.03387234e-05  9.99944497e-01 -1.56823522e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.087702638
Centerline is valid?  [True, True]
Translation: X:148.72, Y:5.85, Z:-1.57
[[ 9.99927625e-01 -5.81050558e-03  1.05348295e-02  1.48717303e+02]
 [ 5.80930123e-03  9.99983115e-01  1.44918498e-04  5.84756891e+00]
 [-1.05354937e-02 -8.37080116e-05  9.99944497e-01 -1.56888264e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.147702638
Centerline is valid?  [True, True]
Translation: X:148.78, Y:5.85, Z:-1.57
[[ 9.99941701e-01 -2.36884013e-03  1.05348393e-02  1.48779609e+02]
 [ 2.36745237e-03  9.99997187e-01  1.44199760e-04  5.84786230e+00]
 [-1.05351513e-02 -1.19250623e-04  9.99944497e-01 -1.56953860e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.207702638
Centerline is valid?  [True, True]
Translation: X:148.84, Y:5.85, Z:-1.57
[[ 9.99944412e-01  4.36006837e-04  1.05348458e-02  1.48840097e+02]
 [-4.37545257e-04  9.99999894e-01  1.43727209e-04  5.84761814e+00]
 [-1.05347820e-02 -1.48328691e-04  9.99944497e-01 -1.57017549e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.26770263799997
Centerline is valid?  [True, True]
Translation: X:148.90, Y:5.85, Z:-1.57
[[ 9.99931880e-01  5.02526287e-03  1.05348473e-02  1.48900401e+02]
 [-5.02705469e-03  9.99987354e-01  1.43611350e-04  5.84940215e+00]
 [-1.05339924e-02 -1.96560821e-04  9.99944497e-01 -1.57081099e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.32770263799998
Centerline is valid?  [True, True]
Translation: X:148.96, Y:5.85, Z:-1.57
[[ 9.99885818e-01  1.08336687e-02  1.05348473e-02  1.48960428e+02]
 [-1.08357828e-02  9.99941281e-01  1.43611350e-04  5.85099408e+00]
 [-1.05326729e-02 -2.57748269e-04  9.99944497e-01 -1.57144363e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.38770263799998
Centerline is valid?  [True, True]
Translation: X:149.02, Y:5.85, Z:-1.57
[[ 9.99831222e-01  1.50514266e-02  1.05348474e-02  1.49019636e+02]
 [-1.50537745e-02  9.99886675e-01  1.43606457e-04  5.85333318e+00]
 [-1.05314921e-02 -3.02171436e-04  9.99944497e-01 -1.57206774e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.44770263799998
Centerline is valid?  [True, True]
Translation: X:149.08, Y:5.86, Z:-1.57
[[ 9.99757866e-01  1.93190594e-02  1.05348265e-02  1.49080084e+02]
 [-1.93216599e-02  9.99813309e-01  1.45121888e-04  5.85719626e+00]
 [-1.05300562e-02 -3.48637085e-04  9.99944497e-01 -1.57270623e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.50770263799998
Centerline is valid?  [True, True]
Translation: X:149.14, Y:5.86, Z:-1.57
[[ 9.99707263e-01  2.17808490e-02  1.05348265e-02  1.49140939e+02]
 [-2.17835861e-02  9.99762699e-01  1.45121888e-04  5.85805890e+00]
 [-1.05291657e-02 -3.74565707e-04  9.99944497e-01 -1.57334749e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.567702638
Centerline is valid?  [True, True]
Translation: X:149.20, Y:5.86, Z:-1.57
[[ 9.99703676e-01  2.19448639e-02  1.05348263e-02  1.49199962e+02]
 [-2.19476102e-02  9.99759112e-01  1.45139013e-04  5.86018337e+00]
 [-1.05291035e-02 -3.76310266e-04  9.99944497e-01 -1.57396964e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 147.627702638
Centerline is valid?  [True, True]
Translation: X:149.26, Y:5.86, Z:-1.57
[[ 9.99739406e-01  2.02518454e-02  1.05348057e-02  1.49258031e+02]
 [-2.02545134e-02  9.99794846e-01  1.46616772e-04  5.86049643e+00]
 [-1.05296752e-02 -3.59955928e-04  9.99944497e-01 -1.57458254e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.687702638
Centerline is valid?  [True, True]
Translation: X:149.32, Y:5.86, Z:-1.58
[[ 9.99835578e-01  1.47592382e-02  1.05347991e-02  1.49318744e+02]
 [-1.47616066e-02  9.99891031e-01  1.47092220e-04  5.86064971e+00]
 [-1.05314802e-02 -3.02578595e-04  9.99944497e-01 -1.57522254e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.747702638
Centerline is valid?  [True, True]
Translation: X:149.38, Y:5.86, Z:-1.58
[[ 9.99902215e-01  9.19670353e-03  1.05347989e-02  1.49378405e+02]
 [-9.19876354e-03  9.99957680e-01  1.47103733e-04  5.86159556e+00]
 [-1.05330002e-02 -2.43996473e-04  9.99944497e-01 -1.57585124e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.807702638
Centerline is valid?  [True, True]
Translation: X:149.44, Y:5.86, Z:-1.58
[[ 9.99944494e-01  1.65223949e-04  1.05347957e-02  1.49438295e+02]
 [-1.66785359e-04  9.99999975e-01  1.47336245e-04  5.86069208e+00]
 [-1.05347711e-02 -1.49085116e-04  9.99944497e-01 -1.57648224e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.867702638
Centerline is valid?  [True, True]
Translation: X:149.50, Y:5.86, Z:-1.58
[[ 9.99935968e-01 -4.13254552e-03  1.05347933e-02  1.49498153e+02]
 [ 4.13122081e-03  9.99991456e-01  1.47504363e-04  5.86123153e+00]
 [-1.05353129e-02 -1.03973361e-04  9.99944497e-01 -1.57711307e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.927702638
Centerline is valid?  [True, True]
Translation: X:149.56, Y:5.86, Z:-1.58
[[ 9.99919263e-01 -7.10531151e-03  1.05347872e-02  1.49559971e+02]
 [ 7.10414719e-03  9.99974754e-01  1.47938664e-04  5.86113620e+00]
 [-1.05355724e-02 -7.30860409e-05  9.99944497e-01 -1.57776464e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 147.987702638
Centerline is valid?  [True, True]
Translation: X:149.62, Y:5.86, Z:-1.58
[[ 9.99894090e-01 -1.00412080e-02  1.05348076e-02  1.49621183e+02]
 [ 1.00402220e-02  9.99949585e-01  1.46473706e-04  5.86265031e+00]
 [-1.05357473e-02 -4.06863857e-05  9.99944497e-01 -1.57840870e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.04770263799998
Centerline is valid?  [True, True]
Translation: X:149.68, Y:5.86, Z:-1.58
[[ 9.99866885e-01 -1.24591667e-02  1.05348108e-02  1.49682561e+02]
 [ 1.24583174e-02  9.99922381e-01  1.46246068e-04  5.86326387e+00]
 [-1.05358152e-02 -1.49805850e-05  9.99944497e-01 -1.57905527e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.10770263799998
Centerline is valid?  [True, True]
Translation: X:149.74, Y:5.86, Z:-1.58
[[ 9.99819623e-01 -1.58031344e-02  1.05348309e-02  1.49743331e+02]
 [ 1.58024861e-02  9.99875122e-01  1.44779909e-04  5.86342834e+00]
 [-1.05358033e-02  2.17227248e-05  9.99944497e-01 -1.57969448e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.16770263799998
Centerline is valid?  [True, True]
Translation: X:149.81, Y:5.86, Z:-1.58
[[ 9.99793011e-01 -1.74055464e-02  1.05348340e-02  1.49806754e+02]
 [ 1.74049894e-02  9.99848511e-01  1.44555589e-04  5.86475943e+00]
 [-1.05357541e-02  3.88330069e-05  9.99944497e-01 -1.58036270e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.22770263799998
Centerline is valid?  [True, True]
Translation: X:149.87, Y:5.87, Z:-1.58
[[ 9.99801739e-01 -1.68967501e-02  1.05348589e-02  1.49867078e+02]
 [ 1.68961843e-02  9.99857239e-01  1.42713018e-04  5.86606299e+00]
 [-1.05357664e-02  3.53141952e-05  9.99944497e-01 -1.58099710e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.28770263799998
Centerline is valid?  [True, True]
Translation: X:149.93, Y:5.87, Z:-1.58
[[ 9.99791987e-01 -1.74642372e-02  1.05348622e-02  1.49928717e+02]
 [ 1.74637055e-02  9.99847488e-01  1.42475507e-04  5.86629771e+00]
 [-1.05357437e-02  4.15318599e-05  9.99944497e-01 -1.58164636e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.347702638
Centerline is valid?  [True, True]
Translation: X:149.99, Y:5.87, Z:-1.58
[[ 9.99773391e-01 -1.84981897e-02  1.05348735e-02  1.49990664e+02]
 [ 1.84977241e-02  9.99828892e-01  1.41633131e-04  5.86701820e+00]
 [-1.05356908e-02  5.32701475e-05  9.99944497e-01 -1.58229849e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.407702638
Centerline is valid?  [True, True]
Translation: X:150.05, Y:5.87, Z:-1.58
[[ 9.99717849e-01 -2.12894186e-02  1.05348812e-02  1.50053248e+02]
 [ 2.12891141e-02  9.99773351e-01  1.41053191e-04  5.86707148e+00]
 [-1.05354965e-02  8.32648968e-05  9.99944497e-01 -1.58295744e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.467702638
Centerline is valid?  [True, True]
Translation: X:150.11, Y:5.87, Z:-1.58
[[ 9.99627677e-01 -2.51698881e-02  1.05349029e-02  1.50114370e+02]
 [ 2.51698163e-02  9.99683180e-01  1.39418169e-04  5.86575793e+00]
 [-1.05350744e-02  1.25795310e-04  9.99944497e-01 -1.58360003e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.527702638
Centerline is valid?  [True, True]
Translation: X:150.17, Y:5.87, Z:-1.58
[[ 9.99591445e-01 -2.65698640e-02  1.05349223e-02  1.50174594e+02]
 [ 2.65698855e-02  9.99646949e-01  1.37936896e-04  5.86606490e+00]
 [-1.05348679e-02  1.42031138e-04  9.99944497e-01 -1.58423350e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.587702638
Centerline is valid?  [True, True]
Translation: X:150.24, Y:5.86, Z:-1.58
[[ 9.99377955e-01 -3.36558743e-02  1.05349226e-02  1.50236170e+02]
 [ 3.36562897e-02  9.99433457e-01  1.37911279e-04  5.86296089e+00]
 [-1.05335957e-02  2.16740915e-04  9.99944497e-01 -1.58488179e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.647702638
Centerline is valid?  [True, True]
Translation: X:150.30, Y:5.86, Z:-1.59
[[ 9.99287788e-01 -3.62344000e-02  1.05349285e-02  1.50297299e+02]
 [ 3.62349634e-02  9.99343289e-01  1.37457389e-04  5.86223886e+00]
 [-1.05329908e-02  2.44373259e-04  9.99944497e-01 -1.58552540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.707702638
Centerline is valid?  [True, True]
Translation: X:150.36, Y:5.86, Z:-1.59
[[ 9.99202019e-01 -3.85271344e-02  1.05349300e-02  1.50359796e+02]
 [ 3.85278263e-02  9.99257518e-01  1.37343248e-04  5.86152632e+00]
 [-1.05323995e-02  2.68654303e-04  9.99944497e-01 -1.58618366e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.76770263799997
Centerline is valid?  [True, True]
Translation: X:150.42, Y:5.86, Z:-1.59
[[ 9.99183473e-01 -3.90051542e-02  1.05349520e-02  1.50421965e+02]
 [ 3.90058906e-02  9.99238971e-01  1.35632790e-04  5.85989073e+00]
 [-1.05322250e-02  2.75403144e-04  9.99944497e-01 -1.58683721e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 148.82770263799998
Centerline is valid?  [True, True]
Translation: X:150.48, Y:5.86, Z:-1.59
[[ 9.99237389e-01 -3.75986092e-02  1.05349719e-02  1.50481350e+02]
 [ 3.75992839e-02  9.99292888e-01  1.34075568e-04  5.85976372e+00]
 [-1.05325635e-02  2.62134078e-04  9.99944497e-01 -1.58746175e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.88770263799998
Centerline is valid?  [True, True]
Translation: X:150.54, Y:5.86, Z:-1.59
[[ 9.99301041e-01 -3.58670225e-02  1.05349705e-02  1.50543616e+02]
 [ 3.58675999e-02  9.99356542e-01  1.34184149e-04  5.86107624e+00]
 [-1.05330045e-02  2.43773747e-04  9.99944497e-01 -1.58811801e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 148.94770263799998
Centerline is valid?  [True, True]
Translation: X:150.61, Y:5.86, Z:-1.59
[[ 9.99355020e-01 -3.43301315e-02  1.05349899e-02  1.50605921e+02]
 [ 3.43306398e-02  9.99410521e-01  1.32643491e-04  5.85961011e+00]
 [-1.05333334e-02  2.29115004e-04  9.99944497e-01 -1.58877314e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.00770263799998
Centerline is valid?  [True, True]
Translation: X:150.67, Y:5.86, Z:-1.59
[[ 9.99476628e-01 -3.05856813e-02  1.05349954e-02  1.50666632e+02]
 [ 3.05859864e-02  9.99532131e-01  1.32200752e-04  5.86073616e+00]
 [-1.05341099e-02  1.90091665e-04  9.99944497e-01 -1.58941261e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.067702638
Centerline is valid?  [True, True]
Translation: X:150.73, Y:5.86, Z:-1.59
[[ 9.99662701e-01 -2.37381240e-02  1.05349968e-02  1.50728092e+02]
 [ 2.37380499e-02  9.99718204e-01  1.32088338e-04  5.86332435e+00]
 [-1.05351637e-02  1.18036497e-04  9.99944497e-01 -1.59006039e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.127702638
Centerline is valid?  [True, True]
Translation: X:150.79, Y:5.87, Z:-1.59
[[ 9.99746961e-01 -1.98752879e-02  1.05349997e-02  1.50789528e+02]
 [ 1.98750019e-02  9.99802464e-01  1.31860696e-04  5.86563456e+00]
 [-1.05355394e-02  7.75558082e-05  9.99944497e-01 -1.59070780e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.187702638
Centerline is valid?  [True, True]
Translation: X:150.85, Y:5.87, Z:-1.59
[[ 9.99800472e-01 -1.69714363e-02  1.05350024e-02  1.50850342e+02]
 [ 1.69709913e-02  9.99855974e-01  1.31640609e-04  5.86821674e+00]
 [-1.05357193e-02  4.71750915e-05  9.99944497e-01 -1.59134870e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.247702638
Centerline is valid?  [True, True]
Translation: X:150.91, Y:5.87, Z:-1.59
[[ 9.99833520e-01 -1.48978399e-02  1.05350081e-02  1.50912662e+02]
 [ 1.48972845e-02  9.99889021e-01  1.31190307e-04  5.87321778e+00]
 [-1.05357933e-02  2.57745454e-05  9.99944497e-01 -1.59200562e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.307702638
Centerline is valid?  [True, True]
Translation: X:150.98, Y:5.88, Z:-1.59
[[ 9.99844932e-01 -1.41112155e-02  1.05350138e-02  1.50975084e+02]
 [ 1.41106213e-02  9.99900432e-01  1.30730358e-04  5.87608544e+00]
 [-1.05358096e-02  1.79455036e-05  9.99944497e-01 -1.59266331e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.367702638
Centerline is valid?  [True, True]
Translation: X:151.04, Y:5.88, Z:-1.59
[[ 9.99876895e-01 -1.16278864e-02  1.05350332e-02  1.51035466e+02]
 [ 1.16271711e-02  9.99932394e-01  1.29143691e-04  5.88193673e+00]
 [-1.05358226e-02 -6.63515873e-06  9.99944497e-01 -1.59329909e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.427702638
Centerline is valid?  [True, True]
Translation: X:151.10, Y:5.88, Z:-1.59
[[ 9.99884439e-01 -1.09599837e-02  1.05350346e-02  1.51096833e+02]
 [ 1.09592325e-02  9.99939937e-01  1.29034118e-04  5.88482396e+00]
 [-1.05358160e-02 -1.35633137e-05  9.99944497e-01 -1.59394593e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.487702638
Centerline is valid?  [True, True]
Translation: X:151.16, Y:5.89, Z:-1.59
[[ 9.99922783e-01 -6.59099173e-03  1.05350398e-02  1.51158485e+02]
 [ 6.59000255e-03  9.99978277e-01  1.28606276e-04  5.89029883e+00]
 [-1.05356586e-02 -5.91704063e-05  9.99944497e-01 -1.59459587e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.54770263799998
Centerline is valid?  [True, True]
Translation: X:151.22, Y:5.90, Z:-1.60
[[ 9.99944488e-01  1.83350158e-04  1.05350438e-02  1.51220256e+02]
 [-1.84711766e-04  9.99999975e-01  1.28272784e-04  5.89804474e+00]
 [-1.05350200e-02 -1.30211610e-04  9.99944497e-01 -1.59524742e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.60770263799998
Centerline is valid?  [True, True]
Translation: X:151.28, Y:5.90, Z:-1.60
[[ 9.99928356e-01  5.68294398e-03  1.05350509e-02  1.51279918e+02]
 [-5.68460457e-03  9.99983834e-01  1.27686542e-04  5.90377440e+00]
 [-1.05341550e-02 -1.87564993e-04  9.99944497e-01 -1.59587630e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.66770263799998
Centerline is valid?  [True, True]
Translation: X:151.34, Y:5.91, Z:-1.60
[[ 9.99826014e-01  1.53933087e-02  1.05350499e-02  1.51340199e+02]
 [-1.53955089e-02  9.99881474e-01  1.27769137e-04  5.90827863e+00]
 [-1.05318345e-02 -2.89939361e-04  9.99944497e-01 -1.59651204e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.72770263799998
Centerline is valid?  [True, True]
Translation: X:151.40, Y:5.91, Z:-1.60
[[ 9.99734302e-01  2.05021330e-02  1.05350500e-02  1.51398897e+02]
 [-2.05046165e-02  9.99789750e-01  1.27766403e-04  5.91320118e+00]
 [-1.05302155e-02 -3.43749615e-04  9.99944497e-01 -1.59713108e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.78770263799998
Centerline is valid?  [True, True]
Translation: X:151.46, Y:5.92, Z:-1.60
[[ 9.99719763e-01  2.11992404e-02  1.05350474e-02  1.51456263e+02]
 [-2.12017647e-02  9.99775209e-01  1.27974040e-04  5.91508972e+00]
 [-1.05299663e-02 -3.51299774e-04  9.99944497e-01 -1.59773586e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.847702638
Centerline is valid?  [True, True]
Translation: X:151.52, Y:5.92, Z:-1.60
[[ 9.99666639e-01  2.35716964e-02  1.05350285e-02  1.51515133e+02]
 [-2.35743685e-02  9.99722078e-01  1.29516633e-04  5.92018172e+00]
 [-1.05290476e-02 -3.77830101e-04  9.99944497e-01 -1.59835791e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.907702638
Centerline is valid?  [True, True]
Translation: X:151.57, Y:5.92, Z:-1.60
[[ 9.99705723e-01  2.18513266e-02  1.05350085e-02  1.51574341e+02]
 [-2.18539202e-02  9.99761166e-01  1.31120083e-04  5.92365198e+00]
 [-1.05296273e-02 -3.61312733e-04  9.99944497e-01 -1.59898336e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 149.967702638
Centerline is valid?  [True, True]
Translation: X:151.63, Y:5.93, Z:-1.60
[[ 9.99728973e-01  2.07604119e-02  1.05350043e-02  1.51633823e+02]
 [-2.07629486e-02  9.99784418e-01  1.31459733e-04  5.92736030e+00]
 [-1.05300040e-02 -3.50161856e-04  9.99944497e-01 -1.59961078e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 150.027702638
Centerline is valid?  [True, True]
Translation: X:151.69, Y:5.93, Z:-1.60
[[ 9.99702508e-01  2.19979573e-02  1.05350026e-02  1.51692965e+02]
 [-2.20005640e-02  9.99757950e-01  1.31591149e-04  5.93224458e+00]
 [-1.05295579e-02 -3.63328001e-04  9.99944497e-01 -1.60023461e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.087702638
Centerline is valid?  [True, True]
Translation: X:151.75, Y:5.93, Z:-1.60
[[ 9.99700527e-01  2.20877898e-02  1.05349985e-02  1.51751001e+02]
 [-2.20904050e-02  9.99755969e-01  1.31922881e-04  5.93482789e+00]
 [-1.05295137e-02 -3.64605757e-04  9.99944497e-01 -1.60084665e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.147702638
Centerline is valid?  [True, True]
Translation: X:151.81, Y:5.94, Z:-1.60
[[ 9.99651464e-01  2.42067114e-02  1.05349784e-02  1.51810707e+02]
 [-2.42094608e-02  9.99706899e-01  1.33510064e-04  5.93785997e+00]
 [-1.05286587e-02 -3.88509676e-04  9.99944497e-01 -1.60147731e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.207702638
Centerline is valid?  [True, True]
Translation: X:151.87, Y:5.94, Z:-1.60
[[ 9.99636658e-01  2.48105936e-02  1.05349770e-02  1.51869627e+02]
 [-2.48133776e-02  9.99692092e-01  1.33617461e-04  5.94003135e+00]
 [-1.05284181e-02 -3.94977275e-04  9.99944497e-01 -1.60209844e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.26770263799997
Centerline is valid?  [True, True]
Translation: X:151.93, Y:5.94, Z:-1.60
[[ 9.99585357e-01  2.67979064e-02  1.05349571e-02  1.51930152e+02]
 [-2.68008169e-02  9.99640784e-01  1.35170175e-04  5.94398601e+00]
 [-1.05275505e-02 -4.17459584e-04  9.99944497e-01 -1.60273782e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.32770263799998
Centerline is valid?  [True, True]
Translation: X:151.99, Y:5.95, Z:-1.60
[[ 9.99579536e-01  2.70141960e-02  1.05349571e-02  1.51989923e+02]
 [-2.70171186e-02  9.99634962e-01  1.35170175e-04  5.94733577e+00]
 [-1.05274599e-02 -4.19737525e-04  9.99944497e-01 -1.60336800e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.38770263799998
Centerline is valid?  [True, True]
Translation: X:152.05, Y:5.95, Z:-1.60
[[ 9.99569025e-01  2.74003368e-02  1.05349544e-02  1.52048954e+02]
 [-2.74032830e-02  9.99624450e-01  1.35379993e-04  5.95014220e+00]
 [-1.05272885e-02 -4.24013984e-04  9.99944497e-01 -1.60399046e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.44770263799998
Centerline is valid?  [True, True]
Translation: X:152.11, Y:5.95, Z:-1.60
[[ 9.99617002e-01  2.55903012e-02  1.05349350e-02  1.52108224e+02]
 [-2.55931627e-02  9.99672432e-01  1.36873641e-04  5.95368417e+00]
 [-1.05279814e-02 -4.06443525e-04  9.99944497e-01 -1.60461654e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.50770263799998
Centerline is valid?  [True, True]
Translation: X:152.17, Y:5.96, Z:-1.61
[[ 9.99734332e-01  2.05007483e-02  1.05349169e-02  1.52168337e+02]
 [-2.05033421e-02  9.99789775e-01  1.38249842e-04  5.95681970e+00]
 [-1.05298680e-02 -3.54214119e-04  9.99944497e-01 -1.60525136e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.567702638
Centerline is valid?  [True, True]
Translation: X:152.23, Y:5.96, Z:-1.61
[[ 9.99830892e-01  1.50732519e-02  1.05349124e-02  1.52228805e+02]
 [-1.50755482e-02  9.99886348e-01  1.38596378e-04  5.96016848e+00]
 [-1.05316260e-02 -2.97392520e-04  9.99944497e-01 -1.60588917e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.627702638
Centerline is valid?  [True, True]
Translation: X:152.29, Y:5.96, Z:-1.61
[[ 9.99894943e-01  9.95580710e-03  1.05349121e-02  1.52289612e+02]
 [-9.95781986e-03  9.99950410e-01  1.38617793e-04  5.96467320e+00]
 [-1.05330096e-02 -2.43507987e-04  9.99944497e-01 -1.60653044e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.687702638
Centerline is valid?  [True, True]
Translation: X:152.35, Y:5.97, Z:-1.61
[[ 9.99932886e-01  4.82079514e-03  1.05349133e-02  1.52349456e+02]
 [-4.82252209e-03  9.99988362e-01  1.38528706e-04  5.96653682e+00]
 [-1.05341228e-02 -1.89324260e-04  9.99944497e-01 -1.60716111e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.747702638
Centerline is valid?  [True, True]
Translation: X:152.41, Y:5.97, Z:-1.61
[[ 9.99944505e-01 -4.31632695e-05  1.05349118e-02  1.52409534e+02]
 [ 4.17050452e-05  9.99999990e-01  1.38637919e-04  5.97001076e+00]
 [-1.05349177e-02 -1.38190866e-04  9.99944497e-01 -1.60779463e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.807702638
Centerline is valid?  [True, True]
Translation: X:152.47, Y:5.97, Z:-1.61
[[ 9.99942208e-01 -2.14387402e-03  1.05349104e-02  1.52469417e+02]
 [ 2.14253121e-03  9.99997695e-01  1.38746503e-04  5.97155720e+00]
 [-1.05351836e-02 -1.16167110e-04  9.99944497e-01 -1.60842583e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.867702638
Centerline is valid?  [True, True]
Translation: X:152.53, Y:5.97, Z:-1.61
[[ 9.99926329e-01 -6.02920782e-03  1.05349118e-02  1.52531219e+02]
 [ 6.02808176e-03  9.99981821e-01  1.38639364e-04  5.97401798e+00]
 [-1.05355562e-02 -7.51238405e-05  9.99944497e-01 -1.60907720e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.927702638
Centerline is valid?  [True, True]
Translation: X:152.59, Y:5.98, Z:-1.61
[[ 9.99920071e-01 -6.99049593e-03  1.05349315e-02  1.52591803e+02]
 [ 6.98943913e-03  9.99975564e-01  1.37128261e-04  5.97720770e+00]
 [-1.05356326e-02 -6.34840385e-05  9.99944497e-01 -1.60971472e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 150.987702638
Centerline is valid?  [True, True]
Translation: X:152.65, Y:5.98, Z:-1.61
[[ 9.99908605e-01 -8.47335318e-03  1.05349329e-02  1.52654245e+02]
 [ 8.47237982e-03  9.99964099e-01  1.37020341e-04  5.97935424e+00]
 [-1.05357157e-02 -4.77518656e-05  9.99944497e-01 -1.61037279e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.04770263799998
Centerline is valid?  [True, True]
Translation: X:152.72, Y:5.98, Z:-1.61
[[ 9.99912026e-01 -8.05951779e-03  1.05349524e-02  1.52716833e+02]
 [ 8.05853742e-03  9.99967520e-01  1.35505679e-04  5.98305349e+00]
 [-1.05357023e-02 -5.05974505e-05  9.99944497e-01 -1.61103148e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.10770263799998
Centerline is valid?  [True, True]
Translation: X:152.78, Y:5.99, Z:-1.61
[[ 9.99925412e-01 -6.17947400e-03  1.05349591e-02  1.52778939e+02]
 [ 6.17839479e-03  9.99980904e-01  1.34983294e-04  5.98675919e+00]
 [-1.05355920e-02 -6.98840893e-05  9.99944497e-01 -1.61168589e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.16770263799998
Centerline is valid?  [True, True]
Translation: X:152.84, Y:5.99, Z:-1.61
[[ 9.99935990e-01 -4.12670172e-03  1.05349644e-02  1.52840177e+02]
 [ 4.12551302e-03  9.99991481e-01  1.34562410e-04  5.99039697e+00]
 [-1.05354300e-02 -9.10916639e-05  9.99944497e-01 -1.61233121e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 151.22770263799998
Centerline is valid?  [True, True]
Translation: X:152.90, Y:5.99, Z:-1.61
[[ 9.99936252e-01 -4.06270223e-03  1.05349696e-02  1.52901429e+02]
 [ 4.06151423e-03  9.99991743e-01  1.34159182e-04  5.99327357e+00]
 [-1.05354276e-02 -9.13627007e-05  9.99944497e-01 -1.61297660e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.28770263799998
Centerline is valid?  [True, True]
Translation: X:152.96, Y:5.99, Z:-1.61
[[ 9.99937263e-01 -3.80576189e-03  1.05349724e-02  1.52962631e+02]
 [ 3.80456197e-03  9.99992754e-01  1.33937472e-04  5.99459566e+00]
 [-1.05354058e-02 -9.38481140e-05  9.99944497e-01 -1.61362139e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.347702638
Centerline is valid?  [True, True]
Translation: X:153.02, Y:6.00, Z:-1.61
[[ 9.99940112e-01 -2.96427455e-03  1.05349737e-02  1.53024773e+02]
 [ 2.96302906e-03  9.99995601e-01  1.33830467e-04  5.99703864e+00]
 [-1.05353241e-02 -1.02607019e-04  9.99944497e-01 -1.61427633e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.407702638
Centerline is valid?  [True, True]
Translation: X:153.09, Y:6.00, Z:-1.61
[[ 9.99943717e-01 -1.25594415e-03  1.05349791e-02  1.53086511e+02]
 [ 1.25460830e-03  9.99999204e-01  1.33409385e-04  5.99874992e+00]
 [-1.05351382e-02 -1.20184604e-04  9.99944497e-01 -1.61492667e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.467702638
Centerline is valid?  [True, True]
Translation: X:153.15, Y:6.00, Z:-1.62
[[ 9.99943771e-01  1.21186769e-03  1.05349867e-02  1.53146079e+02]
 [-1.21333410e-03  9.99999255e-01  1.32803615e-04  6.00245297e+00]
 [-1.05348179e-02 -1.45578606e-04  9.99944497e-01 -1.61555425e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.527702638
Centerline is valid?  [True, True]
Translation: X:153.21, Y:6.01, Z:-1.62
[[ 9.99944070e-01  9.33590601e-04  1.05349874e-02  1.53206251e+02]
 [-9.35040981e-04  9.99999554e-01  1.32748063e-04  6.00597212e+00]
 [-1.05348588e-02 -1.42591283e-04  9.99944497e-01 -1.61618862e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.587702638
Centerline is valid?  [True, True]
Translation: X:153.27, Y:6.01, Z:-1.62
[[ 9.99944487e-01  1.89862123e-04  1.05349861e-02  1.53266048e+02]
 [-1.91272337e-04  9.99999973e-01  1.32852644e-04  6.00736762e+00]
 [-1.05349606e-02 -1.34860321e-04  9.99944497e-01 -1.61681889e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.647702638
Centerline is valid?  [True, True]
Translation: X:153.33, Y:6.01, Z:-1.62
[[ 9.99944423e-01  4.05926233e-04  1.05349834e-02  1.53325872e+02]
 [-4.07350659e-04  9.99999908e-01  1.33063748e-04  6.00902363e+00]
 [-1.05349284e-02 -1.37347786e-04  9.99944497e-01 -1.61744956e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.707702638
Centerline is valid?  [True, True]
Translation: X:153.39, Y:6.01, Z:-1.62
[[ 9.99944237e-01 -7.32685435e-04  1.05349821e-02  1.53386039e+02]
 [ 7.31323088e-04  9.99999724e-01  1.33168290e-04  6.01001296e+00]
 [-1.05350768e-02 -1.25456389e-04  9.99944497e-01 -1.61808367e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.76770263799997
Centerline is valid?  [True, True]
Translation: X:153.45, Y:6.01, Z:-1.62
[[ 9.99941100e-01 -2.60967034e-03  1.05349821e-02  1.53446647e+02]
 [ 2.60841215e-03  9.99996589e-01  1.33168290e-04  6.01004628e+00]
 [-1.05352937e-02 -1.05680871e-04  9.99944497e-01 -1.61872221e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.82770263799998
Centerline is valid?  [True, True]
Translation: X:153.51, Y:6.01, Z:-1.62
[[ 9.99937369e-01 -3.77779715e-03  1.05349834e-02  1.53509155e+02]
 [ 3.77660489e-03  9.99992860e-01  1.33063480e-04  6.01063677e+00]
 [-1.05354109e-02 -9.32686767e-05  9.99944497e-01 -1.61938077e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.88770263799998
Centerline is valid?  [True, True]
Translation: X:153.57, Y:6.01, Z:-1.62
[[ 9.99935753e-01 -4.18373924e-03  1.05350021e-02  1.53571058e+02]
 [ 4.18258522e-03  9.99991244e-01  1.31571441e-04  6.01020584e+00]
 [-1.05354603e-02 -8.74994438e-05  9.99944497e-01 -1.62003167e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 151.94770263799998
Centerline is valid?  [True, True]
Translation: X:153.63, Y:6.01, Z:-1.62
[[ 9.99942182e-01 -2.15544210e-03  1.05350085e-02  1.53632926e+02]
 [ 2.15418098e-03  9.99997671e-01  1.31053370e-04  6.01073027e+00]
 [-1.05352665e-02 -1.08351478e-04  9.99944497e-01 -1.62068314e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.00770263799998
Centerline is valid?  [True, True]
Translation: X:153.69, Y:6.01, Z:-1.62
[[ 9.99944345e-01 -5.65333339e-04  1.05350151e-02  1.53693432e+02]
 [ 5.63989608e-04  9.99999832e-01  1.30519533e-04  6.01020214e+00]
 [-1.05350871e-02 -1.24570630e-04  9.99944497e-01 -1.62132010e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.067702638
Centerline is valid?  [True, True]
Translation: X:153.75, Y:6.01, Z:-1.62
[[ 9.99938317e-01  3.51802390e-03  1.05350164e-02  1.53753015e+02]
 [-3.51959308e-03  9.99993798e-01  1.30412868e-04  6.01152107e+00]
 [-1.05344923e-02 -1.67483795e-04  9.99944497e-01 -1.62194793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.127702638
Centerline is valid?  [True, True]
Translation: X:153.81, Y:6.01, Z:-1.62
[[ 9.99916991e-01  7.41787655e-03  1.05350164e-02  1.53812990e+02]
 [-7.41966210e-03  9.99972465e-01  1.30412868e-04  6.01410567e+00]
 [-1.05337590e-02 -2.08568305e-04  9.99944497e-01 -1.62258013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.187702638
Centerline is valid?  [True, True]
Translation: X:153.87, Y:6.01, Z:-1.62
[[ 9.99888934e-01  1.05419662e-02  1.05350158e-02  1.53871327e+02]
 [-1.05439256e-02  9.99944403e-01  1.30462631e-04  6.01258392e+00]
 [-1.05330548e-02 -2.41528564e-04  9.99944497e-01 -1.62319459e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.247702638
Centerline is valid?  [True, True]
Translation: X:153.93, Y:6.01, Z:-1.62
[[ 9.99907930e-01  8.55253829e-03  1.05350118e-02  1.53930723e+02]
 [-8.55439075e-03  9.99963402e-01  1.30789226e-04  6.01388207e+00]
 [-1.05335076e-02 -2.20897791e-04  9.99944497e-01 -1.62382081e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.307702638
Centerline is valid?  [True, True]
Translation: X:153.99, Y:6.01, Z:-1.62
[[ 9.99912269e-01  8.02912978e-03  1.05350078e-02  1.53990920e+02]
 [-8.03095659e-03  9.99967743e-01  1.31110822e-04  6.01132200e+00]
 [-1.05336152e-02 -2.15705510e-04  9.99944497e-01 -1.62445494e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.367702638
Centerline is valid?  [True, True]
Translation: X:154.05, Y:6.01, Z:-1.63
[[ 9.99924437e-01  6.33514166e-03  1.05350064e-02  1.54049462e+02]
 [-6.33687561e-03  9.99979913e-01  1.31217260e-04  6.01207621e+00]
 [-1.05339635e-02 -1.97966371e-04  9.99944497e-01 -1.62507190e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 152.427702638
Centerline is valid?  [True, True]
Translation: X:154.11, Y:6.01, Z:-1.63
[[ 9.99930985e-01  5.19988085e-03  1.05350025e-02  1.54108656e+02]
 [-5.20155517e-03  9.99986463e-01  1.31535211e-04  6.01132669e+00]
 [-1.05341759e-02 -1.86324530e-04  9.99944497e-01 -1.62569570e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.487702638
Centerline is valid?  [True, True]
Translation: X:154.17, Y:6.01, Z:-1.63
[[ 9.99921996e-01  6.70935502e-03  1.05349998e-02  1.54169245e+02]
 [-6.71111532e-03  9.99977472e-01  1.31747189e-04  6.01036096e+00]
 [-1.05338785e-02 -2.02438510e-04  9.99944497e-01 -1.62633409e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.54770263799998
Centerline is valid?  [True, True]
Translation: X:154.23, Y:6.01, Z:-1.63
[[ 9.99892232e-01  1.02243757e-02  1.05349946e-02  1.54229098e+02]
 [-1.02263354e-02  9.99947701e-01  1.32161161e-04  6.01223744e+00]
 [-1.05330924e-02 -2.39881306e-04  9.99944497e-01 -1.62696526e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.60770263799998
Centerline is valid?  [True, True]
Translation: X:154.29, Y:6.01, Z:-1.63
[[ 9.99843692e-01  1.41987631e-02  1.05349919e-02  1.54287136e+02]
 [-1.42009455e-02  9.99899153e-01  1.32378536e-04  6.01130004e+00]
 [-1.05320499e-02 -2.81964690e-04  9.99944497e-01 -1.62757677e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.66770263799998
Centerline is valid?  [True, True]
Translation: X:154.35, Y:6.01, Z:-1.63
[[ 9.99814452e-01  1.61268475e-02  1.05349816e-02  1.54346974e+02]
 [-1.61291454e-02  9.99869908e-01  1.33193342e-04  6.01122001e+00]
 [-1.05314631e-02 -3.03088878e-04  9.99944497e-01 -1.62820784e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.72770263799998
Centerline is valid?  [True, True]
Translation: X:154.41, Y:6.01, Z:-1.63
[[ 9.99737064e-01  2.03670653e-02  1.05349802e-02  1.54406413e+02]
 [-2.03695995e-02  9.99792509e-01  1.33300489e-04  6.01038161e+00]
 [-1.05300794e-02 -3.47858768e-04  9.99944497e-01 -1.62883404e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.78770263799998
Centerline is valid?  [True, True]
Translation: X:154.47, Y:6.01, Z:-1.63
[[ 9.99597912e-01  2.63254262e-02  1.05349790e-02  1.54466362e+02]
 [-2.63282919e-02  9.99653342e-01  1.33402034e-04  6.01297209e+00]
 [-1.05278151e-02 -4.10716396e-04  9.99944497e-01 -1.62946607e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.847702638
Centerline is valid?  [True, True]
Translation: X:154.53, Y:6.01, Z:-1.63
[[ 9.99513789e-01  2.93462235e-02  1.05349777e-02  1.54525861e+02]
 [-2.93492578e-02  9.99569209e-01  1.33500304e-04  6.01294556e+00]
 [-1.05265216e-02 -4.42629171e-04  9.99944497e-01 -1.63009299e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.907702638
Centerline is valid?  [True, True]
Translation: X:154.59, Y:6.01, Z:-1.63
[[ 9.99460272e-01  3.11155714e-02  1.05349764e-02  1.54585963e+02]
 [-3.11187049e-02  9.99515687e-01  1.33607481e-04  6.01400111e+00]
 [-1.05257169e-02 -4.61370189e-04  9.99944497e-01 -1.63072644e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 152.967702638
Centerline is valid?  [True, True]
Translation: X:154.64, Y:6.02, Z:-1.63
[[ 9.99452117e-01  3.13764289e-02  1.05349749e-02  1.54643416e+02]
 [-3.13795780e-02  9.99507531e-01  1.33718119e-04  6.01555082e+00]
 [-1.05255912e-02 -4.64227926e-04  9.99944497e-01 -1.63133203e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.027702638
Centerline is valid?  [True, True]
Translation: X:154.70, Y:6.02, Z:-1.63
[[ 9.99492692e-01  3.00561585e-02  1.05349556e-02  1.54703813e+02]
 [-3.00592503e-02  9.99548109e-01  1.35222049e-04  6.01504068e+00]
 [-1.05261307e-02 -4.51826318e-04  9.99944497e-01 -1.63196949e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.087702638
Centerline is valid?  [True, True]
Translation: X:154.76, Y:6.02, Z:-1.63
[[ 9.99560967e-01  2.76927529e-02  1.05349543e-02  1.54762989e+02]
 [-2.76957147e-02  9.99616391e-01  1.35329424e-04  6.01770346e+00]
 [-1.05271653e-02 -4.27043098e-04  9.99944497e-01 -1.63259339e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.147702638
Centerline is valid?  [True, True]
Translation: X:154.82, Y:6.02, Z:-1.63
[[ 9.99683102e-01  2.28628525e-02  1.05349366e-02  1.54823810e+02]
 [-2.28655609e-02  9.99738540e-01  1.36690715e-04  6.01716158e+00]
 [-1.05290570e-02 -3.77534632e-04  9.99944497e-01 -1.63323519e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.207702638
Centerline is valid?  [True, True]
Translation: X:154.88, Y:6.02, Z:-1.63
[[ 9.99739638e-01  2.02403548e-02  1.05349352e-02  1.54884056e+02]
 [-2.02429189e-02  9.99795082e-01  1.36796976e-04  6.01735873e+00]
 [-1.05300076e-02 -3.50019198e-04  9.99944497e-01 -1.63387003e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.26770263799997
Centerline is valid?  [True, True]
Translation: X:154.94, Y:6.02, Z:-1.63
[[ 9.99830278e-01  1.51138869e-02  1.05349318e-02  1.54943734e+02]
 [-1.51161693e-02  9.99885735e-01  1.37057799e-04  6.01919096e+00]
 [-1.05316566e-02 -2.96282351e-04  9.99944497e-01 -1.63449924e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.32770263799998
Centerline is valid?  [True, True]
Translation: X:155.00, Y:6.02, Z:-1.64
[[ 9.99891820e-01  1.02646783e-02  1.05349302e-02  1.55003738e+02]
 [-1.02666932e-02  9.99947287e-01  1.37185963e-04  6.01932196e+00]
 [-1.05329667e-02 -2.45330017e-04  9.99944497e-01 -1.63513152e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.38770263799998
Centerline is valid?  [True, True]
Translation: X:155.06, Y:6.02, Z:-1.64
[[ 9.99938281e-01  3.52832045e-03  1.05349288e-02  1.55062955e+02]
 [-3.52996266e-03  9.99993760e-01  1.37292369e-04  6.01969248e+00]
 [-1.05343786e-02 -1.74471801e-04  9.99944497e-01 -1.63575554e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.44770263799998
Centerline is valid?  [True, True]
Translation: X:155.12, Y:6.02, Z:-1.64
[[ 9.99942504e-01 -2.00101950e-03  1.05349189e-02  1.55123023e+02]
 [ 1.99967615e-03  9.99997991e-01  1.38045855e-04  6.01941976e+00]
 [-1.05351740e-02 -1.16971492e-04  9.99944497e-01 -1.63638896e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.50770263799998
Centerline is valid?  [True, True]
Translation: X:155.18, Y:6.02, Z:-1.64
[[ 9.99924253e-01 -6.36433122e-03  1.05349175e-02  1.55182477e+02]
 [ 6.36322888e-03  9.99979745e-01  1.38152839e-04  6.01903303e+00]
 [-1.05355834e-02 -7.11062833e-05  9.99944497e-01 -1.63701537e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.567702638
Centerline is valid?  [True, True]
Translation: X:155.24, Y:6.02, Z:-1.64
[[ 9.99894868e-01 -9.96338115e-03  1.05349161e-02  1.55243546e+02]
 [ 9.96247743e-03  9.99950364e-01  1.38259349e-04  6.01848003e+00]
 [-1.05357707e-02 -3.32909497e-05  9.99944497e-01 -1.63765877e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 153.627702638
Centerline is valid?  [True, True]
Translation: X:155.30, Y:6.02, Z:-1.64
[[ 9.99868384e-01 -1.23381588e-02  1.05349189e-02  1.55303204e+02]
 [ 1.23373891e-02  9.99923882e-01  1.38046418e-04  6.01845162e+00]
 [-1.05358202e-02 -8.05485493e-06  9.99944497e-01 -1.63828712e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.687702638
Centerline is valid?  [True, True]
Translation: X:155.37, Y:6.02, Z:-1.64
[[ 9.99820513e-01 -1.57466370e-02  1.05349189e-02  1.55365814e+02]
 [ 1.57460565e-02  9.99876014e-01  1.38049063e-04  6.01727067e+00]
 [-1.05357865e-02  2.78591423e-05  9.99944497e-01 -1.63894659e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.747702638
Centerline is valid?  [True, True]
Translation: X:155.43, Y:6.02, Z:-1.64
[[ 9.99773301e-01 -1.85029963e-02  1.05349375e-02  1.55427051e+02]
 [ 1.85025840e-02  9.99828803e-01  1.36608432e-04  6.01544082e+00]
 [-1.05356617e-02  5.83461032e-05  9.99944497e-01 -1.63959035e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.807702638
Centerline is valid?  [True, True]
Translation: X:155.49, Y:6.01, Z:-1.64
[[ 9.99724301e-01 -2.09842246e-02  1.05349403e-02  1.55489312e+02]
 [ 2.09839522e-02  9.99779803e-01  1.36397455e-04  6.01494344e+00]
 [-1.05354827e-02  8.47048327e-05  9.99944497e-01 -1.64024607e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.867702638
Centerline is valid?  [True, True]
Translation: X:155.55, Y:6.01, Z:-1.64
[[ 9.99671727e-01 -2.33549123e-02  1.05349592e-02  1.55549973e+02]
 [ 2.33547871e-02  9.99727231e-01  1.34920830e-04  6.01296067e+00]
 [-1.05352366e-02  1.11165189e-04  9.99944497e-01 -1.64088372e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.927702638
Centerline is valid?  [True, True]
Translation: X:155.61, Y:6.01, Z:-1.64
[[ 9.99669550e-01 -2.34479501e-02  1.05349618e-02  1.55610683e+02]
 [ 2.34478323e-02  9.99725053e-01  1.34713096e-04  6.01092188e+00]
 [-1.05352240e-02  1.12353439e-04  9.99944497e-01 -1.64152289e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 153.987702638
Centerline is valid?  [True, True]
Translation: X:155.67, Y:6.01, Z:-1.64
[[ 9.99664830e-01 -2.36483098e-02  1.05349645e-02  1.55672890e+02]
 [ 2.36482053e-02  9.99720333e-01  1.34504548e-04  6.00991025e+00]
 [-1.05351990e-02  1.14673537e-04  9.99944497e-01 -1.64217798e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.04770263799998
Centerline is valid?  [True, True]
Translation: X:155.74, Y:6.01, Z:-1.64
[[ 9.99696669e-01 -2.22617356e-02  1.05349697e-02  1.55735181e+02]
 [ 2.22615584e-02  9.99752172e-01  1.34096640e-04  6.00801471e+00]
 [-1.05353440e-02  1.00468878e-04  9.99944497e-01 -1.64283367e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.10770263799998
Centerline is valid?  [True, True]
Translation: X:155.80, Y:6.01, Z:-1.64
[[ 9.99746779e-01 -1.98844958e-02  1.05349748e-02  1.55796702e+02]
 [ 1.98841909e-02  9.99802281e-01  1.33691727e-04  6.00757004e+00]
 [-1.05355503e-02  7.58215775e-05  9.99944497e-01 -1.64348145e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.16770263799998
Centerline is valid?  [True, True]
Translation: X:155.86, Y:6.01, Z:-1.64
[[ 9.99789205e-01 -1.76226797e-02  1.05349787e-02  1.55858746e+02]
 [ 1.76222525e-02  9.99844707e-01  1.33383086e-04  6.00815556e+00]
 [-1.05356933e-02  5.22950860e-05  9.99944497e-01 -1.64413497e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.22770263799998
Centerline is valid?  [True, True]
Translation: X:155.92, Y:6.01, Z:-1.64
[[ 9.99817753e-01 -1.59208903e-02  1.05349885e-02  1.55920053e+02]
 [ 1.59203768e-02  9.99873254e-01  1.32609376e-04  6.00717443e+00]
 [-1.05357645e-02  3.51357770e-05  9.99944497e-01 -1.64478013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.28770263799998
Centerline is valid?  [True, True]
Translation: X:155.98, Y:6.01, Z:-1.65
[[ 9.99853640e-01 -1.34800667e-02  1.05349912e-02  1.55982368e+02]
 [ 1.34794200e-02  9.99909140e-01  1.32393143e-04  6.00654508e+00]
 [-1.05358186e-02  9.63180527e-06  9.99944497e-01 -1.64543640e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.347702638
Centerline is valid?  [True, True]
Translation: X:156.04, Y:6.01, Z:-1.65
[[ 9.99849217e-01 -1.38042230e-02  1.05349979e-02  1.56041983e+02]
 [ 1.38035999e-02  9.99904717e-01  1.31856783e-04  6.00635378e+00]
 [-1.05358143e-02  1.35839947e-05  9.99944497e-01 -1.64606403e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.407702638
Centerline is valid?  [True, True]
Translation: X:156.10, Y:6.00, Z:-1.65
[[ 9.99819121e-01 -1.58347735e-02  1.05349966e-02  1.56104598e+02]
 [ 1.58342620e-02  9.99874622e-01  1.31964290e-04  6.00383721e+00]
 [-1.05357653e-02  3.48734746e-05  9.99944497e-01 -1.64672347e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.467702638
Centerline is valid?  [True, True]
Translation: X:156.17, Y:6.00, Z:-1.65
[[ 9.99780194e-01 -1.81266940e-02  1.05350150e-02  1.56168010e+02]
 [ 1.81263254e-02  9.99835696e-01  1.30478946e-04  6.00307766e+00]
 [-1.05356492e-02  6.05108430e-05  9.99944497e-01 -1.64739031e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.527702638
Centerline is valid?  [True, True]
Translation: X:156.23, Y:6.00, Z:-1.65
[[ 9.99705543e-01 -2.18595706e-02  1.05350357e-02  1.56230048e+02]
 [ 2.18594271e-02  9.99761046e-01  1.28781698e-04  5.99917240e+00]
 [-1.05353334e-02  1.01546068e-04  9.99944497e-01 -1.64804210e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.587702638
Centerline is valid?  [True, True]
Translation: X:156.29, Y:6.00, Z:-1.65
[[ 9.99642870e-01 -2.45590278e-02  1.05350421e-02  1.56291354e+02]
 [ 2.45590397e-02  9.99698373e-01  1.28256523e-04  5.99839692e+00]
 [-1.05350143e-02  1.30519799e-04  9.99944497e-01 -1.64868749e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.647702638
Centerline is valid?  [True, True]
Translation: X:156.35, Y:6.00, Z:-1.65
[[ 9.99638568e-01 -2.47334789e-02  1.05350585e-02  1.56354084e+02]
 [ 2.47335149e-02  9.99694072e-01  1.26891894e-04  5.99608429e+00]
 [-1.05349740e-02  1.33722995e-04  9.99944497e-01 -1.64934704e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.707702638
Centerline is valid?  [True, True]
Translation: X:156.42, Y:5.99, Z:-1.65
[[ 9.99622915e-01 -2.53582289e-02  1.05350680e-02  1.56415475e+02]
 [ 2.53583079e-02  9.99678418e-01  1.26104554e-04  5.99480914e+00]
 [-1.05348779e-02  1.41094495e-04  9.99944497e-01 -1.64999308e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.76770263799997
Centerline is valid?  [True, True]
Translation: X:156.48, Y:5.99, Z:-1.65
[[ 9.99598457e-01 -2.63046868e-02  1.05350838e-02  1.56477576e+02]
 [ 2.63048324e-02  9.99653960e-01  1.24766251e-04  5.99327550e+00]
 [-1.05347202e-02  1.52407462e-04  9.99944497e-01 -1.65064614e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 154.82770263799998
Centerline is valid?  [True, True]
Translation: X:156.54, Y:5.99, Z:-1.65
[[ 9.99580539e-01 -2.69769859e-02  1.05350900e-02  1.56538319e+02]
 [ 2.69771744e-02  9.99636042e-01  1.24237449e-04  5.99309064e+00]
 [-1.05346073e-02  1.60021625e-04  9.99944497e-01 -1.65128568e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.88770263799998
Centerline is valid?  [True, True]
Translation: X:156.60, Y:5.99, Z:-1.65
[[ 9.99530358e-01 -2.87763023e-02  1.05351061e-02  1.56598755e+02]
 [ 2.87766053e-02  9.99585860e-01  1.22858683e-04  5.99165781e+00]
 [-1.05342785e-02  1.80363608e-04  9.99944497e-01 -1.65192119e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 154.94770263799998
Centerline is valid?  [True, True]
Translation: X:156.66, Y:5.99, Z:-1.65
[[ 9.99476645e-01 -3.05850908e-02  1.05351061e-02  1.56659572e+02]
 [ 3.05854942e-02  9.99532147e-01  1.22858683e-04  5.98984534e+00]
 [-1.05339349e-02  1.99427043e-04  9.99944497e-01 -1.65256172e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.00770263799998
Centerline is valid?  [True, True]
Translation: X:156.72, Y:5.99, Z:-1.65
[[ 9.99509560e-01 -2.94898295e-02  1.05351066e-02  1.56720789e+02]
 [ 2.94901725e-02  9.99565063e-01  1.22813351e-04  5.99049374e+00]
 [-1.05341463e-02  1.87928994e-04  9.99944497e-01 -1.65320672e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.067702638
Centerline is valid?  [True, True]
Translation: X:156.78, Y:5.99, Z:-1.65
[[ 9.99595875e-01 -2.64026285e-02  1.05351092e-02  1.56782021e+02]
 [ 2.64028024e-02  9.99651378e-01  1.22598201e-04  5.99040715e+00]
 [-1.05346733e-02  1.55607749e-04  9.99944497e-01 -1.65385167e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.127702638
Centerline is valid?  [True, True]
Translation: X:156.84, Y:5.99, Z:-1.65
[[ 9.99690336e-01 -2.25442315e-02  1.05351253e-02  1.56844535e+02]
 [ 2.25442060e-02  9.99745840e-01  1.21198402e-04  5.99238584e+00]
 [-1.05351800e-02  1.16345163e-04  9.99944497e-01 -1.65450948e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.187702638
Centerline is valid?  [True, True]
Translation: X:156.91, Y:5.99, Z:-1.66
[[ 9.99760488e-01 -1.91827333e-02  1.05351422e-02  1.56905308e+02]
 [ 1.91825368e-02  9.99815991e-01  1.19704997e-04  5.99338357e+00]
 [-1.05354999e-02  8.24144279e-05  9.99944497e-01 -1.65514877e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.247702638
Centerline is valid?  [True, True]
Translation: X:156.97, Y:5.99, Z:-1.66
[[ 9.99857695e-01 -1.31757470e-02  1.05351434e-02  1.56967690e+02]
 [ 1.31752182e-02  9.99913196e-01  1.19597489e-04  5.99431534e+00]
 [-1.05358047e-02  1.92223439e-05  9.99944497e-01 -1.65580604e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.307702638
Centerline is valid?  [True, True]
Translation: X:157.03, Y:6.00, Z:-1.66
[[ 9.99902975e-01 -9.11323401e-03  1.05351494e-02  1.57029063e+02]
 [ 9.11248531e-03  9.99958473e-01  1.19067425e-04  5.99551402e+00]
 [-1.05357970e-02 -2.30544783e-05  9.99944497e-01 -1.65645238e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.367702638
Centerline is valid?  [True, True]
Translation: X:157.09, Y:6.00, Z:-1.66
[[ 9.99940947e-01 -2.66710277e-03  1.05351530e-02  1.57091666e+02]
 [ 2.66599969e-03  9.99996439e-01  1.18746775e-04  5.99636150e+00]
 [-1.05354322e-02 -9.06530474e-05  9.99944497e-01 -1.65711181e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.427702638
Centerline is valid?  [True, True]
Translation: X:157.15, Y:6.00, Z:-1.66
[[ 9.99941611e-01  2.40525991e-03  1.05351592e-02  1.57152667e+02]
 [-2.40663866e-03  9.99997097e-01  1.18196004e-04  5.99719322e+00]
 [-1.05348444e-02 -1.43543424e-04  9.99944497e-01 -1.65775418e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.487702638
Centerline is valid?  [True, True]
Translation: X:157.21, Y:6.00, Z:-1.66
[[ 9.99903698e-01  9.03350181e-03  1.05351630e-02  1.57212349e+02]
 [-9.03524481e-03  9.99959174e-01  1.17861249e-04  5.99759302e+00]
 [-1.05336682e-02 -2.13037675e-04  9.99944497e-01 -1.65838277e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.54770263799998
Centerline is valid?  [True, True]
Translation: X:157.27, Y:6.00, Z:-1.66
[[ 9.99847550e-01  1.39243028e-02  1.05351616e-02  1.57271984e+02]
 [-1.39263185e-02  9.99903017e-01  1.17987430e-04  5.99909401e+00]
 [-1.05324969e-02 -2.64685458e-04  9.99944497e-01 -1.65901135e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.60770263799998
Centerline is valid?  [True, True]
Translation: X:157.33, Y:6.00, Z:-1.66
[[ 9.99794600e-01  1.73137947e-02  1.05351604e-02  1.57331503e+02]
 [-1.73159995e-02  9.99850060e-01  1.18094965e-04  6.00211731e+00]
 [-1.05315360e-02 -3.00497539e-04  9.99944497e-01 -1.65963887e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.66770263799998
Centerline is valid?  [True, True]
Translation: X:157.39, Y:6.00, Z:-1.66
[[ 9.99624611e-01  2.52912538e-02  1.05351604e-02  1.57392082e+02]
 [-2.52939011e-02  9.99680051e-01  1.18094130e-04  6.00288165e+00]
 [-1.05288029e-02 -3.84525103e-04  9.99944497e-01 -1.66027720e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.72770263799998
Centerline is valid?  [True, True]
Translation: X:157.45, Y:6.00, Z:-1.66
[[ 9.99436017e-01  3.18850691e-02  1.05351603e-02  1.57452146e+02]
 [-3.18880821e-02  9.99491439e-01  1.18100283e-04  6.00200633e+00]
 [-1.05260369e-02 -4.53979733e-04  9.99944497e-01 -1.66090992e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.78770263799998
Centerline is valid?  [True, True]
Translation: X:157.51, Y:6.00, Z:-1.66
[[ 9.99236460e-01  3.76232422e-02  1.05351599e-02  1.57511428e+02]
 [-3.76265738e-02  9.99291863e-01  1.18135071e-04  6.00328607e+00]
 [-1.05232549e-02 -5.14446841e-04  9.99944497e-01 -1.66153467e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.847702638
Centerline is valid?  [True, True]
Translation: X:157.57, Y:6.00, Z:-1.66
[[ 9.99113733e-01  4.07523990e-02  1.05351598e-02  1.57572173e+02]
 [-4.07559042e-02  9.99169126e-01  1.18141043e-04  6.00222278e+00]
 [-1.05215919e-02 -5.47406303e-04  9.99944497e-01 -1.66217454e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.907702638
Centerline is valid?  [True, True]
Translation: X:157.63, Y:6.00, Z:-1.66
[[ 9.98998521e-01  4.34852267e-02  1.05351600e-02  1.57630880e+02]
 [-4.34888832e-02  9.99053904e-01  1.18130165e-04  6.00169069e+00]
 [-1.05200558e-02 -5.76174201e-04  9.99944497e-01 -1.66279300e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 155.967702638
Centerline is valid?  [True, True]
Translation: X:157.69, Y:6.00, Z:-1.66
[[ 9.98907322e-01  4.55320972e-02  1.05351564e-02  1.57690743e+02]
 [-4.55358705e-02  9.98962697e-01  1.18442999e-04  5.99970723e+00]
 [-1.05188353e-02 -5.98041098e-04  9.99944497e-01 -1.66342370e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 156.027702638
Centerline is valid?  [True, True]
Translation: X:157.75, Y:6.00, Z:-1.66
[[ 9.98915958e-01  4.53422571e-02  1.05351561e-02  1.57749850e+02]
 [-4.53460202e-02  9.98971333e-01  1.18473953e-04  5.99725298e+00]
 [-1.05189471e-02 -5.96072923e-04  9.99944497e-01 -1.66404616e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.087702638
Centerline is valid?  [True, True]
Translation: X:157.81, Y:5.99, Z:-1.66
[[ 9.99000242e-01  4.34456896e-02  1.05351555e-02  1.57809502e+02]
 [-4.34493481e-02  9.99055624e-01  1.18525869e-04  5.99396065e+00]
 [-1.05200569e-02 -5.76153011e-04  9.99944497e-01 -1.66467430e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.147702638
Centerline is valid?  [True, True]
Translation: X:157.87, Y:5.99, Z:-1.67
[[ 9.99070770e-01  4.17924349e-02  1.05351529e-02  1.57868612e+02]
 [-4.17960041e-02  9.99126158e-01  1.18756979e-04  5.99229309e+00]
 [-1.05209837e-02 -5.58973921e-04  9.99944497e-01 -1.66529703e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.207702638
Centerline is valid?  [True, True]
Translation: X:157.93, Y:5.99, Z:-1.67
[[ 9.99255684e-01  3.71091510e-02  1.05351346e-02  1.57927368e+02]
 [-3.71124775e-02  9.99311087e-01  1.20356902e-04  5.98667523e+00]
 [-1.05234105e-02 -5.11252265e-04  9.99944497e-01 -1.66591659e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.26770263799997
Centerline is valid?  [True, True]
Translation: X:157.99, Y:5.99, Z:-1.67
[[ 9.99350446e-01  3.44629731e-02  1.05351327e-02  1.57987432e+02]
 [-3.44661546e-02  9.99405858e-01  1.20524805e-04  5.98524641e+00]
 [-1.05247197e-02 -4.83552030e-04  9.99944497e-01 -1.66654936e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.32770263799998
Centerline is valid?  [True, True]
Translation: X:158.05, Y:5.98, Z:-1.67
[[ 9.99543621e-01  2.83118479e-02  1.05351313e-02  1.58046908e+02]
 [-2.83146896e-02  9.99599052e-01  1.20649454e-04  5.98093654e+00]
 [-1.05274914e-02 -4.18893364e-04  9.99944497e-01 -1.66717555e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.38770263799998
Centerline is valid?  [True, True]
Translation: X:158.11, Y:5.98, Z:-1.67
[[ 9.99659463e-01  2.38740326e-02  1.05351295e-02  1.58107864e+02]
 [-2.38766298e-02  9.99714905e-01  1.20807064e-04  5.98034349e+00]
 [-1.05292418e-02 -3.72309311e-04  9.99944497e-01 -1.66781781e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.44770263799998
Centerline is valid?  [True, True]
Translation: X:158.17, Y:5.98, Z:-1.67
[[ 9.99791850e-01  1.74718962e-02  1.05351305e-02  1.58168345e+02]
 [-1.74741374e-02  9.99847308e-01  1.20715992e-04  5.97635659e+00]
 [-1.05314128e-02 -3.04783183e-04  9.99944497e-01 -1.66845447e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.50770263799998
Centerline is valid?  [True, True]
Translation: X:158.23, Y:5.98, Z:-1.67
[[ 9.99856660e-01  1.32540811e-02  1.05351300e-02  1.58228448e+02]
 [-1.32560887e-02  9.99912127e-01  1.20759421e-04  5.97535672e+00]
 [-1.05326037e-02 -2.60396730e-04  9.99944497e-01 -1.66908761e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.567702638
Centerline is valid?  [True, True]
Translation: X:158.29, Y:5.97, Z:-1.67
[[ 9.99914133e-01  7.79341345e-03  1.05351311e-02  1.58288011e+02]
 [-7.79511718e-03  9.99969610e-01  1.20665252e-04  5.97272787e+00]
 [-1.05338705e-02 -2.02777472e-04  9.99944497e-01 -1.66971477e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.627702638
Centerline is valid?  [True, True]
Translation: X:158.35, Y:5.97, Z:-1.67
[[ 9.99939655e-01  3.11410343e-03  1.05351285e-02  1.58346269e+02]
 [-3.11554994e-03  9.99995139e-01  1.20894236e-04  5.97192774e+00]
 [-1.05347008e-02 -1.53709660e-04  9.99944497e-01 -1.67032862e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.687702638
Centerline is valid?  [True, True]
Translation: X:158.41, Y:5.97, Z:-1.67
[[ 9.99940403e-01  2.86401653e-03  1.05351233e-02  1.58405192e+02]
 [-2.86545390e-03  9.99995887e-01  1.21344763e-04  5.97174740e+00]
 [-1.05347324e-02 -1.51525441e-04  9.99944497e-01 -1.67094972e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.747702638
Centerline is valid?  [True, True]
Translation: X:158.47, Y:5.97, Z:-1.67
[[ 9.99940687e-01  2.76302646e-03  1.05351207e-02  1.58465650e+02]
 [-2.76446061e-03  9.99996171e-01  1.21570021e-04  5.97040429e+00]
 [-1.05347444e-02 -1.50686736e-04  9.99944497e-01 -1.67158669e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.807702638
Centerline is valid?  [True, True]
Translation: X:158.52, Y:5.97, Z:-1.67
[[ 9.99935831e-01  4.16466228e-03  1.05351220e-02  1.58523919e+02]
 [-4.16617302e-03  9.99991314e-01  1.21458369e-04  5.97337144e+00]
 [-1.05345246e-02 -1.65341716e-04  9.99944497e-01 -1.67220087e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.867702638
Centerline is valid?  [True, True]
Translation: X:158.58, Y:5.97, Z:-1.67
[[ 9.99932510e-01  4.89753645e-03  1.05351181e-02  1.58582260e+02]
 [-4.89909138e-03  9.99987992e-01  1.21793515e-04  5.97335885e+00]
 [-1.05343951e-02 -1.73397801e-04  9.99944497e-01 -1.67281578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.927702638
Centerline is valid?  [True, True]
Translation: X:158.64, Y:5.98, Z:-1.67
[[ 9.99931450e-01  5.10945195e-03  1.05351000e-02  1.58640931e+02]
 [-5.11103497e-03  9.99986931e-01  1.23342931e-04  5.97515419e+00]
 [-1.05343321e-02 -1.77179740e-04  9.99944497e-01 -1.67343524e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 156.987702638
Centerline is valid?  [True, True]
Translation: X:158.70, Y:5.98, Z:-1.67
[[ 9.99942001e-01  2.23745329e-03  1.05350948e-02  1.58699318e+02]
 [-2.23888153e-03  9.99997486e-01  1.23778171e-04  5.97837843e+00]
 [-1.05347914e-02 -1.47357821e-04  9.99944497e-01 -1.67405110e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.04770263799998
Centerline is valid?  [True, True]
Translation: X:158.76, Y:5.98, Z:-1.67
[[ 9.99944503e-01 -5.31013743e-05  1.05350910e-02  1.58759066e+02]
 [ 5.17968366e-05  9.99999991e-01  1.24100662e-04  5.98115303e+00]
 [-1.05350975e-02 -1.23548090e-04  9.99944497e-01 -1.67468116e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.10770263799998
Centerline is valid?  [True, True]
Translation: X:158.82, Y:5.98, Z:-1.68
[[ 9.99940877e-01 -2.69344356e-03  1.05350883e-02  1.58820039e+02]
 [ 2.69228314e-03  9.99996368e-01  1.24328712e-04  5.98347163e+00]
 [-1.05353850e-02 -9.59579210e-05  9.99944497e-01 -1.67532402e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.16770263799998
Centerline is valid?  [True, True]
Translation: X:158.88, Y:5.99, Z:-1.68
[[ 9.99933265e-01 -4.74096310e-03  1.05350889e-02  1.58881879e+02]
 [ 4.73991683e-03  9.99988759e-01  1.24279501e-04  5.98734480e+00]
 [-1.05355597e-02 -7.43357618e-05  9.99944497e-01 -1.67597599e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 157.22770263799998
Centerline is valid?  [True, True]
Translation: X:158.94, Y:5.99, Z:-1.68
[[ 9.99908080e-01 -8.53483183e-03  1.05351077e-02  1.58942988e+02]
 [ 8.53401314e-03  9.99963577e-01  1.22663382e-04  5.99122874e+00]
 [-1.05357709e-02 -3.27453584e-05  9.99944497e-01 -1.67661911e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.28770263799998
Centerline is valid?  [True, True]
Translation: X:159.00, Y:6.00, Z:-1.68
[[ 9.99898504e-01 -9.59127074e-03  1.05351262e-02  1.59004388e+02]
 [ 9.59052756e-03  9.99954003e-01  1.21061785e-04  5.99646222e+00]
 [-1.05358027e-02 -2.00120797e-05  9.99944497e-01 -1.67726547e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.347702638
Centerline is valid?  [True, True]
Translation: X:159.07, Y:6.00, Z:-1.68
[[ 9.99905930e-01 -8.78309571e-03  1.05351430e-02  1.59066660e+02]
 [ 8.78232333e-03  9.99961428e-01  1.19576990e-04  6.00148683e+00]
 [-1.05357869e-02 -2.70427094e-05  9.99944497e-01 -1.67792106e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.407702638
Centerline is valid?  [True, True]
Translation: X:159.13, Y:6.00, Z:-1.68
[[ 9.99909629e-01 -8.35129996e-03  1.05351495e-02  1.59128601e+02]
 [ 8.35050969e-03  9.99965127e-01  1.18999984e-04  6.00375116e+00]
 [-1.05357759e-02 -3.10153615e-05  9.99944497e-01 -1.67857349e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.467702638
Centerline is valid?  [True, True]
Translation: X:159.19, Y:6.01, Z:-1.68
[[ 9.99916691e-01 -7.45802774e-03  1.05351548e-02  1.59190803e+02]
 [ 7.45719279e-03  9.99972188e-01  1.18534717e-04  6.00884119e+00]
 [-1.05357458e-02 -3.99621615e-05  9.99944497e-01 -1.67922910e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.527702638
Centerline is valid?  [True, True]
Translation: X:159.25, Y:6.01, Z:-1.68
[[ 9.99925824e-01 -6.11204851e-03  1.05351599e-02  1.59251370e+02]
 [ 6.11114367e-03  9.99981320e-01  1.18077022e-04  6.01372411e+00]
 [-1.05356848e-02 -5.36863876e-05  9.99944497e-01 -1.67986745e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.587702638
Centerline is valid?  [True, True]
Translation: X:159.31, Y:6.02, Z:-1.68
[[ 9.99939138e-01 -3.27566860e-03  1.05351624e-02  1.59313298e+02]
 [ 3.27460876e-03  9.99994632e-01  1.17848005e-04  6.01811065e+00]
 [-1.05354919e-02 -8.33422969e-05  9.99944497e-01 -1.68052026e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.647702638
Centerline is valid?  [True, True]
Translation: X:159.37, Y:6.02, Z:-1.68
[[ 9.99944201e-01 -7.78253009e-04  1.05351674e-02  1.59374103e+02]
 [ 7.77059224e-04  9.99999691e-01  1.17407137e-04  6.02215877e+00]
 [-1.05352555e-02 -1.09214136e-04  9.99944497e-01 -1.68116102e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.707702638
Centerline is valid?  [True, True]
Translation: X:159.44, Y:6.02, Z:-1.68
[[ 9.99944481e-01  2.11641248e-04  1.05351722e-02  1.59435123e+02]
 [-2.12885327e-04  9.99999971e-01  1.16966864e-04  6.02413601e+00]
 [-1.05351472e-02 -1.19203153e-04  9.99944497e-01 -1.68180381e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.76770263799997
Centerline is valid?  [True, True]
Translation: X:159.49, Y:6.03, Z:-1.68
[[ 9.99944427e-01 -3.91451615e-04  1.05351735e-02  1.59494718e+02]
 [ 3.90242170e-04  9.99999917e-01  1.16856074e-04  6.02592649e+00]
 [-1.05352183e-02 -1.12738311e-04  9.99944497e-01 -1.68243181e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.82770263799998
Centerline is valid?  [True, True]
Translation: X:159.55, Y:6.03, Z:-1.68
[[ 9.99942590e-01 -1.95601170e-03  1.05351686e-02  1.59554159e+02]
 [ 1.95488450e-03  9.99998082e-01  1.17290871e-04  6.02680432e+00]
 [-1.05353779e-02 -9.66890991e-05  9.99944497e-01 -1.68305851e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.88770263799998
Centerline is valid?  [True, True]
Translation: X:159.61, Y:6.03, Z:-1.68
[[ 9.99942397e-01 -2.05232165e-03  1.05351686e-02  1.59614857e+02]
 [ 2.05119980e-03  9.99997889e-01  1.17290871e-04  6.02849161e+00]
 [-1.05353871e-02 -9.56743786e-05  9.99944497e-01 -1.68369820e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 157.94770263799998
Centerline is valid?  [True, True]
Translation: X:159.68, Y:6.03, Z:-1.68
[[ 9.99944315e-01  6.14098818e-04  1.05351723e-02  1.59676356e+02]
 [-6.15365182e-04  9.99999804e-01  1.16962245e-04  6.02848227e+00]
 [-1.05350984e-02 -1.23438710e-04  9.99944497e-01 -1.68434589e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.00770263799998
Centerline is valid?  [True, True]
Translation: X:159.74, Y:6.03, Z:-1.68
[[ 9.99937332e-01  3.78709898e-03  1.05351759e-02  1.59736246e+02]
 [-3.78853794e-03  9.99992817e-01  1.16632539e-04  6.02969112e+00]
 [-1.05346586e-02 -1.56538144e-04  9.99944497e-01 -1.68497677e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.067702638
Centerline is valid?  [True, True]
Translation: X:159.79, Y:6.03, Z:-1.69
[[ 9.99915765e-01  7.58103063e-03  1.05351759e-02  1.59794722e+02]
 [-7.58268010e-03  9.99971244e-01  1.16632539e-04  6.03080430e+00]
 [-1.05339888e-02 -1.96507583e-04  9.99944497e-01 -1.68559299e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.127702638
Centerline is valid?  [True, True]
Translation: X:159.85, Y:6.03, Z:-1.69
[[ 9.99852984e-01  1.35285108e-02  1.05351578e-02  1.59853494e+02]
 [-1.35305072e-02  9.99908452e-01  1.18244265e-04  6.03358477e+00]
 [-1.05325937e-02 -2.60772910e-04  9.99944497e-01 -1.68621375e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.187702638
Centerline is valid?  [True, True]
Translation: X:159.91, Y:6.04, Z:-1.69
[[ 9.99772910e-01  1.85239851e-02  1.05351562e-02  1.59914171e+02]
 [-1.85262602e-02  9.99828367e-01  1.18394402e-04  6.03540105e+00]
 [-1.05311548e-02 -3.13544561e-04  9.99944497e-01 -1.68685336e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.247702638
Centerline is valid?  [True, True]
Translation: X:159.97, Y:6.04, Z:-1.69
[[ 9.99700617e-01  2.20836522e-02  1.05351562e-02  1.59973945e+02]
 [-2.20861246e-02  9.99756065e-01  1.18386644e-04  6.03716681e+00]
 [-1.05299719e-02 -3.51031975e-04  9.99944497e-01 -1.68748332e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.307702638
Centerline is valid?  [True, True]
Translation: X:160.03, Y:6.04, Z:-1.69
[[ 9.99636746e-01  2.48069806e-02  1.05351556e-02  1.60032375e+02]
 [-2.48096047e-02  9.99692187e-01  1.18443142e-04  6.04010117e+00]
 [-1.05289745e-02 -3.79773163e-04  9.99944497e-01 -1.68809932e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.367702638
Centerline is valid?  [True, True]
Translation: X:160.09, Y:6.04, Z:-1.69
[[ 9.99618945e-01  2.55142349e-02  1.05351374e-02  1.60088935e+02]
 [-2.55169151e-02  9.99674383e-01  1.20039536e-04  6.04190701e+00]
 [-1.05286443e-02 -3.88818001e-04  9.99944497e-01 -1.68869666e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 158.427702638
Centerline is valid?  [True, True]
Translation: X:160.15, Y:6.04, Z:-1.69
[[ 9.99617174e-01  2.55835230e-02  1.05351171e-02  1.60147637e+02]
 [-2.55862254e-02  9.99672612e-01  1.21796082e-04  6.04281110e+00]
 [-1.05285521e-02 -3.91303337e-04  9.99944497e-01 -1.68931658e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.487702638
Centerline is valid?  [True, True]
Translation: X:160.21, Y:6.05, Z:-1.69
[[ 9.99641325e-01  2.46218061e-02  1.05351120e-02  1.60208290e+02]
 [-2.46244599e-02  9.99696765e-01  1.22233128e-04  6.04547658e+00]
 [-1.05289078e-02 -3.81610729e-04  9.99944497e-01 -1.68995627e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.54770263799998
Centerline is valid?  [True, True]
Translation: X:160.27, Y:6.05, Z:-1.69
[[ 9.99726504e-01  2.08788901e-02  1.05351120e-02  1.60268061e+02]
 [-2.08813363e-02  9.99781954e-01  1.22233128e-04  6.04728956e+00]
 [-1.05302628e-02 -3.42186915e-04  9.99944497e-01 -1.69058622e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.60770263799998
Centerline is valid?  [True, True]
Translation: X:160.33, Y:6.05, Z:-1.69
[[ 9.99758410e-01  1.92907682e-02  1.05351118e-02  1.60326707e+02]
 [-1.92931265e-02  9.99813863e-01  1.22255790e-04  6.04877199e+00]
 [-1.05307924e-02 -3.25481498e-04  9.99944497e-01 -1.69120429e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.66770263799998
Centerline is valid?  [True, True]
Translation: X:160.39, Y:6.05, Z:-1.69
[[ 9.99813043e-01  1.62139156e-02  1.05351067e-02  1.60386999e+02]
 [-1.62161078e-02  9.99868503e-01  1.22693529e-04  6.05115875e+00]
 [-1.05317320e-02 -2.93509017e-04  9.99944497e-01 -1.69184014e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.72770263799998
Centerline is valid?  [True, True]
Translation: X:160.45, Y:6.05, Z:-1.69
[[ 9.99830371e-01  1.51076337e-02  1.05351040e-02  1.60445965e+02]
 [-1.51097669e-02  9.99885833e-01  1.22922850e-04  6.05255748e+00]
 [-1.05320442e-02 -2.82084965e-04  9.99944497e-01 -1.69246174e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.78770263799998
Centerline is valid?  [True, True]
Translation: X:160.50, Y:6.05, Z:-1.69
[[ 9.99841973e-01  1.43192076e-02  1.05351014e-02  1.60504438e+02]
 [-1.43212994e-02  9.99897437e-01  1.23145368e-04  6.05232726e+00]
 [-1.05322576e-02 -2.74002249e-04  9.99944497e-01 -1.69307794e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.847702638
Centerline is valid?  [True, True]
Translation: X:160.56, Y:6.05, Z:-1.69
[[ 9.99831355e-01  1.50424073e-02  1.05350826e-02  1.60563607e+02]
 [-1.50445561e-02  9.99886816e-01  1.24734530e-04  6.05369206e+00]
 [-1.05320139e-02 -2.83209134e-04  9.99944497e-01 -1.69370273e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.907702638
Centerline is valid?  [True, True]
Translation: X:160.62, Y:6.06, Z:-1.69
[[ 9.99817506e-01  1.59363098e-02  1.05350799e-02  1.60622773e+02]
 [-1.59385104e-02  9.99872966e-01  1.24960014e-04  6.05570456e+00]
 [-1.05317502e-02 -2.92850691e-04  9.99944497e-01 -1.69432650e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 158.967702638
Centerline is valid?  [True, True]
Translation: X:160.68, Y:6.06, Z:-1.69
[[ 9.99805260e-01  1.66869309e-02  1.05350759e-02  1.60682647e+02]
 [-1.66891767e-02  9.99860718e-01  1.25298001e-04  6.05691250e+00]
 [-1.05315177e-02 -3.01095345e-04  9.99944497e-01 -1.69495773e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.027702638
Centerline is valid?  [True, True]
Translation: X:160.74, Y:6.06, Z:-1.70
[[ 9.99823009e-01  1.55872472e-02  1.05350733e-02  1.60740113e+02]
 [-1.55894345e-02  9.99878470e-01  1.25519981e-04  6.05837093e+00]
 [-1.05318364e-02 -2.89733599e-04  9.99944497e-01 -1.69556353e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.087702638
Centerline is valid?  [True, True]
Translation: X:160.80, Y:6.06, Z:-1.70
[[ 9.99849212e-01  1.38045557e-02  1.05350548e-02  1.60800316e+02]
 [-1.38066601e-02  9.99904675e-01  1.27050960e-04  6.06061329e+00]
 [-1.05322967e-02 -2.72485724e-04  9.99944497e-01 -1.69619928e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.147702638
Centerline is valid?  [True, True]
Translation: X:160.86, Y:6.06, Z:-1.70
[[ 9.99878466e-01  1.14919708e-02  1.05350535e-02  1.60859748e+02]
 [-1.14939481e-02  9.99933934e-01  1.27158530e-04  6.06138659e+00]
 [-1.05328962e-02 -2.48232434e-04  9.99944497e-01 -1.69682562e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.207702638
Centerline is valid?  [True, True]
Translation: X:160.92, Y:6.06, Z:-1.70
[[ 9.99904338e-01  8.96260940e-03  1.05350508e-02  1.60917714e+02]
 [-8.96444872e-03  9.99959810e-01  1.27380407e-04  6.06318874e+00]
 [-1.05334857e-02 -2.21809145e-04  9.99944497e-01 -1.69743673e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.26770263799997
Centerline is valid?  [True, True]
Translation: X:160.98, Y:6.06, Z:-1.70
[[ 9.99926188e-01  6.05241162e-03  1.05350441e-02  1.60976758e+02]
 [-6.05409532e-03  9.99981666e-01  1.27935395e-04  6.06418482e+00]
 [-1.05340766e-02 -1.91706113e-04  9.99944497e-01 -1.69805936e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.32770263799998
Centerline is valid?  [True, True]
Translation: X:161.04, Y:6.06, Z:-1.70
[[ 9.99926149e-01  6.05879353e-03  1.05350425e-02  1.61035120e+02]
 [-6.06047892e-03  9.99981627e-01  1.28061630e-04  6.06455591e+00]
 [-1.05340731e-02 -1.91899575e-04  9.99944497e-01 -1.69867438e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.38770263799998
Centerline is valid?  [True, True]
Translation: X:161.09, Y:6.07, Z:-1.70
[[ 9.99929571e-01  5.46489570e-03  1.05350360e-02  1.61094080e+02]
 [-5.46655380e-03  9.99985050e-01  1.28599595e-04  6.06865177e+00]
 [-1.05341757e-02 -1.86180879e-04  9.99944497e-01 -1.69929650e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.44770263799998
Centerline is valid?  [True, True]
Translation: X:161.15, Y:6.07, Z:-1.70
[[ 9.99923317e-01  6.50941265e-03  1.05350333e-02  1.61152285e+02]
 [-6.51113101e-03  9.99978794e-01  1.28818231e-04  6.06953419e+00]
 [-1.05339714e-02 -1.97403335e-04  9.99944497e-01 -1.69991002e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.50770263799998
Centerline is valid?  [True, True]
Translation: X:161.21, Y:6.07, Z:-1.70
[[ 9.99919115e-01  7.12572730e-03  1.05350143e-02  1.61211125e+02]
 [-7.12749598e-03  9.99974591e-01  1.30349808e-04  6.06968179e+00]
 [-1.05338178e-02 -2.05427537e-04  9.99944497e-01 -1.70053116e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.567702638
Centerline is valid?  [True, True]
Translation: X:161.27, Y:6.07, Z:-1.70
[[ 9.99898110e-01  9.63244556e-03  1.05349946e-02  1.61270762e+02]
 [-9.63436992e-03  9.99953580e-01  1.31927057e-04  6.07342149e+00]
 [-1.05332348e-02 -2.33411650e-04  9.99944497e-01 -1.70116119e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 159.627702638
Centerline is valid?  [True, True]
Translation: X:161.33, Y:6.07, Z:-1.70
[[ 9.99864282e-01  1.26661521e-02  1.05349942e-02  1.61329391e+02]
 [-1.26682450e-02  9.99919746e-01  1.31958314e-04  6.07444904e+00]
 [-1.05324773e-02 -2.65400293e-04  9.99944497e-01 -1.70177904e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.687702638
Centerline is valid?  [True, True]
Translation: X:161.39, Y:6.08, Z:-1.70
[[ 9.99847291e-01  1.39430441e-02  1.05349743e-02  1.61387809e+02]
 [-1.39452244e-02  9.99902752e-01  1.33529567e-04  6.07569750e+00]
 [-1.05320880e-02 -2.80421757e-04  9.99944497e-01 -1.70239591e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.747702638
Centerline is valid?  [True, True]
Translation: X:161.45, Y:6.08, Z:-1.70
[[ 9.99837191e-01  1.46494570e-02  1.05349630e-02  1.61445304e+02]
 [-1.46516859e-02  9.99892649e-01  1.34417192e-04  6.07586795e+00]
 [-1.05318629e-02 -2.88750276e-04  9.99944497e-01 -1.70300238e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.807702638
Centerline is valid?  [True, True]
Translation: X:161.50, Y:6.08, Z:-1.70
[[ 9.99820751e-01  1.57315249e-02  1.05349398e-02  1.61503171e+02]
 [-1.57338326e-02  9.99876206e-01  1.36204755e-04  6.07738507e+00]
 [-1.05314930e-02 -3.01935321e-04  9.99944497e-01 -1.70361365e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.867702638
Centerline is valid?  [True, True]
Translation: X:161.56, Y:6.08, Z:-1.70
[[ 9.99813919e-01  1.61598887e-02  1.05349327e-02  1.61562144e+02]
 [-1.61622259e-02  9.99869373e-01  1.36753418e-04  6.07859113e+00]
 [-1.05313467e-02 -3.06995933e-04  9.99944497e-01 -1.70423556e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.927702638
Centerline is valid?  [True, True]
Translation: X:161.62, Y:6.08, Z:-1.70
[[ 9.99841002e-01  1.43870523e-02  1.05349130e-02  1.61620673e+02]
 [-1.43893071e-02  9.99896459e-01  1.38258320e-04  6.07827788e+00]
 [-1.05318330e-02 -2.89826435e-04  9.99944497e-01 -1.70485333e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 159.987702638
Centerline is valid?  [True, True]
Translation: X:161.68, Y:6.08, Z:-1.71
[[ 9.99876654e-01  1.16487210e-02  1.05348929e-02  1.61678747e+02]
 [-1.16508398e-02  9.99932117e-01  1.39770879e-04  6.07927743e+00]
 [-1.05325496e-02 -2.62493989e-04  9.99944497e-01 -1.70546650e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.04770263799998
Centerline is valid?  [True, True]
Translation: X:161.74, Y:6.08, Z:-1.71
[[ 9.99888730e-01  1.05614379e-02  1.05348741e-02  1.61737059e+02]
 [-1.05635111e-02  9.99944195e-01  1.41171471e-04  6.08084154e+00]
 [-1.05327953e-02 -2.52441023e-04  9.99944497e-01 -1.70608217e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.10770263799998
Centerline is valid?  [True, True]
Translation: X:161.80, Y:6.08, Z:-1.71
[[ 9.99899580e-01  9.47871566e-03  1.05348683e-02  1.61797128e+02]
 [-9.48073339e-03  9.99955047e-01  1.41603503e-04  6.08330445e+00]
 [-1.05330525e-02 -2.41467561e-04  9.99944497e-01 -1.70671571e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.16770263799998
Centerline is valid?  [True, True]
Translation: X:161.86, Y:6.09, Z:-1.71
[[ 9.99899713e-01  9.46471537e-03  1.05348669e-02  1.61856191e+02]
 [-9.46673347e-03  9.99955179e-01  1.41712949e-04  6.08646824e+00]
 [-1.05330534e-02 -2.41429514e-04  9.99944497e-01 -1.70733850e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.22770263799998
Centerline is valid?  [True, True]
Translation: X:161.92, Y:6.09, Z:-1.71
[[ 9.99899730e-01  9.46293523e-03  1.05348461e-02  1.61915227e+02]
 [-9.46496932e-03  9.99955196e-01  1.43240866e-04  6.08837598e+00]
 [-1.05330186e-02 -2.42938498e-04  9.99944497e-01 -1.70796195e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.28770263799998
Centerline is valid?  [True, True]
Translation: X:161.98, Y:6.09, Z:-1.71
[[ 9.99879546e-01  1.13978439e-02  1.05348254e-02  1.61975650e+02]
 [-1.14000012e-02  9.99935007e-01  1.44744389e-04  6.09217650e+00]
 [-1.05324910e-02 -2.64823976e-04  9.99944497e-01 -1.70860028e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.347702638
Centerline is valid?  [True, True]
Translation: X:162.03, Y:6.10, Z:-1.71
[[ 9.99866810e-01  1.24651600e-02  1.05348233e-02  1.62033954e+02]
 [-1.24673780e-02  9.99922269e-01  1.44897111e-04  6.09545764e+00]
 [-1.05321983e-02 -2.76219437e-04  9.99944497e-01 -1.70921514e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.407702638
Centerline is valid?  [True, True]
Translation: X:162.09, Y:6.10, Z:-1.71
[[ 9.99846279e-01  1.40155981e-02  1.05348158e-02  1.62094158e+02]
 [-1.40179079e-02  9.99901734e-01  1.45441436e-04  6.09861746e+00]
 [-1.05317421e-02 -2.93095156e-04  9.99944497e-01 -1.70985031e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.467702638
Centerline is valid?  [True, True]
Translation: X:162.15, Y:6.10, Z:-1.71
[[ 9.99805815e-01  1.66538082e-02  1.05348158e-02  1.62153484e+02]
 [-1.66562643e-02  9.99861264e-01  1.45441436e-04  6.10146918e+00]
 [-1.05309321e-02 -3.20883870e-04  9.99944497e-01 -1.71047574e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.527702638
Centerline is valid?  [True, True]
Translation: X:162.21, Y:6.10, Z:-1.71
[[ 9.99742262e-01  2.01103997e-02  1.05348113e-02  1.62212198e+02]
 [-2.01130510e-02  9.99797702e-01  1.45769219e-04  6.10458450e+00]
 [-1.05297486e-02 -3.57618845e-04  9.99944497e-01 -1.71109503e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.587702638
Centerline is valid?  [True, True]
Translation: X:162.27, Y:6.11, Z:-1.71
[[ 9.99710900e-01  2.16132888e-02  1.05348097e-02  1.62272694e+02]
 [-2.16160246e-02  9.99766336e-01  1.45879706e-04  6.10855172e+00]
 [-1.05291952e-02 -3.73558239e-04  9.99944497e-01 -1.71173305e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.647702638
Centerline is valid?  [True, True]
Translation: X:162.33, Y:6.11, Z:-1.71
[[ 9.99692336e-01  2.24555480e-02  1.05348097e-02  1.62331219e+02]
 [-2.24583305e-02  9.99747769e-01  1.45879706e-04  6.11157316e+00]
 [-1.05288767e-02 -3.82429063e-04  9.99944497e-01 -1.71235008e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.707702638
Centerline is valid?  [True, True]
Translation: X:162.39, Y:6.11, Z:-1.71
[[ 9.99693930e-01  2.23844571e-02  1.05347891e-02  1.62390662e+02]
 [-2.23872512e-02  9.99749363e-01  1.47358648e-04  6.11376644e+00]
 [-1.05288501e-02 -3.83158515e-04  9.99944497e-01 -1.71297785e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.76770263799997
Centerline is valid?  [True, True]
Translation: X:162.45, Y:6.12, Z:-1.71
[[ 9.99678865e-01  2.30474708e-02  1.05347876e-02  1.62448976e+02]
 [-2.30503027e-02  9.99734296e-01  1.47465938e-04  6.11574709e+00]
 [-1.05285897e-02 -3.90248624e-04  9.99944497e-01 -1.71359259e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 160.82770263799998
Centerline is valid?  [True, True]
Translation: X:162.51, Y:6.12, Z:-1.71
[[ 9.99697159e-01  2.22398136e-02  1.05347800e-02  1.62508012e+02]
 [-2.22426064e-02  9.99752592e-01  1.48004992e-04  6.11805096e+00]
 [-1.05288820e-02 -3.82281135e-04  9.99944497e-01 -1.71421533e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.88770263799998
Centerline is valid?  [True, True]
Translation: X:162.57, Y:6.12, Z:-1.71
[[ 9.99693159e-01  2.24188990e-02  1.05347698e-02  1.62566044e+02]
 [-2.24217094e-02  9.99748591e-01  1.48727900e-04  6.12033869e+00]
 [-1.05287869e-02 -3.84889810e-04  9.99944497e-01 -1.71482766e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 160.94770263799998
Centerline is valid?  [True, True]
Translation: X:162.63, Y:6.12, Z:-1.72
[[ 9.99688443e-01  2.26282040e-02  1.05347622e-02  1.62625388e+02]
 [-2.26310316e-02  9.99743874e-01  1.49259219e-04  6.12155860e+00]
 [-1.05286866e-02 -3.87625254e-04  9.99944497e-01 -1.71545348e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.00770263799998
Centerline is valid?  [True, True]
Translation: X:162.68, Y:6.12, Z:-1.72
[[ 9.99700824e-01  2.20744548e-02  1.05347556e-02  1.62684184e+02]
 [-2.20772566e-02  9.99756256e-01  1.49725676e-04  6.12437528e+00]
 [-1.05288827e-02 -3.82259385e-04  9.99944497e-01 -1.71607372e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.067702638
Centerline is valid?  [True, True]
Translation: X:162.74, Y:6.13, Z:-1.72
[[ 9.99734351e-01  2.04999257e-02  1.05347357e-02  1.62743121e+02]
 [-2.05026548e-02  9.99789787e-01  1.51112039e-04  6.12710950e+00]
 [-1.05294234e-02 -3.67061947e-04  9.99944497e-01 -1.71669619e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.127702638
Centerline is valid?  [True, True]
Translation: X:162.80, Y:6.13, Z:-1.72
[[ 9.99746759e-01  1.98856021e-02  1.05347311e-02  1.62803481e+02]
 [-1.98883005e-02  9.99802197e-01  1.51431962e-04  6.12919041e+00]
 [-1.05296360e-02 -3.60911512e-04  9.99944497e-01 -1.71733268e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.187702638
Centerline is valid?  [True, True]
Translation: X:162.86, Y:6.13, Z:-1.72
[[ 9.99817309e-01  1.59488947e-02  1.05347323e-02  1.62862627e+02]
 [-1.59513739e-02  9.99872757e-01  1.51350242e-04  6.13205650e+00]
 [-1.05309780e-02 -3.19366045e-04  9.99944497e-01 -1.71795616e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.247702638
Centerline is valid?  [True, True]
Translation: X:162.92, Y:6.13, Z:-1.72
[[ 9.99840724e-01  1.44064992e-02  1.05347115e-02  1.62920970e+02]
 [-1.44089080e-02  9.99896175e-01  1.52783280e-04  6.13483919e+00]
 [-1.05314167e-02 -3.04552634e-04  9.99944497e-01 -1.71857243e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.307702638
Centerline is valid?  [True, True]
Translation: X:162.98, Y:6.14, Z:-1.72
[[ 9.99872516e-01  1.19987938e-02  1.05347085e-02  1.62979932e+02]
 [-1.20010713e-02  9.99927973e-01  1.52994541e-04  6.13695201e+00]
 [-1.05321139e-02 -2.79402823e-04  9.99944497e-01 -1.71919411e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.367702638
Centerline is valid?  [True, True]
Translation: X:163.04, Y:6.14, Z:-1.72
[[ 9.99920664e-01  6.90549137e-03  1.05347023e-02  1.63039014e+02]
 [-6.90749076e-03  9.99976131e-01  1.53416847e-04  6.13993134e+00]
 [-1.05333914e-02 -2.26173034e-04  9.99944497e-01 -1.71981737e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.427702638
Centerline is valid?  [True, True]
Translation: X:163.10, Y:6.14, Z:-1.72
[[ 9.99939683e-01  3.10668428e-03  1.05346916e-02  1.63099634e+02]
 [-3.10848067e-03  9.99995157e-01  1.54151836e-04  6.14301506e+00]
 [-1.05341616e-02 -1.86889423e-04  9.99944497e-01 -1.72045710e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.487702638
Centerline is valid?  [True, True]
Translation: X:163.16, Y:6.15, Z:-1.72
[[ 9.99942810e-01  1.84336626e-03  1.05346912e-02  1.63158766e+02]
 [-1.84509279e-03  9.99998286e-01  1.54173244e-04  6.14546571e+00]
 [-1.05343890e-02 -1.73601910e-04  9.99944497e-01 -1.72108047e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.54770263799998
Centerline is valid?  [True, True]
Translation: X:163.22, Y:6.15, Z:-1.72
[[ 9.99943092e-01  1.68324337e-03  1.05346850e-02  1.63217154e+02]
 [-1.68496550e-03  9.99998568e-01  1.54598934e-04  6.15109265e+00]
 [-1.05344097e-02 -1.72340717e-04  9.99944497e-01 -1.72169683e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.60770263799998
Centerline is valid?  [True, True]
Translation: X:163.28, Y:6.15, Z:-1.72
[[ 9.99940706e-01  2.75786411e-03  1.05346803e-02  1.63276983e+02]
 [-2.75964919e-03  9.99996180e-01  1.54915204e-04  6.15412403e+00]
 [-1.05342129e-02 -1.83978041e-04  9.99944497e-01 -1.72232787e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.66770263799998
Centerline is valid?  [True, True]
Translation: X:163.34, Y:6.16, Z:-1.72
[[ 9.99930372e-01  5.31709777e-03  1.05346772e-02  1.63335553e+02]
 [-5.31902705e-03  9.99985842e-01  1.55127001e-04  6.15770621e+00]
 [-1.05337032e-02 -2.11150433e-04  9.99944497e-01 -1.72294566e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.72770263799998
Centerline is valid?  [True, True]
Translation: X:163.40, Y:6.16, Z:-1.72
[[ 9.99914955e-01  7.68788650e-03  1.05346562e-02  1.63396156e+02]
 [-7.68996221e-03  9.99970420e-01  1.56542664e-04  6.16401636e+00]
 [-1.05331411e-02 -2.37540459e-04  9.99944497e-01 -1.72358631e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.78770263799998
Centerline is valid?  [True, True]
Translation: X:163.46, Y:6.17, Z:-1.72
[[ 9.99858904e-01  1.30840719e-02  1.05346577e-02  1.63455026e+02]
 [-1.30864459e-02  9.99914357e-01  1.56440725e-04  6.16858063e+00]
 [-1.05317086e-02 -2.94279879e-04  9.99944497e-01 -1.72420715e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.847702638
Centerline is valid?  [True, True]
Translation: X:163.52, Y:6.17, Z:-1.72
[[ 9.99811333e-01  1.63192957e-02  1.05346557e-02  1.63515648e+02]
 [-1.63218505e-02  9.99866777e-01  1.56573404e-04  6.17275356e+00]
 [-1.05306971e-02 -3.28488940e-04  9.99944497e-01 -1.72484658e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.907702638
Centerline is valid?  [True, True]
Translation: X:163.57, Y:6.18, Z:-1.73
[[ 9.99757360e-01  1.93453357e-02  1.05346576e-02  1.63574648e+02]
 [-1.93480569e-02  9.99812797e-01  1.56447793e-04  6.17579459e+00]
 [-1.05296589e-02 -3.60234987e-04  9.99944497e-01 -1.72546853e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 161.967702638
Centerline is valid?  [True, True]
Translation: X:163.63, Y:6.18, Z:-1.73
[[ 9.99617357e-01  2.55765600e-02  1.05346531e-02  1.63634403e+02]
 [-2.55796299e-02  9.99672775e-01  1.56752867e-04  6.18260931e+00]
 [-1.05271967e-02 -4.26165414e-04  9.99944497e-01 -1.72609939e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 162.027702638
Centerline is valid?  [True, True]
Translation: X:163.70, Y:6.19, Z:-1.73
[[ 9.99546227e-01  2.82198605e-02  1.05346531e-02  1.63695103e+02]
 [-2.82230769e-02  9.99601637e-01  1.56747112e-04  6.18543193e+00]
 [-1.05260331e-02 -4.53996310e-04  9.99944497e-01 -1.72673932e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.087702638
Centerline is valid?  [True, True]
Translation: X:163.75, Y:6.19, Z:-1.73
[[ 9.99484823e-01  3.03168320e-02  1.05346547e-02  1.63753743e+02]
 [-3.03201636e-02  9.99540226e-01  1.56641671e-04  6.18852160e+00]
 [-1.05250623e-02 -4.75973426e-04  9.99944497e-01 -1.72735750e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.147702638
Centerline is valid?  [True, True]
Translation: X:163.81, Y:6.19, Z:-1.73
[[ 9.99558180e-01  2.77932714e-02  1.05346530e-02  1.63813495e+02]
 [-2.77964642e-02  9.99613591e-01  1.56758891e-04  6.19098461e+00]
 [-1.05262254e-02 -4.49515736e-04  9.99944497e-01 -1.72798748e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.207702638
Centerline is valid?  [True, True]
Translation: X:163.87, Y:6.19, Z:-1.73
[[ 9.99535863e-01  2.85846040e-02  1.05346515e-02  1.63872790e+02]
 [-2.85878418e-02  9.99591272e-01  1.56860041e-04  6.19201914e+00]
 [-1.05258619e-02 -4.57950186e-04  9.99944497e-01 -1.72861242e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.26770263799997
Centerline is valid?  [True, True]
Translation: X:163.93, Y:6.19, Z:-1.73
[[ 9.99530882e-01  2.87582647e-02  1.05346404e-02  1.63933058e+02]
 [-2.87615199e-02  9.99586289e-01  1.57596003e-04  6.19393453e+00]
 [-1.05257500e-02 -4.60514342e-04  9.99944497e-01 -1.72924830e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.32770263799998
Centerline is valid?  [True, True]
Translation: X:163.99, Y:6.19, Z:-1.73
[[ 9.99492260e-01  3.00706434e-02  1.05346389e-02  1.63992277e+02]
 [-3.00739724e-02  9.99547663e-01  1.57699527e-04  6.19368684e+00]
 [-1.05251316e-02 -4.74437896e-04  9.99944497e-01 -1.72987224e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.38770263799998
Centerline is valid?  [True, True]
Translation: X:164.05, Y:6.19, Z:-1.73
[[ 9.99517573e-01  2.92171789e-02  1.05346343e-02  1.64051718e+02]
 [-2.92204639e-02  9.99572979e-01  1.58008084e-04  6.19297407e+00]
 [-1.05255192e-02 -4.65758757e-04  9.99944497e-01 -1.73049861e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.44770263799998
Centerline is valid?  [True, True]
Translation: X:164.11, Y:6.19, Z:-1.73
[[ 9.99563365e-01  2.76061579e-02  1.05346311e-02  1.64110695e+02]
 [-2.76093558e-02  9.99618777e-01  1.58215875e-04  6.19184605e+00]
 [-1.05262474e-02 -4.49001171e-04  9.99944497e-01 -1.73111995e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.50770263799998
Centerline is valid?  [True, True]
Translation: X:164.17, Y:6.19, Z:-1.73
[[ 9.99588325e-01  2.66871046e-02  1.05346089e-02  1.64170090e+02]
 [-2.66902669e-02  9.99643739e-01  1.59681136e-04  6.19038854e+00]
 [-1.05265944e-02 -4.40786924e-04  9.99944497e-01 -1.73174672e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.567702638
Centerline is valid?  [True, True]
Translation: X:164.23, Y:6.19, Z:-1.73
[[ 9.99670395e-01  2.34120377e-02  1.05346058e-02  1.64229332e+02]
 [-2.34150206e-02  9.99725818e-01  1.59887648e-04  6.19022067e+00]
 [-1.05279741e-02 -4.06502960e-04  9.99944497e-01 -1.73237100e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.627702638
Centerline is valid?  [True, True]
Translation: X:164.29, Y:6.19, Z:-1.73
[[ 9.99730565e-01  2.06837967e-02  1.05346027e-02  1.64288371e+02]
 [-2.06866305e-02  9.99785996e-01  1.60091775e-04  6.18914150e+00]
 [-1.05290369e-02 -3.77974075e-04  9.99944497e-01 -1.73299300e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.687702638
Centerline is valid?  [True, True]
Translation: X:164.35, Y:6.19, Z:-1.73
[[ 9.99836305e-01  1.47100246e-02  1.05346008e-02  1.64348036e+02]
 [-1.47125285e-02  9.99891752e-01  1.60216053e-04  6.18869749e+00]
 [-1.05311037e-02 -3.15180441e-04  9.99944497e-01 -1.73362161e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.747702638
Centerline is valid?  [True, True]
Translation: X:164.41, Y:6.19, Z:-1.73
[[ 9.99903970e-01  9.00406372e-03  1.05345976e-02  1.64407005e+02]
 [-9.00625334e-03  9.99959430e-01  1.60427523e-04  6.18608280e+00]
 [-1.05327257e-02 -2.55289372e-04  9.99944497e-01 -1.73424262e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.807702638
Centerline is valid?  [True, True]
Translation: X:164.47, Y:6.18, Z:-1.73
[[ 9.99941965e-01  2.25571370e-03  1.05345958e-02  1.64465829e+02]
 [-2.25753024e-03  9.99997439e-01  1.60547891e-04  6.18488526e+00]
 [-1.05342066e-02 -1.84320742e-04  9.99944497e-01 -1.73486225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.867702638
Centerline is valid?  [True, True]
Translation: X:164.53, Y:6.18, Z:-1.74
[[ 9.99942287e-01 -2.10827258e-03  1.05345910e-02  1.64525469e+02]
 [ 2.10669484e-03  9.99997768e-01  1.60862715e-04  6.18428927e+00]
 [-1.05349066e-02 -1.38660262e-04  9.99944497e-01 -1.73549075e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.927702638
Centerline is valid?  [True, True]
Translation: X:164.59, Y:6.18, Z:-1.74
[[ 9.99916979e-01 -7.42004679e-03  1.05345880e-02  1.64587197e+02]
 [ 7.41876173e-03  9.99972468e-01  1.61058576e-04  6.18194083e+00]
 [-1.05354930e-02 -8.28916073e-05  9.99944497e-01 -1.73614085e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 162.987702638
Centerline is valid?  [True, True]
Translation: X:164.65, Y:6.18, Z:-1.74
[[ 9.99900130e-01 -9.42087468e-03  1.05345943e-02  1.64648984e+02]
 [ 9.41970504e-03  9.99955621e-01  1.60642117e-04  6.18161474e+00]
 [-1.05356402e-02 -6.13933024e-05  9.99944497e-01 -1.73679138e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.04770263799998
Centerline is valid?  [True, True]
Translation: X:164.71, Y:6.18, Z:-1.74
[[ 9.99889412e-01 -1.04968948e-02  1.05346150e-02  1.64711167e+02]
 [ 1.04957994e-02  9.99944905e-01  1.59270798e-04  6.18002076e+00]
 [-1.05357065e-02 -4.86839785e-05  9.99944497e-01 -1.73744508e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.10770263799998
Centerline is valid?  [True, True]
Translation: X:164.77, Y:6.18, Z:-1.74
[[ 9.99888795e-01 -1.05555430e-02  1.05346371e-02  1.64773560e+02]
 [ 1.05544663e-02  9.99944288e-01  1.57797598e-04  6.17930314e+00]
 [-1.05357158e-02 -4.65925784e-05  9.99944497e-01 -1.73810104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.16770263799998
Centerline is valid?  [True, True]
Translation: X:164.84, Y:6.18, Z:-1.74
[[ 9.99898927e-01 -9.54759607e-03  1.05346446e-02  1.64836191e+02]
 [ 9.54646873e-03  9.99954419e-01  1.57294435e-04  6.17880394e+00]
 [-1.05356662e-02 -5.67098815e-05  9.99944497e-01 -1.73876038e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 163.22770263799998
Centerline is valid?  [True, True]
Translation: X:164.90, Y:6.18, Z:-1.74
[[ 9.99904344e-01 -8.96239316e-03  1.05346506e-02  1.64899256e+02]
 [ 8.96123759e-03  9.99959835e-01  1.56891106e-04  6.17651196e+00]
 [-1.05356336e-02 -6.24725910e-05  9.99944497e-01 -1.73942408e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.28770263799998
Centerline is valid?  [True, True]
Translation: X:164.96, Y:6.18, Z:-1.74
[[ 9.99907174e-01 -8.64087058e-03  1.05346596e-02  1.64960501e+02]
 [ 8.63970354e-03  9.99962665e-01  1.56285468e-04  6.17558082e+00]
 [-1.05356167e-02 -6.52546250e-05  9.99944497e-01 -1.74006865e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.347702638
Centerline is valid?  [True, True]
Translation: X:165.02, Y:6.17, Z:-1.74
[[ 9.99902878e-01 -9.12442935e-03  1.05346626e-02  1.65021192e+02]
 [ 9.12329124e-03  9.99958370e-01  1.56087008e-04  6.17261324e+00]
 [-1.05356482e-02 -5.99610535e-05  9.99944497e-01 -1.74070742e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.407702638
Centerline is valid?  [True, True]
Translation: X:165.08, Y:6.17, Z:-1.74
[[ 9.99872824e-01 -1.19731550e-02  1.05346655e-02  1.65083461e+02]
 [ 1.19721770e-02  9.99928319e-01  1.55888378e-04  6.16957417e+00]
 [-1.05357768e-02 -2.97456724e-05  9.99944497e-01 -1.74136280e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.467702638
Centerline is valid?  [True, True]
Translation: X:165.15, Y:6.17, Z:-1.74
[[ 9.99831045e-01 -1.50632907e-02  1.05346854e-02  1.65145144e+02]
 [ 1.50624986e-02  9.99886542e-01  1.54528301e-04  6.16767525e+00]
 [-1.05358179e-02  4.17649247e-06  9.99944497e-01 -1.74201123e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.527702638
Centerline is valid?  [True, True]
Translation: X:165.21, Y:6.16, Z:-1.74
[[ 9.99797180e-01 -1.71644742e-02  1.05347054e-02  1.65206425e+02]
 [ 1.71638132e-02  9.99852679e-01  1.53153365e-04  6.16304217e+00]
 [-1.05357822e-02  2.76934139e-05  9.99944497e-01 -1.74265499e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.587702638
Centerline is valid?  [True, True]
Translation: X:165.27, Y:6.16, Z:-1.74
[[ 9.99788414e-01 -1.76676784e-02  1.05347072e-02  1.65267060e+02]
 [ 1.76670467e-02  9.99843914e-01  1.53029083e-04  6.16099981e+00]
 [-1.05357666e-02  3.31204598e-05  9.99944497e-01 -1.74329339e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.647702638
Centerline is valid?  [True, True]
Translation: X:165.33, Y:6.16, Z:-1.74
[[ 9.99835408e-01 -1.47708399e-02  1.05347086e-02  1.65329422e+02]
 [ 1.47700484e-02  9.99890905e-01  1.52931619e-04  6.16095526e+00]
 [-1.05358183e-02  2.69170896e-06  9.99944497e-01 -1.74395030e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.707702638
Centerline is valid?  [True, True]
Translation: X:165.39, Y:6.16, Z:-1.74
[[ 9.99922552e-01 -6.62639884e-03  1.05347142e-02  1.65392032e+02]
 [ 6.62515941e-03  9.99978042e-01  1.52546422e-04  6.16037050e+00]
 [-1.05354937e-02 -8.27404466e-05  9.99944497e-01 -1.74460951e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.76770263799997
Centerline is valid?  [True, True]
Translation: X:165.45, Y:6.16, Z:-1.75
[[ 9.99936579e-01  3.98213496e-03  1.05347201e-02  1.65453983e+02]
 [-3.98395872e-03  9.99992052e-01  1.52138617e-04  6.16205012e+00]
 [-1.05340306e-02 -1.94098858e-04  9.99944497e-01 -1.74526211e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.82770263799998
Centerline is valid?  [True, True]
Translation: X:165.51, Y:6.16, Z:-1.75
[[ 9.99862675e-01  1.27925846e-02  1.05347278e-02  1.65514630e+02]
 [-1.27948914e-02  9.99918131e-01  1.51603264e-04  6.16361348e+00]
 [-1.05319260e-02 -2.86373143e-04  9.99944497e-01 -1.74590084e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.88770263799998
Centerline is valid?  [True, True]
Translation: X:165.57, Y:6.16, Z:-1.75
[[ 9.99757995e-01  1.93124363e-02  1.05347277e-02  1.65574028e+02]
 [-1.93151048e-02  9.99813434e-01  1.51610928e-04  6.16386589e+00]
 [-1.05298343e-02 -3.55053607e-04  9.99944497e-01 -1.74652667e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 163.94770263799998
Centerline is valid?  [True, True]
Translation: X:165.63, Y:6.16, Z:-1.75
[[ 9.99606088e-01  2.60132168e-02  1.05347262e-02  1.65633366e+02]
 [-2.60162579e-02  9.99661508e-01  1.51719170e-04  6.16480109e+00]
 [-1.05272135e-02 -4.25733559e-04  9.99944497e-01 -1.74715204e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.00770263799998
Centerline is valid?  [True, True]
Translation: X:165.69, Y:6.17, Z:-1.75
[[ 9.99502226e-01  2.97375274e-02  1.05347258e-02  1.65693213e+02]
 [-2.97407753e-02  9.99557634e-01  1.51742850e-04  6.16518704e+00]
 [-1.05255531e-02 -4.64978229e-04  9.99944497e-01 -1.74778262e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.067702638
Centerline is valid?  [True, True]
Translation: X:165.75, Y:6.16, Z:-1.75
[[ 9.99457181e-01  3.12147801e-02  1.05347243e-02  1.65752450e+02]
 [-3.12181110e-02  9.99512584e-01  1.51845663e-04  6.16443927e+00]
 [-1.05248497e-02 -4.80637431e-04  9.99944497e-01 -1.74840668e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.127702638
Centerline is valid?  [True, True]
Translation: X:165.81, Y:6.16, Z:-1.75
[[ 9.99548075e-01  2.81543158e-02  1.05347198e-02  1.65812341e+02]
 [-2.81574803e-02  9.99603488e-01  1.52160233e-04  6.16429446e+00]
 [-1.05262587e-02 -4.48722633e-04  9.99944497e-01 -1.74903788e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.187702638
Centerline is valid?  [True, True]
Translation: X:165.87, Y:6.16, Z:-1.75
[[ 9.99649074e-01  2.43053307e-02  1.05347182e-02  1.65871426e+02]
 [-2.43082830e-02  9.99704498e-01  1.52266776e-04  6.16373488e+00]
 [-1.05279043e-02 -4.08294254e-04  9.99944497e-01 -1.74966036e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.247702638
Centerline is valid?  [True, True]
Translation: X:165.93, Y:6.16, Z:-1.75
[[ 9.99719593e-01  2.12074273e-02  1.05346977e-02  1.65931616e+02]
 [-2.12102226e-02  9.99775026e-01  1.53675218e-04  6.16403463e+00]
 [-1.05290686e-02 -3.77075409e-04  9.99944497e-01 -1.75029567e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.307702638
Centerline is valid?  [True, True]
Translation: X:165.99, Y:6.16, Z:-1.75
[[ 9.99811582e-01  1.63040392e-02  1.05346944e-02  1.65991778e+02]
 [-1.63065650e-02  9.99867027e-01  1.53904061e-04  6.16461956e+00]
 [-1.05307843e-02 -3.25659741e-04  9.99944497e-01 -1.75092977e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.367702638
Centerline is valid?  [True, True]
Translation: X:166.05, Y:6.16, Z:-1.75
[[ 9.99877683e-01  1.15602858e-02  1.05346944e-02  1.66051227e+02]
 [-1.15625485e-02  9.99933140e-01  1.53904061e-04  6.16462652e+00]
 [-1.05322108e-02 -2.75693150e-04  9.99944497e-01 -1.75155608e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 164.427702638
Centerline is valid?  [True, True]
Translation: X:166.11, Y:6.17, Z:-1.75
[[ 9.99892723e-01  1.01765631e-02  1.05346912e-02  1.66109513e+02]
 [-1.01787513e-02  9.99948183e-01  1.54121206e-04  6.16550195e+00]
 [-1.05325769e-02 -2.61334674e-04  9.99944497e-01 -1.75217045e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.487702638
Centerline is valid?  [True, True]
Translation: X:166.17, Y:6.17, Z:-1.75
[[ 9.99888655e-01  1.05687355e-02  1.05346849e-02  1.66168399e+02]
 [-1.05709500e-02  9.99944114e-01  1.54546442e-04  6.16553745e+00]
 [-1.05324628e-02 -2.65890861e-04  9.99944497e-01 -1.75279118e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.54770263799998
Centerline is valid?  [True, True]
Translation: X:166.23, Y:6.17, Z:-1.75
[[ 9.99864240e-01  1.26697393e-02  1.05346627e-02  1.66228097e+02]
 [-1.26720861e-02  9.99919694e-01  1.56047991e-04  6.16757410e+00]
 [-1.05318396e-02 -2.89522958e-04  9.99944497e-01 -1.75342165e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.60770263799998
Centerline is valid?  [True, True]
Translation: X:166.29, Y:6.17, Z:-1.75
[[ 9.99806638e-01  1.66044734e-02  1.05346595e-02  1.66287306e+02]
 [-1.66070407e-02  9.99862081e-01  1.56260767e-04  6.16807335e+00]
 [-1.05306120e-02 -3.31180072e-04  9.99944497e-01 -1.75404568e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.66770263799998
Centerline is valid?  [True, True]
Translation: X:166.35, Y:6.17, Z:-1.75
[[ 9.99741170e-01  2.01646851e-02  1.05346580e-02  1.66345870e+02]
 [-2.01674509e-02  9.99796604e-01  1.56365908e-04  6.16898927e+00]
 [-1.05293622e-02 -3.68782634e-04  9.99944497e-01 -1.75466290e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.72770263799998
Centerline is valid?  [True, True]
Translation: X:166.41, Y:6.17, Z:-1.76
[[ 9.99686668e-01  2.27065472e-02  1.05346356e-02  1.66405655e+02]
 [-2.27094697e-02  9.99742094e-01  1.57858360e-04  6.17012953e+00]
 [-1.05283343e-02 -3.97044885e-04  9.99944497e-01 -1.75529413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.78770263799998
Centerline is valid?  [True, True]
Translation: X:166.46, Y:6.17, Z:-1.76
[[ 9.99595003e-01  2.64357916e-02  1.05346324e-02  1.66464449e+02]
 [-2.64389231e-02  9.99650418e-01  1.58073020e-04  6.17066426e+00]
 [-1.05267709e-02 -4.36533337e-04  9.99944497e-01 -1.75591379e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.847702638
Centerline is valid?  [True, True]
Translation: X:166.52, Y:6.17, Z:-1.76
[[ 9.99549905e-01  2.80892886e-02  1.05346316e-02  1.66523290e+02]
 [-2.80925122e-02  9.99605315e-01  1.58122998e-04  6.17095910e+00]
 [-1.05260322e-02 -4.53996096e-04  9.99944497e-01 -1.75653378e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.907702638
Centerline is valid?  [True, True]
Translation: X:166.58, Y:6.17, Z:-1.76
[[ 9.99514819e-01  2.93112299e-02  1.05346098e-02  1.66581751e+02]
 [-2.93145365e-02  9.99570224e-01  1.59566170e-04  6.17063325e+00]
 [-1.05254052e-02 -4.68305955e-04  9.99944497e-01 -1.75715080e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 164.967702638
Centerline is valid?  [True, True]
Translation: X:166.64, Y:6.17, Z:-1.76
[[ 9.99503248e-01  2.97032031e-02  1.05345867e-02  1.66640399e+02]
 [-2.97065472e-02  9.99558650e-01  1.61073766e-04  6.17044835e+00]
 [-1.05251529e-02 -4.73939950e-04  9.99944497e-01 -1.75776985e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.027702638
Centerline is valid?  [True, True]
Translation: X:166.70, Y:6.17, Z:-1.76
[[ 9.99486809e-01  3.02512895e-02  1.05345835e-02  1.66700321e+02]
 [-3.02546662e-02  9.99542210e-01  1.61288426e-04  6.17091239e+00]
 [-1.05248816e-02 -4.79925960e-04  9.99944497e-01 -1.75840139e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.087702638
Centerline is valid?  [True, True]
Translation: X:166.76, Y:6.17, Z:-1.76
[[ 9.99481116e-01  3.04388123e-02  1.05345801e-02  1.66759545e+02]
 [-3.04422018e-02  9.99536516e-01  1.61504769e-04  6.17019733e+00]
 [-1.05247815e-02 -4.82116781e-04  9.99944497e-01 -1.75902539e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.147702638
Centerline is valid?  [True, True]
Translation: X:166.82, Y:6.17, Z:-1.76
[[ 9.99490147e-01  3.01408117e-02  1.05345677e-02  1.66817514e+02]
 [-3.01441932e-02  9.99545547e-01  1.62314988e-04  6.17028571e+00]
 [-1.05248879e-02 -4.79788273e-04  9.99944497e-01 -1.75963676e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.207702638
Centerline is valid?  [True, True]
Translation: X:166.88, Y:6.17, Z:-1.76
[[ 9.99492028e-01  3.00783854e-02  1.05345440e-02  1.66876731e+02]
 [-3.00817793e-02  9.99547427e-01  1.63832852e-04  6.17033680e+00]
 [-1.05248486e-02 -4.80647459e-04  9.99944497e-01 -1.76026186e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.26770263799997
Centerline is valid?  [True, True]
Translation: X:166.94, Y:6.17, Z:-1.76
[[ 9.99461670e-01  3.10707903e-02  1.05345220e-02  1.66937206e+02]
 [-3.10742540e-02  9.99517065e-01  1.65239993e-04  6.17131572e+00]
 [-1.05243003e-02 -4.92503451e-04  9.99944497e-01 -1.76090025e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.32770263799998
Centerline is valid?  [True, True]
Translation: X:167.00, Y:6.17, Z:-1.76
[[ 9.99484665e-01  3.03220756e-02  1.05345220e-02  1.66997312e+02]
 [-3.03254979e-02  9.99540063e-01  1.65239993e-04  6.17066911e+00]
 [-1.05246663e-02 -4.84619462e-04  9.99944497e-01 -1.76153337e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.38770263799998
Centerline is valid?  [True, True]
Translation: X:167.06, Y:6.17, Z:-1.76
[[ 9.99504587e-01  2.96581118e-02  1.05345183e-02  1.67056442e+02]
 [-2.96614997e-02  9.99559987e-01  1.65472124e-04  6.16926606e+00]
 [-1.05249754e-02 -4.77859758e-04  9.99944497e-01 -1.76215626e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.44770263799998
Centerline is valid?  [True, True]
Translation: X:167.12, Y:6.17, Z:-1.76
[[ 9.99517109e-01  2.92330721e-02  1.05344947e-02  1.67115429e+02]
 [-2.92364522e-02  9.99572510e-01  1.66965901e-04  6.16942363e+00]
 [-1.05251103e-02 -4.74876523e-04  9.99944497e-01 -1.76277892e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.50770263799998
Centerline is valid?  [True, True]
Translation: X:167.17, Y:6.17, Z:-1.76
[[ 9.99581999e-01  2.69230897e-02  1.05344728e-02  1.67174099e+02]
 [-2.69263561e-02  9.99637406e-01  1.68334365e-04  6.16840090e+00]
 [-1.05261210e-02 -4.51918967e-04  9.99944497e-01 -1.76339793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.567702638
Centerline is valid?  [True, True]
Translation: X:167.23, Y:6.17, Z:-1.76
[[ 9.99661717e-01  2.37797444e-02  1.05344501e-02  1.67234706e+02]
 [-2.37828513e-02  9.99717134e-01  1.69740563e-04  6.16824133e+00]
 [-1.05274339e-02 -4.20222404e-04  9.99944497e-01 -1.76403753e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 165.627702638
Centerline is valid?  [True, True]
Translation: X:167.30, Y:6.17, Z:-1.76
[[ 9.99759898e-01  1.92138337e-02  1.05344495e-02  1.67295023e+02]
 [-1.92166880e-02  9.99815328e-01  1.69778815e-04  6.16738509e+00]
 [-1.05292420e-02 -3.72175280e-04  9.99944497e-01 -1.76467285e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.687702638
Centerline is valid?  [True, True]
Translation: X:167.36, Y:6.17, Z:-1.77
[[ 9.99863172e-01  1.27539628e-02  1.05344508e-02  1.67355193e+02]
 [-1.27564580e-02  9.99918619e-01  1.69700323e-04  6.16504627e+00]
 [-1.05314291e-02 -3.04059382e-04  9.99944497e-01 -1.76530628e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.747702638
Centerline is valid?  [True, True]
Translation: X:167.42, Y:6.16, Z:-1.77
[[ 9.99910436e-01  8.25506536e-03  1.05344504e-02  1.67415534e+02]
 [-8.25731131e-03  9.99965893e-01  1.69723396e-04  6.16482156e+00]
 [-1.05326900e-02 -2.56694431e-04  9.99944497e-01 -1.76594196e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.807702638
Centerline is valid?  [True, True]
Translation: X:167.47, Y:6.16, Z:-1.77
[[ 9.99923880e-01  6.42334594e-03  1.05344487e-02  1.67474634e+02]
 [-6.42549143e-03  9.99979342e-01  1.69831186e-04  6.16471990e+00]
 [-1.05331402e-02 -2.37507268e-04  9.99944497e-01 -1.76656464e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.867702638
Centerline is valid?  [True, True]
Translation: X:167.54, Y:6.16, Z:-1.77
[[ 9.99940555e-01  2.81267788e-03  1.05344420e-02  1.67535352e+02]
 [-2.81462743e-03  9.99996024e-01  1.70243310e-04  6.16486002e+00]
 [-1.05339213e-02 -1.99883720e-04  9.99944497e-01 -1.76720466e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.927702638
Centerline is valid?  [True, True]
Translation: X:167.59, Y:6.17, Z:-1.77
[[ 9.99943307e-01 -1.55161682e-03  1.05344404e-02  1.67594925e+02]
 [ 1.54990832e-03  9.99998784e-01  1.70344328e-04  6.16502247e+00]
 [-1.05346919e-02 -1.54007254e-04  9.99944497e-01 -1.76783238e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 165.987702638
Centerline is valid?  [True, True]
Translation: X:167.65, Y:6.17, Z:-1.77
[[ 9.99920254e-01 -6.96505852e-03  1.05344369e-02  1.67654746e+02]
 [ 6.96364811e-03  9.99975739e-01  1.70560499e-04  6.16591490e+00]
 [-1.05353693e-02 -9.71887862e-05  9.99944497e-01 -1.76846291e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.04770263799998
Centerline is valid?  [True, True]
Translation: X:167.72, Y:6.17, Z:-1.77
[[ 9.99889784e-01 -1.04615922e-02  1.05344369e-02  1.67717309e+02]
 [ 1.04603758e-02  9.99945274e-01  1.70560499e-04  6.16642390e+00]
 [-1.05356447e-02 -6.03475318e-05  9.99944497e-01 -1.76912210e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.10770263799998
Centerline is valid?  [True, True]
Translation: X:167.78, Y:6.17, Z:-1.77
[[ 9.99856620e-01 -1.32576255e-02  1.05344610e-02  1.67780796e+02]
 [ 1.32565801e-02  9.99912113e-01  1.69058673e-04  6.16898074e+00]
 [-1.05357765e-02 -2.93835076e-05  9.99944497e-01 -1.76979019e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.16770263799998
Centerline is valid?  [True, True]
Translation: X:167.84, Y:6.17, Z:-1.77
[[ 9.99858240e-01 -1.31348805e-02  1.05344877e-02  1.67841605e+02]
 [ 1.31338461e-02  9.99913733e-01  1.67374233e-04  6.17115100e+00]
 [-1.05357774e-02 -2.89921650e-05  9.99944497e-01 -1.77042985e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.22770263799998
Centerline is valid?  [True, True]
Translation: X:167.90, Y:6.17, Z:-1.77
[[ 9.99867214e-01 -1.24330083e-02  1.05344887e-02  1.67902080e+02]
 [ 1.24319355e-02  9.99922707e-01  1.67313092e-04  6.17251434e+00]
 [-1.05357547e-02 -3.63267911e-05  9.99944497e-01 -1.77106714e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.28770263799998
Centerline is valid?  [True, True]
Translation: X:167.96, Y:6.17, Z:-1.77
[[ 9.99879067e-01 -1.14400660e-02  1.05344904e-02  1.67963389e+02]
 [ 1.14389392e-02  9.99934559e-01  1.67205466e-04  6.17490326e+00]
 [-1.05357139e-02 -4.66818495e-05  9.99944497e-01 -1.77171335e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.347702638
Centerline is valid?  [True, True]
Translation: X:168.03, Y:6.18, Z:-1.77
[[ 9.99909229e-01 -8.39989176e-03  1.05344954e-02  1.68025304e+02]
 [ 8.39859961e-03  9.99964717e-01  1.66892285e-04  6.17905253e+00]
 [-1.05355256e-02 -7.84021274e-05  9.99944497e-01 -1.77236608e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.407702638
Centerline is valid?  [True, True]
Translation: X:168.09, Y:6.18, Z:-1.77
[[ 9.99936973e-01 -3.88256012e-03  1.05345039e-02  1.68086901e+02]
 [ 3.88102300e-03  9.99992455e-01  1.66352071e-04  6.18321832e+00]
 [-1.05350703e-02 -1.25456934e-04  9.99944497e-01 -1.77301527e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.467702638
Centerline is valid?  [True, True]
Translation: X:168.15, Y:6.19, Z:-1.77
[[ 9.99943128e-01  1.66252310e-03  1.05345091e-02  1.68147373e+02]
 [-1.66436442e-03  9.99998601e-01  1.66024147e-04  6.18782628e+00]
 [-1.05342183e-02 -1.83547967e-04  9.99944497e-01 -1.77365285e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.527702638
Centerline is valid?  [True, True]
Translation: X:168.21, Y:6.19, Z:-1.77
[[ 9.99917153e-01  7.39665173e-03  1.05345108e-02  1.68207112e+02]
 [-7.39880998e-03  9.99972615e-01  1.65916183e-04  6.19265713e+00]
 [-1.05329951e-02 -2.43845281e-04  9.99944497e-01 -1.77428293e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.587702638
Centerline is valid?  [True, True]
Translation: X:168.27, Y:6.20, Z:-1.77
[[ 9.99887457e-01  1.06816789e-02  1.05345091e-02  1.68266936e+02]
 [-1.06840204e-02  9.99942910e-01  1.66019817e-04  6.19632648e+00]
 [-1.05321344e-02 -2.78552043e-04  9.99944497e-01 -1.77491387e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.647702638
Centerline is valid?  [True, True]
Translation: X:168.33, Y:6.20, Z:-1.78
[[ 9.99819567e-01  1.58069021e-02  1.05345074e-02  1.68327260e+02]
 [-1.58095290e-02  9.99875008e-01  1.66127520e-04  6.20080667e+00]
 [-1.05305648e-02 -3.32643146e-04  9.99944497e-01 -1.77555022e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.707702638
Centerline is valid?  [True, True]
Translation: X:168.39, Y:6.20, Z:-1.78
[[ 9.99745844e-01  1.99316906e-02  1.05345074e-02  1.68386885e+02]
 [-1.99345462e-02  9.99801273e-01  1.66130236e-04  6.20418469e+00]
 [-1.05291027e-02 -3.76088637e-04  9.99944497e-01 -1.77617893e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.76770263799997
Centerline is valid?  [True, True]
Translation: X:168.45, Y:6.21, Z:-1.78
[[ 9.99672097e-01  2.33392776e-02  1.05345074e-02  1.68445855e+02]
 [-2.33423221e-02  9.99727517e-01  1.66130236e-04  6.20668423e+00]
 [-1.05277596e-02 -4.11975626e-04  9.99944497e-01 -1.77680060e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 166.82770263799998
Centerline is valid?  [True, True]
Translation: X:168.51, Y:6.21, Z:-1.78
[[ 9.99591189e-01  2.65796851e-02  1.05344856e-02  1.68506105e+02]
 [-2.65829236e-02  9.99646598e-01  1.67499208e-04  6.20990570e+00]
 [-1.05263106e-02 -4.47468160e-04  9.99944497e-01 -1.77743700e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.88770263799998
Centerline is valid?  [True, True]
Translation: X:168.57, Y:6.21, Z:-1.78
[[ 9.99492654e-01  3.00575860e-02  1.05344845e-02  1.68566501e+02]
 [-3.00610181e-02  9.99548051e-01  1.67573369e-04  6.21278214e+00]
 [-1.05246866e-02 -4.84165680e-04  9.99944497e-01 -1.77807382e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 166.94770263799998
Centerline is valid?  [True, True]
Translation: X:168.63, Y:6.21, Z:-1.78
[[ 9.99388610e-01  3.33381294e-02  1.05344862e-02  1.68626758e+02]
 [-3.33417422e-02  9.99443996e-01  1.67464646e-04  6.21402399e+00]
 [-1.05230460e-02 -5.18600382e-04  9.99944497e-01 -1.77870875e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.00770263799998
Centerline is valid?  [True, True]
Translation: X:168.69, Y:6.22, Z:-1.78
[[ 9.99362277e-01  3.41183707e-02  1.05344837e-02  1.68685136e+02]
 [-3.41220284e-02  9.99417660e-01  1.67620293e-04  6.21754717e+00]
 [-1.05226301e-02 -5.26971350e-04  9.99944497e-01 -1.77932448e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.067702638
Centerline is valid?  [True, True]
Translation: X:168.75, Y:6.22, Z:-1.78
[[ 9.99272430e-01  3.66556256e-02  1.05344786e-02  1.68745925e+02]
 [-3.66594273e-02  9.99327803e-01  1.67941545e-04  6.21912035e+00]
 [-1.05212413e-02 -5.54007308e-04  9.99944497e-01 -1.77996543e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.127702638
Centerline is valid?  [True, True]
Translation: X:168.80, Y:6.22, Z:-1.78
[[ 9.99264199e-01  3.68793477e-02  1.05344787e-02  1.68804339e+02]
 [-3.68831617e-02  9.99319571e-01  1.67934093e-04  6.22255035e+00]
 [-1.05211174e-02 -5.56355408e-04  9.99944497e-01 -1.78058139e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.187702638
Centerline is valid?  [True, True]
Translation: X:168.86, Y:6.23, Z:-1.78
[[ 9.99324306e-01  3.52130287e-02  1.05344569e-02  1.68862274e+02]
 [-3.52167646e-02  9.99379683e-01  1.69292346e-04  6.22671459e+00]
 [-1.05219609e-02 -5.40167445e-04  9.99944497e-01 -1.78119356e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.247702638
Centerline is valid?  [True, True]
Translation: X:168.92, Y:6.23, Z:-1.78
[[ 9.99376738e-01  3.36921374e-02  1.05344501e-02  1.68922225e+02]
 [-3.36957934e-02  9.99432121e-01  1.69713798e-04  6.22910002e+00]
 [-1.05227498e-02 -5.24574676e-04  9.99944497e-01 -1.78182590e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.307702638
Centerline is valid?  [True, True]
Translation: X:168.98, Y:6.23, Z:-1.78
[[ 9.99426317e-01  3.21879344e-02  1.05344484e-02  1.68981049e+02]
 [-3.21915083e-02  9.99481705e-01  1.69819816e-04  6.23230189e+00]
 [-1.05235223e-02 -5.08842175e-04  9.99944497e-01 -1.78244625e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.367702638
Centerline is valid?  [True, True]
Translation: X:169.04, Y:6.24, Z:-1.78
[[ 9.99590049e-01  2.66225521e-02  1.05344242e-02  1.69040330e+02]
 [-2.66258331e-02  9.99645455e-01  1.71307636e-04  6.23522592e+00]
 [-1.05261286e-02 -4.51725228e-04  9.99944497e-01 -1.78307251e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.427702638
Centerline is valid?  [True, True]
Translation: X:169.10, Y:6.24, Z:-1.78
[[ 9.99752802e-01  1.95795917e-02  1.05344219e-02  1.69100879e+02]
 [-1.95824838e-02  9.99808230e-01  1.71444951e-04  6.23773712e+00]
 [-1.05290449e-02 -3.77692717e-04  9.99944497e-01 -1.78371094e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.487702638
Centerline is valid?  [True, True]
Translation: X:169.16, Y:6.24, Z:-1.78
[[ 9.99877856e-01  1.15455399e-02  1.05344224e-02  1.69161374e+02]
 [-1.15479862e-02  9.99933305e-01  1.71416377e-04  6.23942238e+00]
 [-1.05317407e-02 -2.93046803e-04  9.99944497e-01 -1.78434852e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.54770263799998
Centerline is valid?  [True, True]
Translation: X:169.22, Y:6.24, Z:-1.78
[[ 9.99943444e-01  1.46077609e-03  1.05344196e-02  1.69220943e+02]
 [-1.46266483e-03  9.99998916e-01  1.71589488e-04  6.24082047e+00]
 [-1.05341575e-02 -1.86988109e-04  9.99944497e-01 -1.78497647e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.60770263799998
Centerline is valid?  [True, True]
Translation: X:169.28, Y:6.24, Z:-1.79
[[ 9.99918347e-01 -7.23363283e-03  1.05344179e-02  1.69280371e+02]
 [ 7.23222537e-03  9.99973832e-01  1.71694539e-04  6.24362499e+00]
 [-1.05353842e-02 -9.54932355e-05  9.99944497e-01 -1.78560311e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.66770263799998
Centerline is valid?  [True, True]
Translation: X:169.34, Y:6.24, Z:-1.79
[[ 9.99832237e-01 -1.49841026e-02  1.05344162e-02  1.69341344e+02]
 [ 1.49831242e-02  9.99887732e-01  1.71795116e-04  6.24246236e+00]
 [-1.05358078e-02 -1.39278280e-05  9.99944497e-01 -1.78624534e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.72770263799998
Centerline is valid?  [True, True]
Translation: X:169.40, Y:6.24, Z:-1.79
[[ 9.99754580e-01 -1.94885989e-02  1.05344169e-02  1.69403464e+02]
 [ 1.94878710e-02  9.99810079e-01  1.71753534e-04  6.24457359e+00]
 [-1.05357634e-02  3.35819761e-05  9.99944497e-01 -1.78690011e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.78770263799998
Centerline is valid?  [True, True]
Translation: X:169.47, Y:6.25, Z:-1.79
[[ 9.99700011e-01 -2.21113880e-02  1.05344399e-02  1.69465720e+02]
 [ 2.21108206e-02  9.99755511e-01  1.70331016e-04  6.24558527e+00]
 [-1.05356306e-02  6.26451927e-05  9.99944497e-01 -1.78755495e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.847702638
Centerline is valid?  [True, True]
Translation: X:169.53, Y:6.25, Z:-1.79
[[ 9.99670435e-01 -2.34104118e-02  1.05344625e-02  1.69527111e+02]
 [ 2.34099314e-02  9.99725936e-01  1.68922851e-04  6.24542221e+00]
 [-1.05355299e-02  7.77438649e-05  9.99944497e-01 -1.78820051e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.907702638
Centerline is valid?  [True, True]
Translation: X:169.59, Y:6.25, Z:-1.79
[[ 9.99712374e-01 -2.15451432e-02  1.05344850e-02  1.69588191e+02]
 [ 2.15445742e-02  9.99767875e-01  1.67506244e-04  6.24772158e+00]
 [-1.05356486e-02  5.95029290e-05  9.99944497e-01 -1.78884319e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 167.967702638
Centerline is valid?  [True, True]
Translation: X:169.65, Y:6.25, Z:-1.79
[[ 9.99773524e-01 -1.84912212e-02  1.05344867e-02  1.69649741e+02]
 [ 1.84904838e-02  9.99829022e-01  1.67401955e-04  6.24893324e+00]
 [-1.05357810e-02  2.74237129e-05  9.99944497e-01 -1.78949174e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 168.027702638
Centerline is valid?  [True, True]
Translation: X:169.71, Y:6.25, Z:-1.79
[[ 9.99828151e-01 -1.52542698e-02  1.05344934e-02  1.69713043e+02]
 [ 1.52533571e-02  9.99883647e-01  1.66975501e-04  6.25018146e+00]
 [-1.05358148e-02 -6.26041611e-06  9.99944497e-01 -1.79015848e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.087702638
Centerline is valid?  [True, True]
Translation: X:169.77, Y:6.25, Z:-1.79
[[ 9.99864503e-01 -1.26490729e-02  1.05345184e-02  1.69774261e+02]
 [ 1.26480325e-02  9.99919997e-01  1.65386872e-04  6.25098155e+00]
 [-1.05357676e-02 -3.21235324e-05  9.99944497e-01 -1.79080222e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.147702638
Centerline is valid?  [True, True]
Translation: X:169.84, Y:6.25, Z:-1.79
[[ 9.99898213e-01 -9.62226825e-03  1.05345252e-02  1.69836149e+02]
 [ 9.62106438e-03  9.99953703e-01  1.64952116e-04  6.25189649e+00]
 [-1.05356247e-02 -6.35819809e-05  9.99944497e-01 -1.79145401e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.207702638
Centerline is valid?  [True, True]
Translation: X:169.90, Y:6.25, Z:-1.79
[[ 9.99912132e-01 -8.04690510e-03  1.05345370e-02  1.69898591e+02]
 [ 8.04562179e-03  9.99967620e-01  1.64194393e-04  6.25307989e+00]
 [-1.05355171e-02 -7.94230648e-05  9.99944497e-01 -1.79211140e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.26770263799997
Centerline is valid?  [True, True]
Translation: X:169.96, Y:6.25, Z:-1.79
[[ 9.99919022e-01 -7.13952312e-03  1.05345434e-02  1.69959729e+02]
 [ 7.13819381e-03  9.99974509e-01  1.63780665e-04  6.25343710e+00]
 [-1.05354442e-02 -8.85697900e-05  9.99944497e-01 -1.79275520e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.32770263799998
Centerline is valid?  [True, True]
Translation: X:170.02, Y:6.25, Z:-1.79
[[ 9.99909884e-01 -8.32151361e-03  1.05345478e-02  1.70021764e+02]
 [ 8.32025288e-03  9.99965373e-01  1.63497316e-04  6.25336371e+00]
 [-1.05355436e-02 -7.58324803e-05  9.99944497e-01 -1.79340851e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.38770263799998
Centerline is valid?  [True, True]
Translation: X:170.08, Y:6.25, Z:-1.79
[[ 9.99902153e-01 -9.20369888e-03  1.05345561e-02  1.70081398e+02]
 [ 9.20249272e-03  9.99957643e-01  1.62964073e-04  6.25197404e+00]
 [-1.05356097e-02 -6.60039518e-05  9.99944497e-01 -1.79403608e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.44770263799998
Centerline is valid?  [True, True]
Translation: X:170.14, Y:6.25, Z:-1.79
[[ 9.99891776e-01 -1.02693555e-02  1.05345561e-02  1.70143217e+02]
 [ 1.02682084e-02  9.99947267e-01  1.62964073e-04  6.25224859e+00]
 [-1.05356741e-02 -5.47754186e-05  9.99944497e-01 -1.79468740e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.50770263799998
Centerline is valid?  [True, True]
Translation: X:170.20, Y:6.25, Z:-1.80
[[ 9.99908434e-01 -8.49396197e-03  1.05345644e-02  1.70204427e+02]
 [ 8.49272211e-03  9.99963923e-01  1.62424409e-04  6.25126569e+00]
 [-1.05355640e-02 -7.29424080e-05  9.99944497e-01 -1.79533164e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.567702638
Centerline is valid?  [True, True]
Translation: X:170.26, Y:6.25, Z:-1.80
[[ 9.99927996e-01 -5.74684652e-03  1.05345661e-02  1.70263833e+02]
 [ 5.74545537e-03  9.99983482e-01  1.62315420e-04  6.25054784e+00]
 [-1.05353249e-02 -1.01777854e-04  9.99944497e-01 -1.79595729e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.627702638
Centerline is valid?  [True, True]
Translation: X:170.33, Y:6.25, Z:-1.80
[[ 9.99942931e-01 -1.77672139e-03  1.05345724e-02  1.70326416e+02]
 [ 1.77511428e-03  9.99998411e-01  1.61903539e-04  6.25080848e+00]
 [-1.05348433e-02 -1.43194229e-04  9.99944497e-01 -1.79661632e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.687702638
Centerline is valid?  [True, True]
Translation: X:170.39, Y:6.25, Z:-1.80
[[ 9.99942945e-01  1.76873027e-03  1.05345788e-02  1.70386794e+02]
 [-1.77052967e-03  9.99998420e-01  1.61485224e-04  6.24987317e+00]
 [-1.05342765e-02 -1.80127795e-04  9.99944497e-01 -1.79725190e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.747702638
Centerline is valid?  [True, True]
Translation: X:170.45, Y:6.25, Z:-1.80
[[ 9.99940546e-01  2.81561289e-03  1.05345807e-02  1.70445317e+02]
 [-2.81746906e-03  9.99996018e-01  1.61360371e-04  6.24976405e+00]
 [-1.05340845e-02 -1.91031633e-04  9.99944497e-01 -1.79786833e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.807702638
Centerline is valid?  [True, True]
Translation: X:170.50, Y:6.25, Z:-1.80
[[ 9.99932305e-01  4.94039004e-03  1.05345759e-02  1.70504400e+02]
 [-4.94236739e-03  9.99987773e-01  1.61676138e-04  6.24836247e+00]
 [-1.05336483e-02 -2.13730938e-04  9.99944497e-01 -1.79849082e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.867702638
Centerline is valid?  [True, True]
Translation: X:170.56, Y:6.25, Z:-1.80
[[ 9.99922590e-01  6.62092476e-03  1.05345536e-02  1.70564209e+02]
 [-6.62301051e-03  9.99978054e-01  1.63117148e-04  6.24848770e+00]
 [-1.05332424e-02 -2.32874981e-04  9.99944497e-01 -1.79912212e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.927702638
Centerline is valid?  [True, True]
Translation: X:170.62, Y:6.25, Z:-1.80
[[ 9.99919037e-01  7.13741109e-03  1.05345519e-02  1.70622537e+02]
 [-7.13952661e-03  9.99974500e-01  1.63222782e-04  6.24927724e+00]
 [-1.05331183e-02 -2.38421281e-04  9.99944497e-01 -1.79973683e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 168.98770263799997
Centerline is valid?  [True, True]
Translation: X:170.68, Y:6.25, Z:-1.80
[[ 9.99903964e-01  9.00477235e-03  1.05345403e-02  1.70682834e+02]
 [-9.00699933e-03  9.99959423e-01  1.63972352e-04  6.24727534e+00]
 [-1.05326363e-02 -2.58841202e-04  9.99944497e-01 -1.80037235e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.04770263799998
Centerline is valid?  [True, True]
Translation: X:170.74, Y:6.25, Z:-1.80
[[ 9.99885154e-01  1.08950346e-02  1.05345403e-02  1.70740578e+02]
 [-1.08973664e-02  9.99940608e-01  1.63972352e-04  6.24560272e+00]
 [-1.05321281e-02 -2.78752266e-04  9.99944497e-01 -1.80098042e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.10770263799998
Centerline is valid?  [True, True]
Translation: X:170.80, Y:6.25, Z:-1.80
[[ 9.99865067e-01  1.26044520e-02  1.05345275e-02  1.70798224e+02]
 [-1.26068872e-02  9.99920516e-01  1.64786642e-04  6.24586515e+00]
 [-1.05316132e-02 -2.97572007e-04  9.99944497e-01 -1.80158844e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.16770263799998
Centerline is valid?  [True, True]
Translation: X:170.86, Y:6.25, Z:-1.80
[[ 9.99820973e-01  1.57177009e-02  1.05345005e-02  1.70857779e+02]
 [-1.57203268e-02  9.99876414e-01  1.66498123e-04  6.24515205e+00]
 [-1.05305816e-02 -3.32074105e-04  9.99944497e-01 -1.80221714e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 169.22770263799998
Centerline is valid?  [True, True]
Translation: X:170.92, Y:6.24, Z:-1.80
[[ 9.99763654e-01  1.90173864e-02  1.05345004e-02  1.70917422e+02]
 [-1.90201953e-02  9.99819086e-01  1.66502143e-04  6.24362051e+00]
 [-1.05294281e-02 -3.66831047e-04  9.99944497e-01 -1.80284523e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.28770263799998
Centerline is valid?  [True, True]
Translation: X:170.98, Y:6.24, Z:-1.80
[[ 9.99680127e-01  2.29927933e-02  1.05344969e-02  1.70977062e+02]
 [-2.29958249e-02  9.99735547e-01  1.66723631e-04  6.24346920e+00]
 [-1.05278776e-02 -4.08919748e-04  9.99944497e-01 -1.80347370e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.347702638
Centerline is valid?  [True, True]
Translation: X:171.04, Y:6.24, Z:-1.80
[[ 9.99607661e-01  2.59528250e-02  1.05344969e-02  1.71036355e+02]
 [-2.59560207e-02  9.99663072e-01  1.66723631e-04  6.24248328e+00]
 [-1.05266206e-02 -4.40091839e-04  9.99944497e-01 -1.80409819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.407702638
Centerline is valid?  [True, True]
Translation: X:171.10, Y:6.24, Z:-1.80
[[ 9.99550336e-01  2.80740036e-02  1.05344969e-02  1.71095291e+02]
 [-2.80773169e-02  9.99605741e-01  1.66723900e-04  6.24207250e+00]
 [-1.05256630e-02 -4.62429338e-04  9.99944497e-01 -1.80471901e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.467702638
Centerline is valid?  [True, True]
Translation: X:171.16, Y:6.24, Z:-1.81
[[ 9.99515352e-01  2.92930909e-02  1.05344737e-02  1.71155807e+02]
 [-2.92964870e-02  9.99570752e-01  1.68174645e-04  6.24035405e+00]
 [-1.05250255e-02 -4.76716213e-04  9.99944497e-01 -1.80535745e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.527702638
Centerline is valid?  [True, True]
Translation: X:171.21, Y:6.24, Z:-1.81
[[ 9.99545727e-01  2.82376338e-02  1.05344671e-02  1.71213559e+02]
 [-2.82409758e-02  9.99601130e-01  1.68590466e-04  6.24065876e+00]
 [-1.05255046e-02 -4.66017511e-04  9.99944497e-01 -1.80596624e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.587702638
Centerline is valid?  [True, True]
Translation: X:171.27, Y:6.24, Z:-1.81
[[ 9.99608129e-01  2.59348156e-02  1.05344540e-02  1.71273958e+02]
 [-2.59380385e-02  9.99663538e-01  1.69403515e-04  6.23868452e+00]
 [-1.05265161e-02 -4.42580205e-04  9.99944497e-01 -1.80660288e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.647702638
Centerline is valid?  [True, True]
Translation: X:171.33, Y:6.24, Z:-1.81
[[ 9.99732864e-01  2.05724414e-02  1.05344540e-02  1.71334617e+02]
 [-2.05753670e-02  9.99788290e-01  1.69403515e-04  6.23633018e+00]
 [-1.05287387e-02 -3.86108519e-04  9.99944497e-01 -1.80724152e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.707702638
Centerline is valid?  [True, True]
Translation: X:171.39, Y:6.24, Z:-1.81
[[ 9.99814954e-01  1.60960835e-02  1.05344527e-02  1.71394365e+02]
 [-1.60987618e-02  9.99870392e-01  1.69488009e-04  6.23512258e+00]
 [-1.05303592e-02 -3.39048290e-04  9.99944497e-01 -1.80787083e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.76770263799997
Centerline is valid?  [True, True]
Translation: X:171.45, Y:6.23, Z:-1.81
[[ 9.99882596e-01  1.11274450e-02  1.05344491e-02  1.71454058e+02]
 [-1.11298501e-02  9.99938047e-01  1.69707274e-04  6.23444882e+00]
 [-1.05319081e-02 -2.86934190e-04  9.99944497e-01 -1.80849975e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.82770263799998
Centerline is valid?  [True, True]
Translation: X:171.51, Y:6.23, Z:-1.81
[[ 9.99924264e-01  6.36328855e-03  1.05344471e-02  1.71512814e+02]
 [-6.36543074e-03  9.99979726e-01  1.69834225e-04  6.23369885e+00]
 [-1.05331528e-02 -2.36877655e-04  9.99944497e-01 -1.80911872e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.88770263799998
Centerline is valid?  [True, True]
Translation: X:171.57, Y:6.23, Z:-1.81
[[ 9.99944393e-01 -4.86775892e-04  1.05344407e-02  1.71572551e+02]
 [ 4.85009512e-04  9.99999868e-01  1.70230739e-04  6.23128788e+00]
 [-1.05345221e-02 -1.65111969e-04  9.99944497e-01 -1.80974796e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 169.94770263799998
Centerline is valid?  [True, True]
Translation: X:171.63, Y:6.23, Z:-1.81
[[ 9.99931690e-01 -5.06364156e-03  1.05344389e-02  1.71632897e+02]
 [ 5.06212798e-03  9.99987173e-01  1.70338051e-04  6.23016422e+00]
 [-1.05351663e-02 -1.16999737e-04  9.99944497e-01 -1.81038360e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.00770263799998
Centerline is valid?  [True, True]
Translation: X:171.69, Y:6.23, Z:-1.81
[[ 9.99870722e-01 -1.21476638e-02  1.05344389e-02  1.71692443e+02]
 [ 1.21465434e-02  9.99926214e-01  1.70338051e-04  6.22699823e+00]
 [-1.05357308e-02 -4.23590104e-05  9.99944497e-01 -1.81101038e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.067702638
Centerline is valid?  [True, True]
Translation: X:171.75, Y:6.22, Z:-1.81
[[ 9.99753596e-01 -1.95389850e-02  1.05344382e-02  1.71754548e+02]
 [ 1.95382743e-02  9.99809095e-01  1.70386159e-04  6.22294330e+00]
 [-1.05357563e-02  3.54805673e-05  9.99944497e-01 -1.81166400e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.127702638
Centerline is valid?  [True, True]
Translation: X:171.82, Y:6.22, Z:-1.81
[[ 9.99606879e-01 -2.59829539e-02  1.05344447e-02  1.71815596e+02]
 [ 2.59826052e-02  9.99662381e-01  1.69981945e-04  6.21894869e+00]
 [-1.05353047e-02  1.03797195e-04  9.99944497e-01 -1.81230615e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.187702638
Centerline is valid?  [True, True]
Translation: X:171.88, Y:6.22, Z:-1.81
[[ 9.99498651e-01 -2.98575143e-02  1.05344675e-02  1.71876978e+02]
 [ 2.98573958e-02  9.99554154e-01  1.68557150e-04  6.21700505e+00]
 [-1.05348034e-02  1.46059121e-04  9.99944497e-01 -1.81295138e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.247702638
Centerline is valid?  [True, True]
Translation: X:171.94, Y:6.21, Z:-1.81
[[ 9.99450379e-01 -3.14319059e-02  1.05344707e-02  1.71938597e+02]
 [ 3.14318770e-02  9.99505882e-01  1.68353473e-04  6.21418136e+00]
 [-1.05345571e-02  1.62857246e-04  9.99944497e-01 -1.81359991e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.307702638
Centerline is valid?  [True, True]
Translation: X:172.00, Y:6.21, Z:-1.81
[[ 9.99455502e-01 -3.12685927e-02  1.05344927e-02  1.71999396e+02]
 [ 3.12685692e-02  9.99511005e-01  1.66969366e-04  6.21391492e+00]
 [-1.05345623e-02  1.62520062e-04  9.99944497e-01 -1.81423933e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.367702638
Centerline is valid?  [True, True]
Translation: X:172.06, Y:6.21, Z:-1.81
[[ 9.99438844e-01 -3.17965693e-02  1.05344958e-02  1.72060408e+02]
 [ 3.17965773e-02  9.99494347e-01  1.66771587e-04  6.21106457e+00]
 [-1.05344718e-02  1.68282908e-04  9.99944497e-01 -1.81488147e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 170.427702638
Centerline is valid?  [True, True]
Translation: X:172.12, Y:6.21, Z:-1.82
[[ 9.99463169e-01 -3.10225288e-02  1.05344989e-02  1.72121614e+02]
 [ 3.10224959e-02  9.99518673e-01  1.66573071e-04  6.20969352e+00]
 [-1.05345959e-02  1.60322801e-04  9.99944497e-01 -1.81552590e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.48770263799997
Centerline is valid?  [True, True]
Translation: X:172.18, Y:6.21, Z:-1.82
[[ 9.99475360e-01 -3.06272591e-02  1.05345036e-02  1.72183925e+02]
 [ 3.06272073e-02  9.99530863e-01  1.66278894e-04  6.20609697e+00]
 [-1.05346541e-02  1.56450768e-04  9.99944497e-01 -1.81618153e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.54770263799998
Centerline is valid?  [True, True]
Translation: X:172.25, Y:6.20, Z:-1.82
[[ 9.99490589e-01 -3.01261732e-02  1.05345269e-02  1.72246665e+02]
 [ 3.01261093e-02  9.99546092e-01  1.64786539e-04  6.20325825e+00]
 [-1.05347096e-02  1.52661715e-04  9.99944497e-01 -1.81684091e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.60770263799998
Centerline is valid?  [True, True]
Translation: X:172.31, Y:6.20, Z:-1.82
[[ 9.99527098e-01 -2.88894998e-02  1.05345369e-02  1.72307724e+02]
 [ 2.88893740e-02  9.99582601e-01  1.64149681e-04  6.20184423e+00]
 [-1.05348820e-02  1.40264121e-04  9.99944497e-01 -1.81748346e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.66770263799998
Centerline is valid?  [True, True]
Translation: X:172.37, Y:6.20, Z:-1.82
[[ 9.99644030e-01 -2.45119724e-02  1.05345582e-02  1.72370092e+02]
 [ 2.45116180e-02  9.99699532e-01  1.62770254e-04  6.20119912e+00]
 [-1.05353827e-02  9.55067527e-05  9.99944497e-01 -1.81813937e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.72770263799998
Centerline is valid?  [True, True]
Translation: X:172.43, Y:6.20, Z:-1.82
[[ 9.99770007e-01 -1.86803774e-02  1.05345669e-02  1.72432378e+02]
 [ 1.86797052e-02  9.99825506e-01  1.62205993e-04  6.20080714e+00]
 [-1.05357587e-02  3.46139170e-05  9.99944497e-01 -1.81879508e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.78770263799998
Centerline is valid?  [True, True]
Translation: X:172.49, Y:6.20, Z:-1.82
[[ 9.99821957e-01 -1.56549386e-02  1.05345927e-02  1.72493562e+02]
 [ 1.56541164e-02  9.99877454e-01  1.60512641e-04  6.20095555e+00]
 [-1.05358145e-02  4.42567622e-06  9.99944497e-01 -1.81943843e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.847702638
Centerline is valid?  [True, True]
Translation: X:172.55, Y:6.20, Z:-1.82
[[ 9.99905201e-01 -8.86628140e-03  1.05345943e-02  1.72553546e+02]
 [ 8.86508349e-03  9.99960692e-01  1.60403837e-04  6.20436616e+00]
 [-1.05356024e-02 -6.69985729e-05  9.99944497e-01 -1.82007084e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.907702638
Centerline is valid?  [True, True]
Translation: X:172.62, Y:6.21, Z:-1.82
[[ 9.99944094e-01 -9.11767360e-04  1.05346008e-02  1.72615454e+02]
 [ 9.10132566e-04  9.99999573e-01  1.59976315e-04  6.20632555e+00]
 [-1.05347422e-02 -1.50379489e-04  9.99944497e-01 -1.82072305e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 170.967702638
Centerline is valid?  [True, True]
Translation: X:172.68, Y:6.21, Z:-1.82
[[ 9.99931947e-01  5.01239044e-03  1.05346103e-02  1.72676130e+02]
 [-5.01434727e-03  9.99987415e-01  1.59347583e-04  6.20793972e+00]
 [-1.05336790e-02 -2.12160934e-04  9.99944497e-01 -1.82136206e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.027702638
Centerline is valid?  [True, True]
Translation: X:172.74, Y:6.21, Z:-1.82
[[ 9.99884711e-01  1.09355350e-02  1.05346103e-02  1.72736286e+02]
 [-1.09378204e-02  9.99940168e-01  1.59347583e-04  6.20952501e+00]
 [-1.05322375e-02 -2.74554888e-04  9.99944497e-01 -1.82199608e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.087702638
Centerline is valid?  [True, True]
Translation: X:172.80, Y:6.21, Z:-1.82
[[ 9.99840719e-01  1.44068886e-02  1.05346105e-02  1.72796014e+02]
 [-1.44093664e-02  9.99896167e-01  1.59338219e-04  6.21052938e+00]
 [-1.05312211e-02 -3.11109901e-04  9.99944497e-01 -1.82262547e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.147702638
Centerline is valid?  [True, True]
Translation: X:172.85, Y:6.21, Z:-1.82
[[ 9.99769155e-01  1.87258777e-02  1.05346070e-02  1.72854875e+02]
 [-1.87285974e-02  9.99824592e-01  1.59567823e-04  6.21188086e+00]
 [-1.05297711e-02 -3.56829401e-04  9.99944497e-01 -1.82324597e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.207702638
Centerline is valid?  [True, True]
Translation: X:172.92, Y:6.21, Z:-1.82
[[ 9.99724007e-01  2.09983748e-02  1.05345826e-02  1.72915092e+02]
 [-2.10012372e-02  9.99779437e-01  1.61158653e-04  6.21371938e+00]
 [-1.05288750e-02 -3.82353443e-04  9.99944497e-01 -1.82388186e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.26770263799997
Centerline is valid?  [True, True]
Translation: X:172.97, Y:6.22, Z:-1.82
[[ 9.99685478e-01  2.27589181e-02  1.05345843e-02  1.72974092e+02]
 [-2.27618770e-02  9.99740902e-01  1.61053588e-04  6.21568494e+00]
 [-1.05281894e-02 -4.00789845e-04  9.99944497e-01 -1.82450368e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.32770263799998
Centerline is valid?  [True, True]
Translation: X:173.03, Y:6.22, Z:-1.83
[[ 9.99595157e-01  2.64299932e-02  1.05345791e-02  1.73034466e+02]
 [-2.64331592e-02  9.99650570e-01  1.61390165e-04  6.21821110e+00]
 [-1.05266325e-02 -4.39787034e-04  9.99944497e-01 -1.82514038e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.38770263799998
Centerline is valid?  [True, True]
Translation: X:173.09, Y:6.22, Z:-1.83
[[ 9.99538813e-01  2.84813032e-02  1.05345791e-02  1.73093008e+02]
 [-2.84845829e-02  9.99594219e-01  1.61386896e-04  6.22092118e+00]
 [-1.05257079e-02 -4.61385559e-04  9.99944497e-01 -1.82575757e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.44770263799998
Centerline is valid?  [True, True]
Translation: X:173.15, Y:6.22, Z:-1.83
[[ 9.99517476e-01  2.92205289e-02  1.05345547e-02  1.73150129e+02]
 [-2.92238661e-02  9.99572878e-01  1.62966964e-04  6.22282550e+00]
 [-1.05252932e-02 -4.70748745e-04  9.99944497e-01 -1.82636085e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.50770263799998
Centerline is valid?  [True, True]
Translation: X:173.21, Y:6.23, Z:-1.83
[[ 9.99516502e-01  2.92538164e-02  1.05345355e-02  1.73209290e+02]
 [-2.92571685e-02  9.99571904e-01  1.64196384e-04  6.22629149e+00]
 [-1.05252224e-02 -4.72327676e-04  9.99944497e-01 -1.82698562e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.567702638
Centerline is valid?  [True, True]
Translation: X:173.27, Y:6.23, Z:-1.83
[[ 9.99542409e-01  2.83548454e-02  1.05345303e-02  1.73268189e+02]
 [-2.83581512e-02  9.99597813e-01  1.64532685e-04  6.22783797e+00]
 [-1.05256281e-02 -4.63197199e-04  9.99944497e-01 -1.82760664e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 171.627702638
Centerline is valid?  [True, True]
Translation: X:173.33, Y:6.23, Z:-1.83
[[ 9.99580732e-01  2.69700622e-02  1.05345279e-02  1.73326491e+02]
 [-2.69732928e-02  9.99636141e-01  1.64683363e-04  6.23012961e+00]
 [-1.05262533e-02 -4.48765223e-04  9.99944497e-01 -1.82822134e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.687702638
Centerline is valid?  [True, True]
Translation: X:173.39, Y:6.23, Z:-1.83
[[ 9.99617461e-01  2.55725478e-02  1.05345035e-02  1.73386360e+02]
 [-2.55757172e-02  9.99672874e-01  1.66230414e-04  6.23124312e+00]
 [-1.05268065e-02 -4.35594308e-04  9.99944497e-01 -1.82885343e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.747702638
Centerline is valid?  [True, True]
Translation: X:173.45, Y:6.23, Z:-1.83
[[ 9.99637433e-01  2.47795675e-02  1.05345018e-02  1.73445984e+02]
 [-2.47826941e-02  9.99692848e-01  1.66341683e-04  6.23208505e+00]
 [-1.05271442e-02 -4.27354708e-04  9.99944497e-01 -1.82948180e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.807702638
Centerline is valid?  [True, True]
Translation: X:173.50, Y:6.23, Z:-1.83
[[ 9.99646246e-01  2.44214675e-02  1.05344982e-02  1.73503135e+02]
 [-2.44245766e-02  9.99701662e-01  1.66568037e-04  6.23348160e+00]
 [-1.05272875e-02 -4.23809771e-04  9.99944497e-01 -1.83008430e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.867702638
Centerline is valid?  [True, True]
Translation: X:173.56, Y:6.24, Z:-1.83
[[ 9.99613639e-01  2.57215515e-02  1.05344858e-02  1.73562704e+02]
 [-2.57247410e-02  9.99669050e-01  1.67347311e-04  6.24116143e+00]
 [-1.05266950e-02 -4.38279573e-04  9.99944497e-01 -1.83071375e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.927702638
Centerline is valid?  [True, True]
Translation: X:173.62, Y:6.24, Z:-1.83
[[ 9.99600783e-01  2.62164032e-02  1.05344841e-02  1.73622571e+02]
 [-2.62196212e-02  9.99656193e-01  1.67457151e-04  6.24353007e+00]
 [-1.05264721e-02 -4.43600481e-04  9.99944497e-01 -1.83134493e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 171.98770263799997
Centerline is valid?  [True, True]
Translation: X:173.68, Y:6.25, Z:-1.83
[[ 9.99558581e-01  2.77788963e-02  1.05344788e-02  1.73681623e+02]
 [-2.77822044e-02  9.99613986e-01  1.67786072e-04  6.24686501e+00]
 [-1.05257515e-02 -4.60383052e-04  9.99944497e-01 -1.83196785e+00]
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SLAMing on frame at distance 172.04770263799998
Centerline is valid?  [True, True]
Translation: X:173.74, Y:6.25, Z:-1.83
[[ 9.99514832e-01  2.93108571e-02  1.05344735e-02  1.73741723e+02]
 [-2.93142536e-02  9.99570231e-01  1.68119122e-04  6.24935653e+00]
 [-1.05250184e-02 -4.76847784e-04  9.99944497e-01 -1.83260169e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.10770263799998
Centerline is valid?  [True, True]
Translation: X:173.80, Y:6.25, Z:-1.83
[[ 9.99468923e-01  3.08366109e-02  1.05344747e-02  1.73800046e+02]
 [-3.08400912e-02  9.99524317e-01  1.68046173e-04  6.25154660e+00]
 [-1.05242816e-02 -4.92841087e-04  9.99944497e-01 -1.83321643e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.16770263799998
Centerline is valid?  [True, True]
Translation: X:173.86, Y:6.25, Z:-1.83
[[ 9.99409365e-01  3.27100410e-02  1.05344501e-02  1.73858851e+02]
 [-3.27136412e-02  9.99464751e-01  1.69570613e-04  6.25384407e+00]
 [-1.05232649e-02 -5.14090680e-04  9.99944497e-01 -1.83383752e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.22770263799998
Centerline is valid?  [True, True]
Translation: X:173.92, Y:6.25, Z:-1.83
[[ 9.99386984e-01  3.33868616e-02  1.05344483e-02  1.73917536e+02]
 [-3.33905004e-02  9.99442367e-01  1.69682576e-04  6.25410114e+00]
 [-1.05229088e-02 -5.21329059e-04  9.99944497e-01 -1.83445590e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.28770263799998
Centerline is valid?  [True, True]
Translation: X:173.98, Y:6.26, Z:-1.84
[[ 9.99363358e-01  3.40867357e-02  1.05344250e-02  1.73975276e+02]
 [-3.40904284e-02  9.99418738e-01  1.71118227e-04  6.25624815e+00]
 [-1.05224689e-02 -5.30132347e-04  9.99944497e-01 -1.83506567e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.347702638
Centerline is valid?  [True, True]
Translation: X:174.04, Y:6.26, Z:-1.84
[[ 9.99312435e-01  3.55483267e-02  1.05343955e-02  1.74035663e+02]
 [-3.55521193e-02  9.99367809e-01  1.72917358e-04  6.25714628e+00]
 [-1.05215888e-02 -5.47318551e-04  9.99944497e-01 -1.83570340e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.407702638
Centerline is valid?  [True, True]
Translation: X:174.09, Y:6.26, Z:-1.84
[[ 9.99326966e-01  3.51374589e-02  1.05343975e-02  1.74094329e+02]
 [-3.51412275e-02  9.99382341e-01  1.72795411e-04  6.25769919e+00]
 [-1.05218192e-02 -5.42870772e-04  9.99944497e-01 -1.83632145e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.467702638
Centerline is valid?  [True, True]
Translation: X:174.15, Y:6.26, Z:-1.84
[[ 9.99347988e-01  3.45344100e-02  1.05343923e-02  1.74153196e+02]
 [-3.45381484e-02  9.99403365e-01  1.73108538e-04  6.25759428e+00]
 [-1.05221289e-02 -5.36834075e-04  9.99944497e-01 -1.83694184e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.527702638
Centerline is valid?  [True, True]
Translation: X:174.21, Y:6.26, Z:-1.84
[[ 9.99369280e-01  3.39126755e-02  1.05343689e-02  1.74211160e+02]
 [-3.39163944e-02  9.99424658e-01  1.74522810e-04  6.25740249e+00]
 [-1.05223895e-02 -5.31700545e-04  9.99944497e-01 -1.83755355e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.587702638
Centerline is valid?  [True, True]
Translation: X:174.27, Y:6.26, Z:-1.84
[[ 9.99446044e-01  3.15694867e-02  1.05343598e-02  1.74271261e+02]
 [-3.15730814e-02  9.99501431e-01  1.75069135e-04  6.25739667e+00]
 [-1.05235809e-02 -5.07574355e-04  9.99944497e-01 -1.83818714e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.647702638
Centerline is valid?  [True, True]
Translation: X:174.33, Y:6.26, Z:-1.84
[[ 9.99475626e-01  3.06186143e-02  1.05343580e-02  1.74330167e+02]
 [-3.06221576e-02  9.99531016e-01  1.75181063e-04  6.25730361e+00]
 [-1.05240537e-02 -4.97673972e-04  9.99944497e-01 -1.83880778e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.707702638
Centerline is valid?  [True, True]
Translation: X:174.39, Y:6.26, Z:-1.84
[[ 9.99512243e-01  2.93990230e-02  1.05343542e-02  1.74389118e+02]
 [-2.94025010e-02  9.99567638e-01  1.75403813e-04  6.25719790e+00]
 [-1.05246429e-02 -4.85054621e-04  9.99944497e-01 -1.83942898e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.76770263799997
Centerline is valid?  [True, True]
Translation: X:174.45, Y:6.26, Z:-1.84
[[ 9.99517828e-01  2.92085574e-02  1.05343281e-02  1.74448174e+02]
 [-2.92120412e-02  9.99573222e-01  1.76960190e-04  6.25833152e+00]
 [-1.05246635e-02 -4.84604091e-04  9.99944497e-01 -1.84005253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 172.82770263799998
Centerline is valid?  [True, True]
Translation: X:174.51, Y:6.26, Z:-1.84
[[ 9.99574004e-01  2.72183380e-02  1.05343207e-02  1.74507113e+02]
 [-2.72217161e-02  9.99629405e-01  1.77400016e-04  6.25767721e+00]
 [-1.05255882e-02 -4.64086732e-04  9.99944497e-01 -1.84067366e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.88770263799998
Centerline is valid?  [True, True]
Translation: X:174.57, Y:6.26, Z:-1.84
[[ 9.99718417e-01  2.12629725e-02  1.05343170e-02  1.74567892e+02]
 [-2.12660229e-02  9.99773837e-01  1.77618810e-04  6.25610307e+00]
 [-1.05281578e-02 -4.01591822e-04  9.99944497e-01 -1.84131385e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 172.94770263799998
Centerline is valid?  [True, True]
Translation: X:174.63, Y:6.25, Z:-1.84
[[ 9.99769260e-01  1.87204587e-02  1.05343166e-02  1.74626712e+02]
 [-1.87233684e-02  9.99824687e-01  1.77645251e-04  6.25475792e+00]
 [-1.05291442e-02 -3.74842151e-04  9.99944497e-01 -1.84193330e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.00770263799998
Centerline is valid?  [True, True]
Translation: X:174.69, Y:6.25, Z:-1.84
[[ 9.99846153e-01  1.40249520e-02  1.05343135e-02  1.74687150e+02]
 [-1.40276032e-02  9.99901593e-01  1.77824232e-04  6.25343414e+00]
 [-1.05307829e-02 -3.25568044e-04  9.99944497e-01 -1.84256992e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.067702638
Centerline is valid?  [True, True]
Translation: X:174.75, Y:6.25, Z:-1.84
[[ 9.99892087e-01  1.02392925e-02  1.05343094e-02  1.74746239e+02]
 [-1.02417363e-02  9.99947536e-01  1.78069680e-04  6.25204982e+00]
 [-1.05319334e-02 -2.85940084e-04  9.99944497e-01 -1.84319234e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.127702638
Centerline is valid?  [True, True]
Translation: X:174.81, Y:6.25, Z:-1.84
[[ 9.99917189e-01  7.39219819e-03  1.05342947e-02  1.74805158e+02]
 [-7.39449326e-03  9.99972644e-01  1.78933375e-04  6.25044237e+00]
 [-1.05326838e-02 -2.56814329e-04  9.99944497e-01 -1.84381342e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.187702638
Centerline is valid?  [True, True]
Translation: X:174.86, Y:6.25, Z:-1.84
[[ 9.99934857e-01  4.39428388e-03  1.05342929e-02  1.74864034e+02]
 [-4.39641383e-03  9.99990320e-01  1.79042815e-04  6.24869948e+00]
 [-1.05334041e-02 -2.25344263e-04  9.99944497e-01 -1.84443344e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.247702638
Centerline is valid?  [True, True]
Translation: X:174.92, Y:6.25, Z:-1.85
[[ 9.99941025e-01  2.64122053e-03  1.05342892e-02  1.74923284e+02]
 [-2.64325553e-03  9.99996491e-01  1.79260793e-04  6.24840917e+00]
 [-1.05337787e-02 -2.07095039e-04  9.99944497e-01 -1.84505775e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.307702638
Centerline is valid?  [True, True]
Translation: X:174.98, Y:6.25, Z:-1.85
[[ 9.99943264e-01  1.58041930e-03  1.05342836e-02  1.74982413e+02]
 [-1.58239888e-03  9.99998732e-01  1.79585362e-04  6.24733054e+00]
 [-1.05339864e-02 -1.96244612e-04  9.99944497e-01 -1.84568072e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.367702638
Centerline is valid?  [True, True]
Translation: X:175.04, Y:6.25, Z:-1.85
[[ 9.99944130e-01 -8.75728766e-04  1.05342761e-02  1.75042238e+02]
 [ 8.73880834e-04  9.99999602e-01  1.80022613e-04  6.24711483e+00]
 [-1.05344296e-02 -1.70806853e-04  9.99944497e-01 -1.84631125e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.427702638
Centerline is valid?  [True, True]
Translation: X:175.10, Y:6.25, Z:-1.85
[[ 9.99938196e-01 -3.55427040e-03  1.05342743e-02  1.75102460e+02]
 [ 3.55256990e-03  9.99993673e-01  1.80133432e-04  6.24627919e+00]
 [-1.05348478e-02 -1.42698554e-04  9.99944497e-01 -1.84694562e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.48770263799997
Centerline is valid?  [True, True]
Translation: X:175.16, Y:6.25, Z:-1.85
[[ 9.99930961e-01 -5.20589526e-03  1.05342761e-02  1.75164045e+02]
 [ 5.20428755e-03  9.99986441e-01  1.80023753e-04  6.24650666e+00]
 [-1.05350705e-02 -1.25187923e-04  9.99944497e-01 -1.84759437e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.54770263799998
Centerline is valid?  [True, True]
Translation: X:175.23, Y:6.25, Z:-1.85
[[ 9.99918834e-01 -7.16616540e-03  1.05342832e-02  1.75225210e+02]
 [ 7.16467084e-03  9.99974317e-01  1.79607618e-04  6.24673449e+00]
 [-1.05352998e-02 -1.04118368e-04  9.99944497e-01 -1.84823846e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.60770263799998
Centerline is valid?  [True, True]
Translation: X:175.29, Y:6.25, Z:-1.85
[[ 9.99916728e-01 -7.45426944e-03  1.05342871e-02  1.75286126e+02]
 [ 7.45279324e-03  9.99972211e-01  1.79382610e-04  6.25013391e+00]
 [-1.05353315e-02 -1.00857809e-04  9.99944497e-01 -1.84888064e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.66770263799998
Centerline is valid?  [True, True]
Translation: X:175.35, Y:6.25, Z:-1.85
[[ 9.99925353e-01 -6.19011636e-03  1.05342878e-02  1.75347034e+02]
 [ 6.18857046e-03  9.99980835e-01  1.79340519e-04  6.25167271e+00]
 [-1.05351960e-02 -1.14134950e-04  9.99944497e-01 -1.84952254e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.72770263799998
Centerline is valid?  [True, True]
Translation: X:175.41, Y:6.26, Z:-1.85
[[ 9.99937472e-01 -3.75255928e-03  1.05342953e-02  1.75409149e+02]
 [ 3.75088281e-03  9.99992949e-01  1.78897125e-04  6.25677056e+00]
 [-1.05348923e-02 -1.39373032e-04  9.99944497e-01 -1.85017749e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.78770263799998
Centerline is valid?  [True, True]
Translation: X:175.47, Y:6.26, Z:-1.85
[[ 9.99944017e-01 -9.95707746e-04  1.05343028e-02  1.75471017e+02]
 [ 9.93883016e-04  9.99999490e-01  1.78451554e-04  6.26134856e+00]
 [-1.05344752e-02 -1.67971699e-04  9.99944497e-01 -1.85082975e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.847702638
Centerline is valid?  [True, True]
Translation: X:175.53, Y:6.27, Z:-1.85
[[ 9.99929963e-01  5.39417001e-03  1.05343103e-02  1.75530764e+02]
 [-5.39634455e-03  9.99985424e-01  1.78011209e-04  6.26761984e+00]
 [-1.05331965e-02 -2.34845510e-04  9.99944497e-01 -1.85145996e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.907702638
Centerline is valid?  [True, True]
Translation: X:175.59, Y:6.28, Z:-1.85
[[ 9.99876246e-01  1.16842543e-02  1.05343098e-02  1.75589958e+02]
 [-1.16867780e-02  9.99931691e-01  1.78041101e-04  6.27521804e+00]
 [-1.05315099e-02 -3.01131208e-04  9.99944497e-01 -1.85208494e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 173.967702638
Centerline is valid?  [True, True]
Translation: X:175.65, Y:6.28, Z:-1.85
[[ 9.99776147e-01  1.83489410e-02  1.05343100e-02  1.75650121e+02]
 [-1.83518341e-02  9.99831575e-01  1.78028011e-04  6.28431012e+00]
 [-1.05292691e-02 -3.71312068e-04  9.99944497e-01 -1.85272036e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 174.027702638
Centerline is valid?  [True, True]
Translation: X:175.71, Y:6.29, Z:-1.85
[[ 9.99681780e-01  2.29208793e-02  1.05343102e-02  1.75710453e+02]
 [-2.29240257e-02  9.99737194e-01  1.78018316e-04  6.29345500e+00]
 [-1.05274614e-02 -4.19450464e-04  9.99944497e-01 -1.85335758e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.087702638
Centerline is valid?  [True, True]
Translation: X:175.77, Y:6.30, Z:-1.85
[[ 9.99681057e-01  2.29523832e-02  1.05343102e-02  1.75768451e+02]
 [-2.29555314e-02  9.99736471e-01  1.78018316e-04  6.30103772e+00]
 [-1.05274481e-02 -4.19782226e-04  9.99944497e-01 -1.85396992e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.147702638
Centerline is valid?  [True, True]
Translation: X:175.83, Y:6.31, Z:-1.85
[[ 9.99754571e-01  1.94891690e-02  1.05342797e-02  1.75827347e+02]
 [-1.94921439e-02  9.99809994e-01  1.79800786e-04  6.30799558e+00]
 [-1.05287740e-02 -3.85092355e-04  9.99944497e-01 -1.85459305e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.207702638
Centerline is valid?  [True, True]
Translation: X:175.89, Y:6.31, Z:-1.86
[[ 9.99818962e-01  1.58452806e-02  1.05342779e-02  1.75886836e+02]
 [-1.58480547e-02  9.99874396e-01  1.79908795e-04  6.31117544e+00]
 [-1.05301040e-02 -3.46824036e-04  9.99944497e-01 -1.85522042e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.26770263799997
Centerline is valid?  [True, True]
Translation: X:175.95, Y:6.32, Z:-1.86
[[ 9.99923463e-01  6.48825720e-03  1.05342742e-02  1.75946898e+02]
 [-6.49051469e-03  9.99978920e-01  1.80125578e-04  6.31747041e+00]
 [-1.05328834e-02 -2.48484653e-04  9.99944497e-01 -1.85585447e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.32770263799998
Centerline is valid?  [True, True]
Translation: X:176.01, Y:6.32, Z:-1.86
[[ 9.99943793e-01  1.19969564e-03  1.05342730e-02  1.76006000e+02]
 [-1.20166050e-03  9.99999262e-01  1.80194008e-04  6.32064181e+00]
 [-1.05340491e-02 -1.92842499e-04  9.99944497e-01 -1.85647773e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.38770263799998
Centerline is valid?  [True, True]
Translation: X:176.07, Y:6.32, Z:-1.86
[[ 9.99931540e-01 -5.09351861e-03  1.05342693e-02  1.76065676e+02]
 [ 5.09190058e-03  9.99987020e-01  1.80411197e-04  6.32352593e+00]
 [-1.05350515e-02 -1.26759394e-04  9.99944497e-01 -1.85710710e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.44770263799998
Centerline is valid?  [True, True]
Translation: X:176.13, Y:6.32, Z:-1.86
[[ 9.99912807e-01 -7.96287974e-03  1.05342611e-02  1.76126872e+02]
 [ 7.96141589e-03  9.99968291e-01  1.80889229e-04  6.32474996e+00]
 [-1.05353675e-02 -9.70058230e-05  9.99944497e-01 -1.85775240e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.50770263799998
Centerline is valid?  [True, True]
Translation: X:176.19, Y:6.33, Z:-1.86
[[ 9.99830994e-01 -1.50669443e-02  1.05342648e-02  1.76188073e+02]
 [ 1.50658769e-02  9.99886487e-01  1.80674023e-04  6.32790963e+00]
 [-1.05357912e-02 -2.19355510e-05  9.99944497e-01 -1.85839755e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.567702638
Centerline is valid?  [True, True]
Translation: X:176.25, Y:6.33, Z:-1.86
[[ 9.99781220e-01 -1.80704489e-02  1.05342702e-02  1.76248584e+02]
 [ 1.80695516e-02  9.99836716e-01  1.80357706e-04  6.32893576e+00]
 [-1.05358093e-02  1.00312922e-05  9.99944497e-01 -1.85903494e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.627702638
Centerline is valid?  [True, True]
Translation: X:176.31, Y:6.33, Z:-1.86
[[ 9.99729874e-01 -2.07173258e-02  1.05342720e-02  1.76310023e+02]
 [ 2.07165766e-02  9.99785372e-01  1.80252488e-04  6.32997078e+00]
 [-1.05357454e-02  3.80302551e-05  9.99944497e-01 -1.85968229e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.687702638
Centerline is valid?  [True, True]
Translation: X:176.37, Y:6.33, Z:-1.86
[[ 9.99645317e-01 -2.44595331e-02  1.05342798e-02  1.76371590e+02]
 [ 2.44589963e-02  9.99700818e-01  1.79798072e-04  6.32902103e+00]
 [-1.05355259e-02  7.79236098e-05  9.99944497e-01 -1.86033036e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.747702638
Centerline is valid?  [True, True]
Translation: X:176.43, Y:6.33, Z:-1.86
[[ 9.99624395e-01 -2.53001584e-02  1.05342834e-02  1.76431413e+02]
 [ 2.52996706e-02  9.99679896e-01  1.79585988e-04  6.33090492e+00]
 [-1.05354549e-02  8.69953651e-05  9.99944497e-01 -1.86096075e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.807702638
Centerline is valid?  [True, True]
Translation: X:176.49, Y:6.33, Z:-1.86
[[ 9.99639434e-01 -2.46987881e-02  1.05342834e-02  1.76493970e+02]
 [ 2.46982669e-02  9.99694935e-01  1.79585988e-04  6.33046988e+00]
 [-1.05355053e-02  8.06573072e-05  9.99944497e-01 -1.86161970e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.867702638
Centerline is valid?  [True, True]
Translation: X:176.56, Y:6.33, Z:-1.86
[[ 9.99662873e-01 -2.37311775e-02  1.05343075e-02  1.76556368e+02]
 [ 2.37306176e-02  9.99718373e-01  1.78156821e-04  6.33224619e+00]
 [-1.05355687e-02  7.18888653e-05  9.99944497e-01 -1.86227621e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.927702638
Centerline is valid?  [True, True]
Translation: X:176.62, Y:6.33, Z:-1.86
[[ 9.99737544e-01 -2.03437942e-02  1.05343346e-02  1.76618442e+02]
 [ 2.03430633e-02  9.99793043e-01  1.76543397e-04  6.33175381e+00]
 [-1.05357460e-02  3.78035734e-05  9.99944497e-01 -1.86292877e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 174.98770263799997
Centerline is valid?  [True, True]
Translation: X:176.68, Y:6.33, Z:-1.86
[[ 9.99757863e-01 -1.93194856e-02  1.05343435e-02  1.76679538e+02]
 [ 1.93187034e-02  9.99813361e-01  1.76011525e-04  6.33192680e+00]
 [-1.05357778e-02  2.75409508e-05  9.99944497e-01 -1.86357201e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.04770263799998
Centerline is valid?  [True, True]
Translation: X:176.74, Y:6.33, Z:-1.86
[[ 9.99778055e-01 -1.82446806e-02  1.05343664e-02  1.76741500e+02]
 [ 1.82438533e-02  9.99833552e-01  1.74629832e-04  6.33247867e+00]
 [-1.05357990e-02  1.75963610e-05  9.99944497e-01 -1.86422375e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.10770263799998
Centerline is valid?  [True, True]
Translation: X:176.80, Y:6.33, Z:-1.86
[[ 9.99748077e-01 -1.98194141e-02  1.05343730e-02  1.76802905e+02]
 [ 1.98186785e-02  9.99803576e-01  1.74226156e-04  6.33182990e+00]
 [-1.05357569e-02  3.45950888e-05  9.99944497e-01 -1.86487022e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.16770263799998
Centerline is valid?  [True, True]
Translation: X:176.86, Y:6.33, Z:-1.87
[[ 9.99728049e-01 -2.08051768e-02  1.05343765e-02  1.76864250e+02]
 [ 2.08044981e-02  9.99783548e-01  1.74016500e-04  6.33259840e+00]
 [-1.05357168e-02  4.51932398e-05  9.99944497e-01 -1.86551645e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 175.22770263799998
Centerline is valid?  [True, True]
Translation: X:176.93, Y:6.33, Z:-1.87
[[ 9.99706491e-01 -2.18164811e-02  1.05343988e-02  1.76926281e+02]
 [ 2.18158729e-02  9.99761991e-01  1.72657683e-04  6.33115606e+00]
 [-1.05356583e-02  5.72100986e-05  9.99944497e-01 -1.86616861e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.28770263799998
Centerline is valid?  [True, True]
Translation: X:176.99, Y:6.33, Z:-1.87
[[ 9.99652602e-01 -2.41599078e-02  1.05344108e-02  1.76986848e+02]
 [ 2.41594374e-02  9.99708103e-01  1.71920358e-04  6.33068770e+00]
 [-1.05354894e-02  8.26448056e-05  9.99944497e-01 -1.86680600e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.347702638
Centerline is valid?  [True, True]
Translation: X:177.05, Y:6.33, Z:-1.87
[[ 9.99614849e-01 -2.56744902e-02  1.05344141e-02  1.77047860e+02]
 [ 2.56741061e-02  9.99670351e-01  1.71720114e-04  6.32961849e+00]
 [-1.05353502e-02  9.88076889e-05  9.99944497e-01 -1.86744842e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.407702638
Centerline is valid?  [True, True]
Translation: X:177.11, Y:6.33, Z:-1.87
[[ 9.99609599e-01 -2.58781073e-02  1.05344157e-02  1.77108679e+02]
 [ 2.58777355e-02  9.99665101e-01  1.71620591e-04  6.32758100e+00]
 [-1.05353289e-02  1.01053233e-04  9.99944497e-01 -1.86808872e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.467702638
Centerline is valid?  [True, True]
Translation: X:177.17, Y:6.33, Z:-1.87
[[ 9.99640562e-01 -2.46530378e-02  1.05344176e-02  1.77169000e+02]
 [ 2.46525992e-02  9.99696064e-01  1.71501265e-04  6.32793921e+00]
 [-1.05354439e-02  8.82611551e-05  9.99944497e-01 -1.86872417e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.527702638
Centerline is valid?  [True, True]
Translation: X:177.23, Y:6.33, Z:-1.87
[[ 9.99683225e-01 -2.28577155e-02  1.05344235e-02  1.77230967e+02]
 [ 2.28571811e-02  9.99738726e-01  1.71141190e-04  6.32712935e+00]
 [-1.05355830e-02  6.97002486e-05  9.99944497e-01 -1.86937656e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.587702638
Centerline is valid?  [True, True]
Translation: X:177.29, Y:6.33, Z:-1.87
[[ 9.99739787e-01 -2.02332615e-02  1.05344286e-02  1.77291449e+02]
 [ 2.02325847e-02  9.99795286e-01  1.70826043e-04  6.32604088e+00]
 [-1.05357284e-02  4.23571274e-05  9.99944497e-01 -1.87001331e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.647702638
Centerline is valid?  [True, True]
Translation: X:177.35, Y:6.32, Z:-1.87
[[ 9.99809714e-01 -1.64183109e-02  1.05344303e-02  1.77351218e+02]
 [ 1.64174235e-02  9.99865210e-01  1.70721120e-04  6.32263703e+00]
 [-1.05358133e-02  2.25956930e-06  9.99944497e-01 -1.87064231e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.707702638
Centerline is valid?  [True, True]
Translation: X:177.41, Y:6.32, Z:-1.87
[[ 9.99886980e-01 -1.07263077e-02  1.05344383e-02  1.77413480e+02]
 [ 1.07251095e-02  9.99942470e-01  1.70226714e-04  6.32329656e+00]
 [-1.05356582e-02 -5.72244710e-05  9.99944497e-01 -1.87129797e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.76770263799997
Centerline is valid?  [True, True]
Translation: X:177.47, Y:6.32, Z:-1.87
[[ 9.99918005e-01 -7.28068045e-03  1.05344452e-02  1.77474264e+02]
 [ 7.27929559e-03  9.99973491e-01  1.69797204e-04  6.32349629e+00]
 [-1.05354022e-02 -9.30999413e-05  9.99944497e-01 -1.87193803e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.82770263799998
Centerline is valid?  [True, True]
Translation: X:177.54, Y:6.32, Z:-1.87
[[ 9.99940838e-01 -2.71028185e-03  1.05344571e-02  1.77536020e+02]
 [ 2.70865121e-03  9.99996317e-01  1.69055768e-04  6.32208353e+00]
 [-1.05348765e-02 -1.40511597e-04  9.99944497e-01 -1.87258780e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.88770263799998
Centerline is valid?  [True, True]
Translation: X:177.60, Y:6.32, Z:-1.87
[[ 9.99943071e-01  1.69677238e-03  1.05344623e-02  1.77596256e+02]
 [-1.69864412e-03  9.99998543e-01  1.68732459e-04  6.32173590e+00]
 [-1.05341606e-02 -1.86617156e-04  9.99944497e-01 -1.87322208e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 175.94770263799998
Centerline is valid?  [True, True]
Translation: X:177.66, Y:6.32, Z:-1.87
[[ 9.99916691e-01  7.45889474e-03  1.05344657e-02  1.77655870e+02]
 [-7.46108384e-03  9.99972152e-01  1.68517961e-04  6.32119849e+00]
 [-1.05329154e-02 -2.47102454e-04  9.99944497e-01 -1.87384986e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.00770263799998
Centerline is valid?  [True, True]
Translation: X:177.71, Y:6.32, Z:-1.87
[[ 9.99871440e-01  1.20883903e-02  1.05344622e-02  1.77714975e+02]
 [-1.20908385e-02  9.99926889e-01  1.68738277e-04  6.32065695e+00]
 [-1.05316522e-02 -2.96087065e-04  9.99944497e-01 -1.87447261e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.067702638
Centerline is valid?  [True, True]
Translation: X:177.78, Y:6.32, Z:-1.88
[[ 9.99820229e-01  1.57649709e-02  1.05344587e-02  1.77775518e+02]
 [-1.57676252e-02  9.99875669e-01  1.68953356e-04  6.32023611e+00]
 [-1.05304854e-02 -3.35026381e-04  9.99944497e-01 -1.87511053e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.127702638
Centerline is valid?  [True, True]
Translation: X:177.84, Y:6.32, Z:-1.88
[[ 9.99789874e-01  1.75850464e-02  1.05344587e-02  1.77835246e+02]
 [-1.75878016e-02  9.99845308e-01  1.68953356e-04  6.32008868e+00]
 [-1.05298581e-02 -3.54195825e-04  9.99944497e-01 -1.87573974e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.187702638
Centerline is valid?  [True, True]
Translation: X:177.89, Y:6.32, Z:-1.88
[[ 9.99762056e-01  1.91012198e-02  1.05344570e-02  1.77892587e+02]
 [-1.91040603e-02  9.99817486e-01  1.69064867e-04  6.31818043e+00]
 [-1.05293049e-02 -3.70275540e-04  9.99944497e-01 -1.87634360e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.247702638
Centerline is valid?  [True, True]
Translation: X:177.95, Y:6.32, Z:-1.88
[[ 9.99746878e-01  1.98797612e-02  1.05344462e-02  1.77950896e+02]
 [-1.98826519e-02  9.99802306e-01  1.69734440e-04  6.31890423e+00]
 [-1.05289893e-02 -3.79144203e-04  9.99944497e-01 -1.87695852e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.307702638
Centerline is valid?  [True, True]
Translation: X:178.01, Y:6.32, Z:-1.88
[[ 9.99686780e-01  2.27017185e-02  1.05344327e-02  1.78009947e+02]
 [-2.27047744e-02  9.99742199e-01  1.70567149e-04  6.31907592e+00]
 [-1.05278447e-02 -4.09695641e-04  9.99944497e-01 -1.87758130e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.367702638
Centerline is valid?  [True, True]
Translation: X:178.07, Y:6.32, Z:-1.88
[[ 9.99668877e-01  2.34768608e-02  1.05344292e-02  1.78068219e+02]
 [-2.34799619e-02  9.99724293e-01  1.70783840e-04  6.31887257e+00]
 [-1.05275153e-02 -4.18075285e-04  9.99944497e-01 -1.87819534e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 176.427702638
Centerline is valid?  [True, True]
Translation: X:178.13, Y:6.32, Z:-1.88
[[ 9.99661593e-01  2.37849705e-02  1.05344043e-02  1.78127084e+02]
 [-2.37881047e-02  9.99717008e-01  1.72301684e-04  6.31799003e+00]
 [-1.05273250e-02 -4.22836890e-04  9.99944497e-01 -1.87881650e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.48770263799997
Centerline is valid?  [True, True]
Translation: X:178.19, Y:6.32, Z:-1.88
[[ 9.99651400e-01  2.42095917e-02  1.05343808e-02  1.78185134e+02]
 [-2.42127645e-02  9.99706813e-01  1.73732391e-04  6.31890188e+00]
 [-1.05270862e-02 -4.28738308e-04  9.99944497e-01 -1.87942930e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.54770263799998
Centerline is valid?  [True, True]
Translation: X:178.24, Y:6.32, Z:-1.88
[[ 9.99576337e-01  2.71325207e-02  1.05343735e-02  1.78244208e+02]
 [-2.71358602e-02  9.99631740e-01  1.74172458e-04  6.32239254e+00]
 [-1.05257683e-02 -4.59957953e-04  9.99944497e-01 -1.88005260e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.60770263799998
Centerline is valid?  [True, True]
Translation: X:178.30, Y:6.32, Z:-1.88
[[ 9.99597644e-01  2.63358618e-02  1.05343679e-02  1.78302979e+02]
 [-2.63391606e-02  9.99653049e-01  1.74509217e-04  6.32215129e+00]
 [-1.05261171e-02 -4.51905410e-04  9.99944497e-01 -1.88067197e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.66770263799998
Centerline is valid?  [True, True]
Translation: X:178.36, Y:6.32, Z:-1.88
[[ 9.99663136e-01  2.37200705e-02  1.05343419e-02  1.78361697e+02]
 [-2.37232407e-02  9.99718549e-01  1.76062468e-04  6.32297523e+00]
 [-1.05272008e-02 -4.25911888e-04  9.99944497e-01 -1.88129190e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.72770263799998
Centerline is valid?  [True, True]
Translation: X:178.42, Y:6.32, Z:-1.88
[[ 9.99733722e-01  2.05307616e-02  1.05343383e-02  1.78419878e+02]
 [-2.05337573e-02  9.99789145e-01  1.76280173e-04  6.32306893e+00]
 [-1.05284979e-02 -3.92542779e-04  9.99944497e-01 -1.88190502e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.78770263799998
Centerline is valid?  [True, True]
Translation: X:178.48, Y:6.32, Z:-1.88
[[ 9.99819652e-01  1.58016383e-02  1.05343311e-02  1.78480001e+02]
 [-1.58043762e-02  9.99875087e-01  1.76706665e-04  6.32223296e+00]
 [-1.05302230e-02 -3.43163329e-04  9.99944497e-01 -1.88253859e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.847702638
Centerline is valid?  [True, True]
Translation: X:178.54, Y:6.32, Z:-1.88
[[ 9.99896297e-01  9.81953595e-03  1.05343301e-02  1.78539264e+02]
 [-9.82194285e-03  9.99951748e-01  1.76769621e-04  6.32277187e+00]
 [-1.05320860e-02 -2.80218878e-04  9.99944497e-01 -1.88316307e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.907702638
Centerline is valid?  [True, True]
Translation: X:178.60, Y:6.32, Z:-1.88
[[ 9.99935681e-01  4.20250511e-03  1.05343269e-02  1.78599591e+02]
 [-4.20460249e-03  9.99991145e-01  1.76961169e-04  6.32180063e+00]
 [-1.05334899e-02 -2.21242445e-04  9.99944497e-01 -1.88379858e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 176.967702638
Centerline is valid?  [True, True]
Translation: X:178.66, Y:6.32, Z:-1.88
[[ 9.99944404e-01 -4.64831988e-04  1.05343251e-02  1.78658361e+02]
 [ 4.62992392e-04  9.99999877e-01  1.77066780e-04  6.32230244e+00]
 [-1.05344061e-02 -1.72179623e-04  9.99944497e-01 -1.88441789e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.027702638
Centerline is valid?  [True, True]
Translation: X:178.72, Y:6.32, Z:-1.89
[[ 9.99934288e-01 -4.52193772e-03  1.05343216e-02  1.78719504e+02]
 [ 4.52032100e-03  9.99989768e-01  1.77276267e-04  6.32328409e+00]
 [-1.05350154e-02 -1.29646103e-04  9.99944497e-01 -1.88506236e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.087702638
Centerline is valid?  [True, True]
Translation: X:178.78, Y:6.32, Z:-1.89
[[ 9.99903016e-01 -9.10969289e-03  1.05343245e-02  1.78781936e+02]
 [ 9.10833257e-03  9.99958503e-01  1.77102120e-04  6.32358253e+00]
 [-1.05355007e-02 -8.11348128e-05  9.99944497e-01 -1.88571999e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.147702638
Centerline is valid?  [True, True]
Translation: X:178.84, Y:6.32, Z:-1.89
[[ 9.99862242e-01 -1.28267380e-02  1.05343489e-02  1.78844506e+02]
 [ 1.28255994e-02  9.99917733e-01  1.75636414e-04  6.32438134e+00]
 [-1.05357351e-02 -4.05028793e-05  9.99944497e-01 -1.88637818e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.207702638
Centerline is valid?  [True, True]
Translation: X:178.91, Y:6.32, Z:-1.89
[[ 9.99851977e-01 -1.36033717e-02  1.05343743e-02  1.78906978e+02]
 [ 1.36022924e-02  9.99907469e-01  1.74098951e-04  6.32490792e+00]
 [-1.05357679e-02 -3.07815401e-05  9.99944497e-01 -1.88703524e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.26770263799997
Centerline is valid?  [True, True]
Translation: X:178.97, Y:6.33, Z:-1.89
[[ 9.99875992e-01 -1.17058362e-02  1.05343994e-02  1.78969066e+02]
 [ 1.17046677e-02  9.99931483e-01  1.72571307e-04  6.32657532e+00]
 [-1.05356977e-02 -4.92482624e-05  9.99944497e-01 -1.88768845e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.32770263799998
Centerline is valid?  [True, True]
Translation: X:179.03, Y:6.33, Z:-1.89
[[ 9.99906261e-01 -8.74618870e-03  1.05344063e-02  1.79030901e+02]
 [ 8.74486039e-03  9.99961748e-01  1.72148933e-04  6.32694023e+00]
 [-1.05355090e-02 -8.00108839e-05  9.99944497e-01 -1.88833963e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.38770263799998
Centerline is valid?  [True, True]
Translation: X:179.09, Y:6.33, Z:-1.89
[[ 9.99918825e-01 -7.16730597e-03  1.05344130e-02  1.79091785e+02]
 [ 7.16589442e-03  9.99974310e-01  1.71733966e-04  6.32758679e+00]
 [-1.05353733e-02 -9.62315336e-05  9.99944497e-01 -1.88898082e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.44770263799998
Centerline is valid?  [True, True]
Translation: X:179.15, Y:6.33, Z:-1.89
[[ 9.99935694e-01 -4.19925674e-03  1.05344181e-02  1.79154179e+02]
 [ 4.19768376e-03  9.99991175e-01  1.71424215e-04  6.32977132e+00]
 [-1.05350450e-02 -1.27193035e-04  9.99944497e-01 -1.88963829e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.50770263799998
Centerline is valid?  [True, True]
Translation: X:179.22, Y:6.33, Z:-1.89
[[ 9.99938117e-01 -3.57601770e-03  1.05344252e-02  1.79215706e+02]
 [ 3.57441479e-03  9.99993597e-01  1.70982345e-04  6.33088106e+00]
 [-1.05349692e-02 -1.33317359e-04  9.99944497e-01 -1.89028633e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.567702638
Centerline is valid?  [True, True]
Translation: X:179.28, Y:6.33, Z:-1.89
[[ 9.99943584e-01 -1.36150567e-03  1.05344394e-02  1.79277890e+02]
 [ 1.35978914e-03  9.99999061e-01  1.70105139e-04  6.33145749e+00]
 [-1.05346611e-02 -1.55770926e-04  9.99944497e-01 -1.89094086e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 177.627702638
Centerline is valid?  [True, True]
Translation: X:179.34, Y:6.33, Z:-1.89
[[ 9.99940804e-01 -2.72293174e-03  1.05344464e-02  1.79339576e+02]
 [ 2.72129535e-03  9.99996283e-01  1.69668409e-04  6.33267831e+00]
 [-1.05348693e-02 -1.40991025e-04  9.99944497e-01 -1.89159060e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.687702638
Centerline is valid?  [True, True]
Translation: X:179.40, Y:6.33, Z:-1.89
[[ 9.99924194e-01 -6.37430331e-03  1.05344525e-02  1.79400166e+02]
 [ 6.37287350e-03  9.99979679e-01  1.69290179e-04  6.33293347e+00]
 [-1.05353176e-02 -1.02142613e-04  9.99944497e-01 -1.89222867e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.747702638
Centerline is valid?  [True, True]
Translation: X:179.46, Y:6.33, Z:-1.89
[[ 9.99912702e-01 -7.97582548e-03  1.05344561e-02  1.79461588e+02]
 [ 7.97448689e-03  9.99968189e-01  1.69066915e-04  6.33255267e+00]
 [-1.05354694e-02 -8.50452740e-05  9.99944497e-01 -1.89287553e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.807702638
Centerline is valid?  [True, True]
Translation: X:179.52, Y:6.33, Z:-1.89
[[ 9.99847149e-01 -1.39536522e-02  1.05344596e-02  1.79523811e+02]
 [ 1.39526477e-02  9.99902643e-01  1.68847719e-04  6.33207282e+00]
 [-1.05357901e-02 -2.18383063e-05  9.99944497e-01 -1.89353080e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.867702638
Centerline is valid?  [True, True]
Translation: X:179.59, Y:6.33, Z:-1.89
[[ 9.99716768e-01 -2.13403187e-02  1.05344832e-02  1.79585154e+02]
 [ 2.13397399e-02  9.99772268e-01  1.67362070e-04  6.33080382e+00]
 [-1.05356557e-02  5.74884642e-05  9.99944497e-01 -1.89417570e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.927702638
Centerline is valid?  [True, True]
Translation: X:179.65, Y:6.33, Z:-1.89
[[ 9.99607053e-01 -2.59762195e-02  1.05344900e-02  1.79646455e+02]
 [ 2.59759026e-02  9.99662555e-01  1.66936459e-04  6.33113789e+00]
 [-1.05352715e-02  1.06772023e-04  9.99944497e-01 -1.89482124e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 177.98770263799997
Centerline is valid?  [True, True]
Translation: X:179.71, Y:6.33, Z:-1.90
[[ 9.99540054e-01 -2.84377278e-02  1.05345135e-02  1.79708413e+02]
 [ 2.84375633e-02  9.99595557e-01  1.65440829e-04  6.33124958e+00]
 [-1.05349576e-02  1.34211158e-04  9.99944497e-01 -1.89547286e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.04770263799998
Centerline is valid?  [True, True]
Translation: X:179.77, Y:6.33, Z:-1.90
[[ 9.99468075e-01 -3.08640593e-02  1.05345202e-02  1.79770149e+02]
 [ 3.08640340e-02  9.99523579e-01  1.65011745e-04  6.33252471e+00]
 [-1.05345942e-02  1.60213818e-04  9.99944497e-01 -1.89612314e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.10770263799998
Centerline is valid?  [True, True]
Translation: X:179.83, Y:6.33, Z:-1.90
[[ 9.99381924e-01 -3.35379528e-02  1.05345424e-02  1.79830800e+02]
 [ 3.35380911e-02  9.99437427e-01  1.63577302e-04  6.33236813e+00]
 [-1.05341020e-02  1.89832246e-04  9.99944497e-01 -1.89676100e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.16770263799998
Centerline is valid?  [True, True]
Translation: X:179.89, Y:6.33, Z:-1.90
[[ 9.99336868e-01 -3.48546665e-02  1.05345435e-02  1.79892858e+02]
 [ 3.48548787e-02  9.99392371e-01  1.63511021e-04  6.33411924e+00]
 [-1.05338415e-02  2.03777643e-04  9.99944497e-01 -1.89741502e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.22770263799998
Centerline is valid?  [True, True]
Translation: X:179.96, Y:6.33, Z:-1.90
[[ 9.99263831e-01 -3.68892893e-02  1.05345657e-02  1.79956204e+02]
 [ 3.68896297e-02  9.99319333e-01  1.62067209e-04  6.33331672e+00]
 [-1.05333737e-02  2.26668327e-04  9.99944497e-01 -1.89808116e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.28770263799998
Centerline is valid?  [True, True]
Translation: X:180.02, Y:6.33, Z:-1.90
[[ 9.99160263e-01 -3.95953415e-02  1.05345772e-02  1.80016986e+02]
 [ 3.95958401e-02  9.99215764e-01  1.61318573e-04  6.33327068e+00]
 [-1.05327030e-02  2.55942324e-04  9.99944497e-01 -1.89872093e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.347702638
Centerline is valid?  [True, True]
Translation: X:180.08, Y:6.33, Z:-1.90
[[ 9.99089651e-01 -4.13387396e-02  1.05345788e-02  1.80078329e+02]
 [ 4.13393361e-02  9.99145151e-01  1.61211499e-04  6.33336655e+00]
 [-1.05322376e-02  2.74427753e-04  9.99944497e-01 -1.89936713e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.407702638
Centerline is valid?  [True, True]
Translation: X:180.14, Y:6.33, Z:-1.90
[[ 9.99019226e-01 -4.30070668e-02  1.05345993e-02  1.80141035e+02]
 [ 4.30077703e-02  9.99074725e-01  1.59857541e-04  6.33262558e+00]
 [-1.05317269e-02  2.93368871e-04  9.99944497e-01 -1.90002660e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.467702638
Centerline is valid?  [True, True]
Translation: X:180.20, Y:6.33, Z:-1.90
[[ 9.99030797e-01 -4.27374490e-02  1.05346134e-02  1.80203381e+02]
 [ 4.27381473e-02  9.99086295e-01  1.58923710e-04  6.33164468e+00]
 [-1.05317799e-02  2.91460180e-04  9.99944497e-01 -1.90068258e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.527702638
Centerline is valid?  [True, True]
Translation: X:180.27, Y:6.33, Z:-1.90
[[ 9.99060993e-01 -4.20256232e-02  1.05346357e-02  1.80265564e+02]
 [ 4.20262977e-02  9.99116492e-01  1.57430186e-04  6.33044638e+00]
 [-1.05319444e-02  2.85449380e-04  9.99944497e-01 -1.90133638e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.587702638
Centerline is valid?  [True, True]
Translation: X:180.33, Y:6.33, Z:-1.90
[[ 9.99086091e-01 -4.14246845e-02  1.05346436e-02  1.80327706e+02]
 [ 4.14253312e-02  9.99141590e-01  1.56899779e-04  6.32938351e+00]
 [-1.05321001e-02  2.79644716e-04  9.99944497e-01 -1.90199050e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.647702638
Centerline is valid?  [True, True]
Translation: X:180.39, Y:6.32, Z:-1.90
[[ 9.99123883e-01 -4.05029398e-02  1.05346663e-02  1.80390085e+02]
 [ 4.05035516e-02  9.99179382e-01  1.55362847e-04  6.32382962e+00]
 [-1.05323140e-02  2.71464669e-04  9.99944497e-01 -1.90264567e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.707702638
Centerline is valid?  [True, True]
Translation: X:180.45, Y:6.33, Z:-1.90
[[ 9.99211086e-01 -3.82913339e-02  1.05346744e-02  1.80451486e+02]
 [ 3.82918286e-02  9.99266587e-01  1.54809927e-04  6.32557447e+00]
 [-1.05328760e-02  2.48704152e-04  9.99944497e-01 -1.90329240e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.76770263799997
Centerline is valid?  [True, True]
Translation: X:180.51, Y:6.32, Z:-1.90
[[ 9.99340957e-01 -3.47371952e-02  1.05346953e-02  1.80514202e+02]
 [ 3.47375076e-02  9.99396459e-01  1.53373780e-04  6.32340146e+00]
 [-1.05336650e-02  2.12676360e-04  9.99944497e-01 -1.90395174e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 178.82770263799998
Centerline is valid?  [True, True]
Translation: X:180.57, Y:6.33, Z:-1.90
[[ 9.99386244e-01 -3.34089000e-02  1.05347076e-02  1.80574437e+02]
 [ 3.34091476e-02  9.99441747e-01  1.52529877e-04  6.32518735e+00]
 [-1.05339224e-02  1.99519338e-04  9.99944497e-01 -1.90458598e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.88770263799998
Centerline is valid?  [True, True]
Translation: X:180.64, Y:6.32, Z:-1.91
[[ 9.99468764e-01 -3.08416882e-02  1.05347092e-02  1.80636935e+02]
 [ 3.08417944e-02  9.99524267e-01  1.52418539e-04  6.32438953e+00]
 [-1.05343983e-02  1.72571766e-04  9.99944497e-01 -1.90524422e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 178.94770263799998
Centerline is valid?  [True, True]
Translation: X:180.70, Y:6.32, Z:-1.91
[[ 9.99502487e-01 -2.97287502e-02  1.05347314e-02  1.80699385e+02]
 [ 2.97288109e-02  9.99557990e-01  1.50864696e-04  6.32356347e+00]
 [-1.05345600e-02  1.62395400e-04  9.99944497e-01 -1.90590087e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.00770263799998
Centerline is valid?  [True, True]
Translation: X:180.76, Y:6.32, Z:-1.91
[[ 9.99525994e-01 -2.89276030e-02  1.05347393e-02  1.80761608e+02]
 [ 2.89276250e-02  9.99581497e-01  1.50313981e-04  6.32242973e+00]
 [-1.05346787e-02  1.54502257e-04  9.99944497e-01 -1.90655584e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.067702638
Centerline is valid?  [True, True]
Translation: X:180.82, Y:6.32, Z:-1.91
[[ 9.99523945e-01 -2.89983228e-02  1.05347612e-02  1.80823563e+02]
 [ 2.89983651e-02  9.99579448e-01  1.48760548e-04  6.32172581e+00]
 [-1.05346446e-02  1.56801123e-04  9.99944497e-01 -1.90720732e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.127702638
Centerline is valid?  [True, True]
Translation: X:180.88, Y:6.32, Z:-1.91
[[ 9.99528076e-01 -2.88555824e-02  1.05347833e-02  1.80884956e+02]
 [ 2.88556334e-02  9.99583579e-01  1.47183208e-04  6.32115277e+00]
 [-1.05346434e-02  1.56874096e-04  9.99944497e-01 -1.90785287e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.187702638
Centerline is valid?  [True, True]
Translation: X:180.95, Y:6.32, Z:-1.91
[[ 9.99520692e-01 -2.91102171e-02  1.05348032e-02  1.80947386e+02]
 [ 2.91102975e-02  9.99576195e-01  1.45742608e-04  6.32146247e+00]
 [-1.05345811e-02  1.60998503e-04  9.99944497e-01 -1.90850959e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.247702638
Centerline is valid?  [True, True]
Translation: X:181.01, Y:6.32, Z:-1.91
[[ 9.99504684e-01 -2.96547575e-02  1.05348243e-02  1.81009528e+02]
 [ 2.96548844e-02  9.99560187e-01  1.44198072e-04  6.31706160e+00]
 [-1.05344671e-02  1.68282349e-04  9.99944497e-01 -1.90916253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.307702638
Centerline is valid?  [True, True]
Translation: X:181.07, Y:6.32, Z:-1.91
[[ 9.99436451e-01 -3.18715845e-02  1.05348319e-02  1.81069377e+02]
 [ 3.18718404e-02  9.99491954e-01  1.43639318e-04  6.31660710e+00]
 [-1.05340578e-02  1.92206112e-04  9.99944497e-01 -1.90979259e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.367702638
Centerline is valid?  [True, True]
Translation: X:181.13, Y:6.31, Z:-1.91
[[ 9.99297975e-01 -3.59523966e-02  1.05348394e-02  1.81131161e+02]
 [ 3.59528849e-02  9.99353476e-01  1.43087548e-04  6.31383861e+00]
 [-1.05331728e-02  2.35770773e-04  9.99944497e-01 -1.91044272e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.427702638
Centerline is valid?  [True, True]
Translation: X:181.19, Y:6.31, Z:-1.91
[[ 9.99256403e-01 -3.70898670e-02  1.05348503e-02  1.81191986e+02]
 [ 3.70904270e-02  9.99311903e-01  1.42282088e-04  6.31041929e+00]
 [-1.05328785e-02  2.48565809e-04  9.99944497e-01 -1.91108247e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.48770263799997
Centerline is valid?  [True, True]
Translation: X:181.25, Y:6.31, Z:-1.91
[[ 9.99190252e-01 -3.88311491e-02  1.05348534e-02  1.81253910e+02]
 [ 3.88318082e-02  9.99245751e-01  1.42054024e-04  6.30850080e+00]
 [-1.05324236e-02  2.67148411e-04  9.99944497e-01 -1.91173443e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.54770263799998
Centerline is valid?  [True, True]
Translation: X:181.32, Y:6.31, Z:-1.91
[[ 9.99211983e-01 -3.82678594e-02  1.05348593e-02  1.81316024e+02]
 [ 3.82684919e-02  9.99267483e-01  1.41616344e-04  6.30867501e+00]
 [-1.05325617e-02  2.61648429e-04  9.99944497e-01 -1.91238854e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.60770263799998
Centerline is valid?  [True, True]
Translation: X:181.38, Y:6.31, Z:-1.91
[[ 9.99269076e-01 -3.67468370e-02  1.05348804e-02  1.81375217e+02]
 [ 3.67474017e-02  9.99324576e-01  1.40029916e-04  6.30662430e+00]
 [-1.05329105e-02  2.47201916e-04  9.99944497e-01 -1.91301076e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.66770263799998
Centerline is valid?  [True, True]
Translation: X:181.44, Y:6.31, Z:-1.91
[[ 9.99290883e-01 -3.61489501e-02  1.05348792e-02  1.81437244e+02]
 [ 3.61494806e-02  9.99346384e-01  1.40119798e-04  6.30752167e+00]
 [-1.05330586e-02  2.40809974e-04  9.99944497e-01 -1.91366442e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.72770263799998
Centerline is valid?  [True, True]
Translation: X:181.50, Y:6.31, Z:-1.91
[[ 9.99263626e-01 -3.68947534e-02  1.05348868e-02  1.81498368e+02]
 [ 3.68953315e-02  9.99319126e-01  1.39540831e-04  6.30765785e+00]
 [-1.05328622e-02  2.49250065e-04  9.99944497e-01 -1.91430801e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.78770263799998
Centerline is valid?  [True, True]
Translation: X:181.56, Y:6.31, Z:-1.91
[[ 9.99345029e-01 -3.46197765e-02  1.05349065e-02  1.81560101e+02]
 [ 3.46202440e-02  9.99400530e-01  1.38036521e-04  6.30506915e+00]
 [-1.05333700e-02  2.26774924e-04  9.99944497e-01 -1.91495697e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.847702638
Centerline is valid?  [True, True]
Translation: X:181.62, Y:6.31, Z:-1.92
[[ 9.99370787e-01 -3.38680729e-02  1.05349284e-02  1.81621680e+02]
 [ 3.38685165e-02  9.99426288e-01  1.36347919e-04  6.30659954e+00]
 [-1.05335022e-02  2.20540270e-04  9.99944497e-01 -1.91560476e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.907702638
Centerline is valid?  [True, True]
Translation: X:181.68, Y:6.31, Z:-1.92
[[ 9.99385590e-01 -3.34283955e-02  1.05349313e-02  1.81681691e+02]
 [ 3.34288171e-02  9.99441092e-01  1.36120988e-04  6.30797726e+00]
 [-1.05335936e-02  2.16132938e-04  9.99944497e-01 -1.91623703e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 179.967702638
Centerline is valid?  [True, True]
Translation: X:181.74, Y:6.31, Z:-1.92
[[ 9.99507958e-01 -2.95441503e-02  1.05349313e-02  1.81743837e+02]
 [ 2.95443562e-02  9.99563461e-01  1.36120988e-04  6.30826195e+00]
 [-1.05343540e-02  1.75193753e-04  9.99944497e-01 -1.91689181e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 180.027702638
Centerline is valid?  [True, True]
Translation: X:181.81, Y:6.31, Z:-1.92
[[ 9.99506298e-01 -2.96002465e-02  1.05349510e-02  1.81806032e+02]
 [ 2.96004716e-02  9.99561801e-01  1.34582791e-04  6.31051848e+00]
 [-1.05343183e-02  1.77323171e-04  9.99944497e-01 -1.91754629e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.087702638
Centerline is valid?  [True, True]
Translation: X:181.87, Y:6.31, Z:-1.92
[[ 9.99516066e-01 -2.92685605e-02  1.05349613e-02  1.81868072e+02]
 [ 2.92687758e-02  9.99571569e-01  1.33769502e-04  6.31286898e+00]
 [-1.05343630e-02  1.74640654e-04  9.99944497e-01 -1.91819965e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.147702638
Centerline is valid?  [True, True]
Translation: X:181.93, Y:6.31, Z:-1.92
[[ 9.99518969e-01 -2.91692611e-02  1.05349805e-02  1.81929409e+02]
 [ 2.91694870e-02  9.99574471e-01  1.32241650e-04  6.31250215e+00]
 [-1.05343549e-02  1.75121939e-04  9.99944497e-01 -1.91884474e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.207702638
Centerline is valid?  [True, True]
Translation: X:181.99, Y:6.31, Z:-1.92
[[ 9.99478966e-01 -3.05091989e-02  1.05349833e-02  1.81991806e+02]
 [ 3.05095016e-02  9.99534468e-01  1.32017706e-04  6.31330345e+00]
 [-1.05341067e-02  1.89468169e-04  9.99944497e-01 -1.91950208e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.26770263799997
Centerline is valid?  [True, True]
Translation: X:182.05, Y:6.31, Z:-1.92
[[ 9.99470607e-01 -3.07818038e-02  1.05349903e-02  1.82053383e+02]
 [ 3.07821275e-02  9.99526109e-01  1.31457863e-04  6.31467073e+00]
 [-1.05340444e-02  1.92901145e-04  9.99944497e-01 -1.92015061e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.32770263799998
Centerline is valid?  [True, True]
Translation: X:182.11, Y:6.31, Z:-1.92
[[ 9.99431915e-01 -3.20134512e-02  1.05350082e-02  1.82114500e+02]
 [ 3.20138587e-02  9.99487417e-01  1.30003390e-04  6.31389619e+00]
 [-1.05337700e-02  2.07336728e-04  9.99944497e-01 -1.92079339e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.38770263799998
Centerline is valid?  [True, True]
Translation: X:182.18, Y:6.31, Z:-1.92
[[ 9.99369054e-01 -3.39191406e-02  1.05350270e-02  1.82177388e+02]
 [ 3.39196701e-02  9.99424554e-01  1.28465797e-04  6.31346308e+00]
 [-1.05333221e-02  2.28959898e-04  9.99944497e-01 -1.92145482e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.44770263799998
Centerline is valid?  [True, True]
Translation: X:182.24, Y:6.32, Z:-1.92
[[ 9.99307446e-01 -3.56881133e-02  1.05350486e-02  1.82237437e+02]
 [ 3.56887600e-02  9.99362945e-01  1.26667031e-04  6.31525741e+00]
 [-1.05328577e-02  2.49403515e-04  9.99944497e-01 -1.92208643e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.50770263799998
Centerline is valid?  [True, True]
Translation: X:182.30, Y:6.31, Z:-1.92
[[ 9.99293261e-01 -3.60831114e-02  1.05350486e-02  1.82299530e+02]
 [ 3.60837800e-02  9.99348760e-01  1.26667031e-04  6.31216324e+00]
 [-1.05327583e-02  2.53566867e-04  9.99944497e-01 -1.92274022e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.567702638
Centerline is valid?  [True, True]
Translation: X:182.36, Y:6.31, Z:-1.92
[[ 9.99201749e-01 -3.85341041e-02  1.05350672e-02  1.82360612e+02]
 [ 3.85349253e-02  9.99257246e-01  1.25097343e-04  6.31079288e+00]
 [-1.05320628e-02  2.80970546e-04  9.99944497e-01 -1.92338249e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.627702638
Centerline is valid?  [True, True]
Translation: X:182.42, Y:6.31, Z:-1.92
[[ 9.99227916e-01 -3.78494857e-02  1.05350706e-02  1.82422530e+02]
 [ 3.78502720e-02  9.99283414e-01  1.24812706e-04  6.31079479e+00]
 [-1.05322454e-02  2.74038949e-04  9.99944497e-01 -1.92403464e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.687702638
Centerline is valid?  [True, True]
Translation: X:182.48, Y:6.31, Z:-1.92
[[ 9.99209530e-01 -3.83318106e-02  1.05350774e-02  1.82483342e+02]
 [ 3.83326297e-02  9.99265027e-01  1.24239504e-04  6.30981210e+00]
 [-1.05320967e-02  2.79695924e-04  9.99944497e-01 -1.92467482e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.747702638
Centerline is valid?  [True, True]
Translation: X:182.54, Y:6.31, Z:-1.93
[[ 9.99240934e-01 -3.75042327e-02  1.05350801e-02  1.82544311e+02]
 [ 3.75050083e-02  9.99296432e-01  1.24009401e-04  6.30943710e+00]
 [-1.05323188e-02  2.71202996e-04  9.99944497e-01 -1.92531695e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.807702638
Centerline is valid?  [True, True]
Translation: X:182.61, Y:6.31, Z:-1.93
[[ 9.99253843e-01 -3.71586940e-02  1.05350814e-02  1.82606666e+02]
 [ 3.71594515e-02  9.99309341e-01  1.23900996e-04  6.30994141e+00]
 [-1.05324092e-02  2.67669299e-04  9.99944497e-01 -1.92597389e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.867702638
Centerline is valid?  [True, True]
Translation: X:182.67, Y:6.31, Z:-1.93
[[ 9.99265774e-01 -3.68364480e-02  1.05350999e-02  1.82667969e+02]
 [ 3.68372044e-02  9.99321272e-01  1.22305138e-04  6.30992179e+00]
 [-1.05324547e-02  2.65868290e-04  9.99944497e-01 -1.92661865e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.927702638
Centerline is valid?  [True, True]
Translation: X:182.73, Y:6.31, Z:-1.93
[[ 9.99170958e-01 -3.93244033e-02  1.05351169e-02  1.82730184e+02]
 [ 3.93253135e-02  9.99226453e-01  1.20825061e-04  6.30800393e+00]
 [-1.05317188e-02  2.93571882e-04  9.99944497e-01 -1.92727287e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 180.98770263799997
Centerline is valid?  [True, True]
Translation: X:182.79, Y:6.31, Z:-1.93
[[ 9.99175421e-01 -3.92108214e-02  1.05351232e-02  1.82792395e+02]
 [ 3.92117312e-02  9.99230917e-01  1.20266292e-04  6.30834652e+00]
 [-1.05317366e-02  2.92933298e-04  9.99944497e-01 -1.92792797e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.04770263799998
Centerline is valid?  [True, True]
Translation: X:182.85, Y:6.30, Z:-1.93
[[ 9.99023621e-01 -4.29047141e-02  1.05351413e-02  1.82852619e+02]
 [ 4.29058460e-02  9.99079113e-01  1.18664353e-04  6.30416451e+00]
 [-1.05305309e-02  3.33470657e-04  9.99944497e-01 -1.92856086e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.10770263799998
Centerline is valid?  [True, True]
Translation: X:182.91, Y:6.30, Z:-1.93
[[ 9.98975361e-01 -4.40140736e-02  1.05351426e-02  1.82914360e+02]
 [ 4.40152683e-02  9.99030851e-01  1.18548521e-04  6.30277750e+00]
 [-1.05301503e-02  3.45280076e-04  9.99944497e-01 -1.92921110e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.16770263799998
Centerline is valid?  [True, True]
Translation: X:182.98, Y:6.30, Z:-1.93
[[ 9.98977382e-01 -4.39681849e-02  1.05351595e-02  1.82976091e+02]
 [ 4.39693930e-02  9.99032872e-01  1.17025891e-04  6.30172602e+00]
 [-1.05301161e-02  3.46318350e-04  9.99944497e-01 -1.92986033e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 181.22770263799998
Centerline is valid?  [True, True]
Translation: X:183.04, Y:6.30, Z:-1.93
[[ 9.99116092e-01 -4.06945217e-02  1.05351770e-02  1.83037246e+02]
 [ 4.06955648e-02  9.99171586e-01  1.15426274e-04  6.29986804e+00]
 [-1.05311468e-02  3.13410732e-04  9.99944497e-01 -1.93050333e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.28770263799998
Centerline is valid?  [True, True]
Translation: X:183.10, Y:6.30, Z:-1.93
[[ 9.99297798e-01 -3.59572106e-02  1.05351795e-02  1.83098888e+02]
 [ 3.59579930e-02  9.99353296e-01  1.15196351e-04  6.30004610e+00]
 [-1.05325085e-02  2.63708453e-04  9.99944497e-01 -1.93115264e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.347702638
Centerline is valid?  [True, True]
Translation: X:183.16, Y:6.30, Z:-1.93
[[ 9.99418083e-01 -3.24423293e-02  1.05351833e-02  1.83159359e+02]
 [ 3.24429202e-02  9.99473583e-01  1.14855422e-04  6.30278486e+00]
 [-1.05333635e-02  2.27003524e-04  9.99944497e-01 -1.93178983e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.407702638
Centerline is valid?  [True, True]
Translation: X:183.22, Y:6.30, Z:-1.93
[[ 9.99613650e-01 -2.57208176e-02  1.05351834e-02  1.83220331e+02]
 [ 2.57210354e-02  9.99669153e-01  1.14839018e-04  6.30431848e+00]
 [-1.05346517e-02  1.56181176e-04  9.99944497e-01 -1.93243239e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.467702638
Centerline is valid?  [True, True]
Translation: X:183.28, Y:6.31, Z:-1.93
[[ 9.99755481e-01 -1.94419366e-02  1.05351847e-02  1.83281378e+02]
 [ 1.94418070e-02  9.99810984e-01  1.14722722e-04  6.30813118e+00]
 [-1.05354238e-02  9.01283580e-05  9.99944497e-01 -1.93307592e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.527702638
Centerline is valid?  [True, True]
Translation: X:183.34, Y:6.31, Z:-1.93
[[ 9.99864031e-01 -1.26857621e-02  1.05352010e-02  1.83341520e+02]
 [ 1.26852734e-02  9.99919532e-01  1.13210363e-04  6.30929353e+00]
 [-1.05357894e-02  2.04469350e-05  9.99944497e-01 -1.93370866e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.587702638
Centerline is valid?  [True, True]
Translation: X:183.40, Y:6.31, Z:-1.93
[[ 9.99894437e-01 -1.00062052e-02  1.05352010e-02  1.83402172e+02]
 [ 1.00055678e-02  9.99949937e-01  1.13210363e-04  6.31175618e+00]
 [-1.05358063e-02 -7.78774419e-06  9.99944497e-01 -1.93434796e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.647702638
Centerline is valid?  [True, True]
Translation: X:183.46, Y:6.31, Z:-1.93
[[ 9.99906153e-01 -8.75751556e-03  1.05352034e-02  1.83463445e+02]
 [ 8.75681125e-03  9.99961652e-01  1.12980340e-04  6.31387144e+00]
 [-1.05357888e-02 -2.07149489e-05  9.99944497e-01 -1.93499360e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.707702638
Centerline is valid?  [True, True]
Translation: X:183.52, Y:6.32, Z:-1.94
[[ 9.99921322e-01 -6.80871588e-03  1.05352071e-02  1.83524853e+02]
 [ 6.80790706e-03  9.99976820e-01  1.12634201e-04  6.31539878e+00]
 [-1.05357298e-02 -4.09026281e-05  9.99944497e-01 -1.93564051e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.76770263799997
Centerline is valid?  [True, True]
Translation: X:183.59, Y:6.32, Z:-1.94
[[ 9.99923761e-01 -6.44060491e-03  1.05352123e-02  1.83586250e+02]
 [ 6.43978079e-03  9.99979258e-01  1.12147126e-04  6.31883157e+00]
 [-1.05357161e-02 -4.42941186e-05  9.99944497e-01 -1.93628742e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.82770263799998
Centerline is valid?  [True, True]
Translation: X:183.65, Y:6.32, Z:-1.94
[[ 9.99935524e-01 -4.23764665e-03  1.05352213e-02  1.83648670e+02]
 [ 4.23670924e-03  9.99991019e-01  1.11295860e-04  6.32351734e+00]
 [-1.05355983e-02 -6.66540143e-05  9.99944497e-01 -1.93694500e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.88770263799998
Centerline is valid?  [True, True]
Translation: X:183.71, Y:6.33, Z:-1.94
[[ 9.99943556e-01 -1.37639559e-03  1.05352273e-02  1.83709465e+02]
 [ 1.37530535e-03  9.99999048e-01  1.10728957e-04  6.32629989e+00]
 [-1.05353696e-02 -9.62335530e-05  9.99944497e-01 -1.93758544e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 181.94770263799998
Centerline is valid?  [True, True]
Translation: X:183.77, Y:6.33, Z:-1.94
[[ 9.99939675e-01  3.10716153e-03  1.05352285e-02  1.83769877e+02]
 [-3.10849933e-03  9.99995162e-01  1.10610640e-04  6.32874324e+00]
 [-1.05348339e-02 -1.43352718e-04  9.99944497e-01 -1.93822212e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.00770263799998
Centerline is valid?  [True, True]
Translation: X:183.83, Y:6.34, Z:-1.94
[[ 9.99919379e-01  7.08837182e-03  1.05352303e-02  1.83827929e+02]
 [-7.08992870e-03  9.99974860e-01  1.10437700e-04  6.33690255e+00]
 [-1.05341826e-02 -1.85122828e-04  9.99944497e-01 -1.93883452e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.067702638
Centerline is valid?  [True, True]
Translation: X:183.89, Y:6.34, Z:-1.94
[[ 9.99774904e-01  1.84160356e-02  1.05352254e-02  1.83888234e+02]
 [-1.84182259e-02  9.99830364e-01  1.10902266e-04  6.33927983e+00]
 [-1.05313959e-02 -3.04917463e-04  9.99944497e-01 -1.93947048e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.127702638
Centerline is valid?  [True, True]
Translation: X:183.95, Y:6.34, Z:-1.94
[[ 9.99575234e-01  2.71727845e-02  1.05352267e-02  1.83947470e+02]
 [-2.71754591e-02  9.99630673e-01  1.10779353e-04  6.34477625e+00]
 [-1.05283256e-02 -3.97031921e-04  9.99944497e-01 -1.94009510e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.187702638
Centerline is valid?  [True, True]
Translation: X:184.01, Y:6.35, Z:-1.94
[[ 9.99497515e-01  2.98952689e-02  1.05352263e-02  1.84007796e+02]
 [-2.98980949e-02  9.99552946e-01  1.10819848e-04  6.34751223e+00]
 [-1.05272035e-02 -4.25747359e-04  9.99944497e-01 -1.94073102e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.247702638
Centerline is valid?  [True, True]
Translation: X:184.07, Y:6.35, Z:-1.94
[[ 9.99277536e-01  3.65159447e-02  1.05352263e-02  1.84068502e+02]
 [-3.65191378e-02  9.99332948e-01  1.10815244e-04  6.35339200e+00]
 [-1.05241523e-02 -4.95472567e-04  9.99944497e-01 -1.94137125e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.307702638
Centerline is valid?  [True, True]
Translation: X:184.13, Y:6.36, Z:-1.94
[[ 9.99194881e-01  3.87117475e-02  1.05352258e-02  1.84128759e+02]
 [-3.87150630e-02  9.99250285e-01  1.10864858e-04  6.35907586e+00]
 [-1.05230356e-02 -5.18647530e-04  9.99944497e-01 -1.94200677e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.367702638
Centerline is valid?  [True, True]
Translation: X:184.19, Y:6.36, Z:-1.94
[[ 9.99198300e-01  3.86233882e-02  1.05352259e-02  1.84187369e+02]
 [-3.86266987e-02  9.99253704e-01  1.10858035e-04  6.36459181e+00]
 [-1.05230818e-02 -5.17710157e-04  9.99944497e-01 -1.94262488e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 182.427702638
Centerline is valid?  [True, True]
Translation: X:184.24, Y:6.36, Z:-1.94
[[ 9.99230762e-01  3.77742579e-02  1.05352109e-02  1.84244740e+02]
 [-3.77775360e-02  9.99286168e-01  1.12261204e-04  6.36461939e+00]
 [-1.05234500e-02 -5.10169159e-04  9.99944497e-01 -1.94323036e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.48770263799997
Centerline is valid?  [True, True]
Translation: X:184.31, Y:6.37, Z:-1.94
[[ 9.99317624e-01  3.54019074e-02  1.05352052e-02  1.84305116e+02]
 [-3.54050597e-02  9.99373038e-01  1.12800701e-04  6.36854639e+00]
 [-1.05246066e-02 -4.85723296e-04  9.99944497e-01 -1.94386731e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.54770263799998
Centerline is valid?  [True, True]
Translation: X:184.37, Y:6.37, Z:-1.94
[[ 9.99457614e-01  3.12007506e-02  1.05352052e-02  1.84365985e+02]
 [-3.12036699e-02  9.99513041e-01  1.12800701e-04  6.37158969e+00]
 [-1.05265555e-02 -4.41476583e-04  9.99944497e-01 -1.94450895e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.60770263799998
Centerline is valid?  [True, True]
Translation: X:184.43, Y:6.37, Z:-1.95
[[ 9.99633537e-01  2.49359471e-02  1.05352041e-02  1.84425448e+02]
 [-2.49385201e-02  9.99688980e-01  1.12903850e-04  6.37229120e+00]
 [-1.05291120e-02 -3.75594873e-04  9.99944497e-01 -1.94513560e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.66770263799998
Centerline is valid?  [True, True]
Translation: X:184.48, Y:6.38, Z:-1.95
[[ 9.99700345e-01  2.20959008e-02  1.05352034e-02  1.84483811e+02]
 [-2.20983169e-02  9.99755796e-01  1.12967420e-04  6.37578817e+00]
 [-1.05301345e-02 -3.45743832e-04  9.99944497e-01 -1.94575094e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.72770263799998
Centerline is valid?  [True, True]
Translation: X:184.54, Y:6.38, Z:-1.95
[[ 9.99733658e-01  2.05334679e-02  1.05351875e-02  1.84543834e+02]
 [-2.05358127e-02  9.99789111e-01  1.14426178e-04  6.37999100e+00]
 [-1.05306162e-02 -3.30744340e-04  9.99944497e-01 -1.94638489e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.78770263799998
Centerline is valid?  [True, True]
Translation: X:184.60, Y:6.38, Z:-1.95
[[ 9.99794842e-01  1.72998114e-02  1.05351873e-02  1.84603052e+02]
 [-1.73019770e-02  9.99850303e-01  1.14449240e-04  6.38450904e+00]
 [-1.05316302e-02 -2.96705328e-04  9.99944497e-01 -1.94700933e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.847702638
Centerline is valid?  [True, True]
Translation: X:184.66, Y:6.39, Z:-1.95
[[ 9.99852557e-01  1.35600274e-02  1.05351706e-02  1.84662496e+02]
 [-1.35620016e-02  9.99908025e-01  1.15967287e-04  6.38620395e+00]
 [-1.05326291e-02 -2.58828188e-04  9.99944497e-01 -1.94763695e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.907702638
Centerline is valid?  [True, True]
Translation: X:184.72, Y:6.39, Z:-1.95
[[ 9.99883205e-01  1.10718813e-02  1.05351681e-02  1.84720567e+02]
 [-1.10737198e-02  9.99938678e-01  1.16193841e-04  6.38988018e+00]
 [-1.05332355e-02 -2.32843770e-04  9.99944497e-01 -1.94824937e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 182.967702638
Centerline is valid?  [True, True]
Translation: X:184.78, Y:6.39, Z:-1.95
[[ 9.99912554e-01  7.99338619e-03  1.05351633e-02  1.84780075e+02]
 [-7.99505847e-03  9.99968032e-01  1.16626312e-04  6.38905899e+00]
 [-1.05338943e-02 -2.00845360e-04  9.99944497e-01 -1.94887656e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.027702638
Centerline is valid?  [True, True]
Translation: X:184.84, Y:6.39, Z:-1.95
[[ 9.99937887e-01  3.63774603e-03  1.05351608e-02  1.84839358e+02]
 [-3.63917899e-03  9.99993371e-01  1.16850529e-04  6.39301482e+00]
 [-1.05346659e-02 -1.55182607e-04  9.99944497e-01 -1.94950178e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.087702638
Centerline is valid?  [True, True]
Translation: X:184.90, Y:6.40, Z:-1.95
[[ 9.99943028e-01  1.71772629e-03  1.05351571e-02  1.84897796e+02]
 [-1.71905627e-03  9.99998516e-01  1.17187298e-04  6.39505666e+00]
 [-1.05349401e-02 -1.35291150e-04  9.99944497e-01 -1.95011796e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.147702638
Centerline is valid?  [True, True]
Translation: X:184.96, Y:6.40, Z:-1.95
[[ 9.99941636e-01 -2.39485877e-03  1.05351533e-02  1.84956920e+02]
 [ 2.39375345e-03  9.99997128e-01  1.17525529e-04  6.39593512e+00]
 [-1.05354045e-02 -9.23001104e-05  9.99944497e-01 -1.95074124e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.207702638
Centerline is valid?  [True, True]
Translation: X:185.02, Y:6.40, Z:-1.95
[[ 9.99930912e-01 -5.21366478e-03  1.05351508e-02  1.85016982e+02]
 [ 5.21271352e-03  9.99986407e-01  1.17751029e-04  6.39800467e+00]
 [-1.05356215e-02 -6.28261705e-05  9.99944497e-01 -1.95137445e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.26770263799997
Centerline is valid?  [True, True]
Translation: X:185.08, Y:6.40, Z:-1.95
[[ 9.99933323e-01 -4.72861137e-03  1.05351508e-02  1.85077614e+02]
 [ 4.72763319e-03  9.99988818e-01  1.17751029e-04  6.40161841e+00]
 [-1.05355898e-02 -6.79368489e-05  9.99944497e-01 -1.95201367e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.32770263799998
Centerline is valid?  [True, True]
Translation: X:185.14, Y:6.40, Z:-1.95
[[ 9.99933970e-01 -4.58987344e-03  1.05351539e-02  1.85139841e+02]
 [ 4.58889057e-03  9.99989464e-01  1.17465646e-04  6.40293505e+00]
 [-1.05355821e-02 -6.91132207e-05  9.99944497e-01 -1.95266922e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.38770263799998
Centerline is valid?  [True, True]
Translation: X:185.20, Y:6.41, Z:-1.95
[[ 9.99939529e-01 -3.15412596e-03  1.05351615e-02  1.85199941e+02]
 [ 3.15307057e-03  9.99995022e-01  1.16786564e-04  6.40933008e+00]
 [-1.05354774e-02 -8.35613947e-05  9.99944497e-01 -1.95330265e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.44770263799998
Centerline is valid?  [True, True]
Translation: X:185.26, Y:6.41, Z:-1.95
[[ 9.99932843e-01 -4.82912283e-03  1.05351627e-02  1.85260069e+02]
 [ 4.82816152e-03  9.99988338e-01  1.16679542e-04  6.41312505e+00]
 [-1.05356032e-02 -6.58062387e-05  9.99944497e-01 -1.95393650e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.50770263799998
Centerline is valid?  [True, True]
Translation: X:185.32, Y:6.42, Z:-1.95
[[ 9.99922818e-01 -6.58546296e-03  1.05351627e-02  1.85322409e+02]
 [ 6.58459912e-03  9.99978314e-01  1.16679542e-04  6.41636079e+00]
 [-1.05357026e-02 -4.73007132e-05  9.99944497e-01 -1.95459368e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.567702638
Centerline is valid?  [True, True]
Translation: X:185.38, Y:6.42, Z:-1.96
[[ 9.99916934e-01 -7.42533525e-03  1.05351788e-02  1.85384908e+02]
 [ 7.42453359e-03  9.99972431e-01  1.15202303e-04  6.41864845e+00]
 [-1.05357438e-02 -3.69739447e-05  9.99944497e-01 -1.95525128e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 183.627702638
Centerline is valid?  [True, True]
Translation: X:185.45, Y:6.42, Z:-1.96
[[ 9.99917750e-01 -7.31454537e-03  1.05351950e-02  1.85446250e+02]
 [ 7.31375341e-03  9.99973248e-01  1.13698032e-04  6.42130802e+00]
 [-1.05357449e-02 -3.66368617e-05  9.99944497e-01 -1.95589671e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.687702638
Centerline is valid?  [True, True]
Translation: X:185.51, Y:6.42, Z:-1.96
[[ 9.99903252e-01 -9.08267997e-03  1.05352110e-02  1.85507140e+02]
 [ 9.08200198e-03  9.99958751e-01  1.12196487e-04  6.42334704e+00]
 [-1.05357955e-02 -1.65048246e-05  9.99944497e-01 -1.95653729e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.747702638
Centerline is valid?  [True, True]
Translation: X:185.57, Y:6.43, Z:-1.96
[[ 9.99863193e-01 -1.27516194e-02  1.05352133e-02  1.85569607e+02]
 [ 1.27511473e-02  9.99918695e-01  1.11981378e-04  6.42594054e+00]
 [-1.05357847e-02  2.23699991e-05  9.99944497e-01 -1.95719556e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.807702638
Centerline is valid?  [True, True]
Translation: X:185.63, Y:6.43, Z:-1.96
[[ 9.99807815e-01 -1.65330502e-02  1.05352190e-02  1.85629292e+02]
 [ 1.65327937e-02  9.99863318e-01  1.11440964e-04  6.42787611e+00]
 [-1.05356215e-02  6.27570564e-05  9.99944497e-01 -1.95782419e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.867702638
Centerline is valid?  [True, True]
Translation: X:185.69, Y:6.43, Z:-1.96
[[ 9.99802923e-01 -1.68263237e-02  1.05352182e-02  1.85691925e+02]
 [ 1.68260827e-02  9.99858425e-01  1.11520635e-04  6.42939452e+00]
 [-1.05356032e-02  6.57677956e-05  9.99944497e-01 -1.95848430e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.927702638
Centerline is valid?  [True, True]
Translation: X:185.75, Y:6.43, Z:-1.96
[[ 9.99803654e-01 -1.67828111e-02  1.05352358e-02  1.85753810e+02]
 [ 1.67825854e-02  9.99859156e-01  1.09832444e-04  6.43099134e+00]
 [-1.05355953e-02  6.69976156e-05  9.99944497e-01 -1.95913516e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 183.98770263799997
Centerline is valid?  [True, True]
Translation: X:185.81, Y:6.43, Z:-1.96
[[ 9.99788805e-01 -1.76452459e-02  1.05352505e-02  1.85813736e+02]
 [ 1.76450832e-02  9.99844308e-01  1.08403325e-04  6.43421935e+00]
 [-1.05355230e-02  7.75149412e-05  9.99944497e-01 -1.95976577e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.04770263799998
Centerline is valid?  [True, True]
Translation: X:185.87, Y:6.43, Z:-1.96
[[ 9.99790577e-01 -1.75445049e-02  1.05352505e-02  1.85874320e+02]
 [ 1.75443366e-02  9.99846080e-01  1.08403325e-04  6.43415054e+00]
 [-1.05355308e-02  7.64533585e-05  9.99944497e-01 -1.96040406e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.10770263799998
Centerline is valid?  [True, True]
Translation: X:185.94, Y:6.43, Z:-1.96
[[ 9.99756777e-01 -1.93751215e-02  1.05352524e-02  1.85935817e+02]
 [ 1.93750568e-02  9.99812280e-01  1.08214196e-04  6.43498424e+00]
 [-1.05353714e-02  9.59332390e-05  9.99944497e-01 -1.96105193e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.16770263799998
Centerline is valid?  [True, True]
Translation: X:186.00, Y:6.44, Z:-1.96
[[ 9.99726825e-01 -2.08634731e-02  1.05352546e-02  1.85997762e+02]
 [ 2.08634933e-02  9.99782328e-01  1.08004655e-04  6.43635383e+00]
 [-1.05352147e-02  1.11827062e-04  9.99944497e-01 -1.96170456e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.22770263799998
Centerline is valid?  [True, True]
Translation: X:186.06, Y:6.44, Z:-1.96
[[ 9.99686765e-01 -2.27019958e-02  1.05352683e-02  1.86059409e+02]
 [ 2.27021323e-02  9.99742268e-01  1.06646204e-04  6.43682608e+00]
 [-1.05349741e-02  1.32560256e-04  9.99944497e-01 -1.96235305e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.28770263799998
Centerline is valid?  [True, True]
Translation: X:186.12, Y:6.44, Z:-1.96
[[ 9.99667051e-01 -2.35540977e-02  1.05352834e-02  1.86122112e+02]
 [ 2.35542973e-02  9.99722554e-01  1.05142149e-04  6.43667891e+00]
 [-1.05348369e-02  1.43044055e-04  9.99944497e-01 -1.96301249e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.347702638
Centerline is valid?  [True, True]
Translation: X:186.18, Y:6.44, Z:-1.96
[[ 9.99665540e-01 -2.36181353e-02  1.05352895e-02  1.86183093e+02]
 [ 2.36183451e-02  9.99721043e-01  1.04524412e-04  6.43786570e+00]
 [-1.05348193e-02  1.44336650e-04  9.99944497e-01 -1.96365461e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.407702638
Centerline is valid?  [True, True]
Translation: X:186.25, Y:6.44, Z:-1.96
[[ 9.99676462e-01 -2.31512034e-02  1.05353026e-02  1.86245781e+02]
 [ 2.31514014e-02  9.99731965e-01  1.03186236e-04  6.43858779e+00]
 [-1.05348676e-02  1.40754167e-04  9.99944497e-01 -1.96431411e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.467702638
Centerline is valid?  [True, True]
Translation: X:186.31, Y:6.44, Z:-1.96
[[ 9.99707173e-01 -2.17847694e-02  1.05353183e-02  1.86306744e+02]
 [ 2.17849086e-02  9.99762676e-01  1.01552793e-04  6.43939562e+00]
 [-1.05350303e-02  1.27987892e-04  9.99944497e-01 -1.96495521e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.527702638
Centerline is valid?  [True, True]
Translation: X:186.37, Y:6.44, Z:-1.97
[[ 9.99764388e-01 -1.89783111e-02  1.05353204e-02  1.86368110e+02]
 [ 1.89782968e-02  9.99819891e-01  1.01342077e-04  6.44171458e+00]
 [-1.05353462e-02  9.86242365e-05  9.99944497e-01 -1.96560183e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.587702638
Centerline is valid?  [True, True]
Translation: X:186.43, Y:6.44, Z:-1.97
[[ 9.99835601e-01 -1.47573135e-02  1.05353344e-02  1.86430228e+02]
 [ 1.47570805e-02  9.99891103e-01  9.98614336e-05  6.44229307e+00]
 [-1.05356608e-02  5.56257611e-05  9.99944497e-01 -1.96625519e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.647702638
Centerline is valid?  [True, True]
Translation: X:186.49, Y:6.44, Z:-1.97
[[ 9.99877769e-01 -1.15522562e-02  1.05353385e-02  1.86490754e+02]
 [ 1.15518498e-02  9.99933270e-01  9.94232790e-05  6.44345783e+00]
 [-1.05357841e-02  2.22915224e-05  9.99944497e-01 -1.96689266e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.707702638
Centerline is valid?  [True, True]
Translation: X:186.55, Y:6.44, Z:-1.97
[[ 9.99913148e-01 -7.91855793e-03  1.05353395e-02  1.86551947e+02]
 [ 7.91795102e-03  9.99968648e-01  9.93172106e-05  6.44382747e+00]
 [-1.05357957e-02 -1.58902823e-05  9.99944497e-01 -1.96753734e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.76770263799997
Centerline is valid?  [True, True]
Translation: X:186.61, Y:6.45, Z:-1.97
[[ 9.99929983e-01 -5.38841821e-03  1.05353436e-02  1.86613310e+02]
 [ 5.38767540e-03  9.99985481e-01  9.88865721e-05  6.44567687e+00]
 [-1.05357235e-02 -4.21186369e-05  9.99944497e-01 -1.96818370e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 184.82770263799998
Centerline is valid?  [True, True]
Translation: X:186.67, Y:6.45, Z:-1.97
[[ 9.99933904e-01 -4.60370460e-03  1.05353456e-02  1.86672715e+02]
 [ 4.60292051e-03  9.99989402e-01  9.86710375e-05  6.44681302e+00]
 [-1.05356882e-02 -5.01711574e-05  9.99944497e-01 -1.96880953e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.88770263799998
Centerline is valid?  [True, True]
Translation: X:186.73, Y:6.45, Z:-1.97
[[ 9.99938806e-01 -3.37506773e-03  1.05353446e-02  1.86733905e+02]
 [ 3.37421434e-03  9.99994302e-01  9.87761781e-05  6.44589253e+00]
 [-1.05356180e-02 -6.32216227e-05  9.99944497e-01 -1.96945422e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 184.94770263799998
Centerline is valid?  [True, True]
Translation: X:186.80, Y:6.45, Z:-1.97
[[ 9.99938536e-01 -3.45417985e-03  1.05353485e-02  1.86796952e+02]
 [ 3.45333524e-03  9.99994032e-01  9.83592193e-05  6.44742938e+00]
 [-1.05356254e-02 -6.19710834e-05  9.99944497e-01 -1.97011830e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.00770263799998
Centerline is valid?  [True, True]
Translation: X:186.86, Y:6.45, Z:-1.97
[[ 9.99944297e-01 -6.39909333e-04  1.05353637e-02  1.86859457e+02]
 [ 6.38926040e-04  9.99999791e-01  9.66980373e-05  6.44788835e+00]
 [-1.05354234e-02 -8.99613327e-05  9.99944497e-01 -1.97077558e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.067702638
Centerline is valid?  [True, True]
Translation: X:186.92, Y:6.45, Z:-1.97
[[ 9.99938643e-01  3.42293938e-03  1.05353677e-02  1.86919847e+02]
 [-3.42414359e-03  9.99994133e-01  9.62656931e-05  6.44793924e+00]
 [-1.05349764e-02 -1.32334398e-04  9.99944497e-01 -1.97141152e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.127702638
Centerline is valid?  [True, True]
Translation: X:186.98, Y:6.45, Z:-1.97
[[ 9.99927803e-01  5.77888147e-03  1.05353677e-02  1.86978223e+02]
 [-5.78021641e-03  9.99983290e-01  9.62656931e-05  6.44885624e+00]
 [-1.05346353e-02 -1.57155448e-04  9.99944497e-01 -1.97202665e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.187702638
Centerline is valid?  [True, True]
Translation: X:187.04, Y:6.45, Z:-1.97
[[ 9.99892449e-01  1.02028164e-02  1.05353533e-02  1.87038711e+02]
 [-1.02044131e-02  9.99947929e-01  9.78128689e-05  6.44982740e+00]
 [-1.05338068e-02 -2.05309447e-04  9.99944497e-01 -1.97266526e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.247702638
Centerline is valid?  [True, True]
Translation: X:187.10, Y:6.45, Z:-1.97
[[ 9.99848249e-01  1.38738985e-02  1.05353543e-02  1.87097054e+02]
 [-1.38756978e-02  9.99903723e-01  9.77049707e-05  6.44985181e+00]
 [-1.05329845e-02 -2.43875537e-04  9.99944497e-01 -1.97327988e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.307702638
Centerline is valid?  [True, True]
Translation: X:187.16, Y:6.45, Z:-1.97
[[ 9.99770624e-01  1.86468555e-02  1.05353398e-02  1.87156298e+02]
 [-1.86489358e-02  9.99826089e-01  9.92465820e-05  6.44977387e+00]
 [-1.05316570e-02 -2.95696693e-04  9.99944497e-01 -1.97390527e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.367702638
Centerline is valid?  [True, True]
Translation: X:187.22, Y:6.45, Z:-1.97
[[ 9.99725194e-01  2.09414056e-02  1.05353399e-02  1.87216819e+02]
 [-2.09436131e-02  9.99780654e-01  9.92331347e-05  6.45022840e+00]
 [-1.05309510e-02 -3.19853948e-04  9.99944497e-01 -1.97454295e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.427702638
Centerline is valid?  [True, True]
Translation: X:187.28, Y:6.45, Z:-1.98
[[ 9.99698352e-01  2.21858247e-02  1.05353409e-02  1.87276122e+02]
 [-2.21881000e-02  9.99753809e-01  9.91265960e-05  6.44900849e+00]
 [-1.05305480e-02 -3.32855893e-04  9.99944497e-01 -1.97516756e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.48770263799997
Centerline is valid?  [True, True]
Translation: X:187.34, Y:6.45, Z:-1.98
[[ 9.99700030e-01  2.21100874e-02  1.05353379e-02  1.87335166e+02]
 [-2.21123620e-02  9.99755487e-01  9.94518189e-05  6.44793746e+00]
 [-1.05305629e-02 -3.32383191e-04  9.99944497e-01 -1.97578979e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.54770263799998
Centerline is valid?  [True, True]
Translation: X:187.39, Y:6.45, Z:-1.98
[[ 9.99703525e-01  2.19515241e-02  1.05353369e-02  1.87393941e+02]
 [-2.19537911e-02  9.99758982e-01  9.95580905e-05  6.44568705e+00]
 [-1.05306122e-02 -3.30819158e-04  9.99944497e-01 -1.97640890e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.60770263799998
Centerline is valid?  [True, True]
Translation: X:187.45, Y:6.44, Z:-1.98
[[ 9.99712089e-01  2.15579828e-02  1.05353222e-02  1.87452925e+02]
 [-2.15602440e-02  9.99767546e-01  1.01082457e-04  6.44401269e+00]
 [-1.05306941e-02 -3.28197472e-04  9.99944497e-01 -1.97703137e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.66770263799998
Centerline is valid?  [True, True]
Translation: X:187.51, Y:6.44, Z:-1.98
[[ 9.99716168e-01  2.13679742e-02  1.05353191e-02  1.87511596e+02]
 [-2.13702282e-02  9.99771625e-01  1.01408210e-04  6.44227421e+00]
 [-1.05307462e-02 -3.26521601e-04  9.99944497e-01 -1.97764960e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.72770263799998
Centerline is valid?  [True, True]
Translation: X:187.57, Y:6.44, Z:-1.98
[[ 9.99737549e-01  2.03430750e-02  1.05353053e-02  1.87569950e+02]
 [-2.03452871e-02  9.99793008e-01  1.02821097e-04  6.44133614e+00]
 [-1.05310329e-02 -3.17137923e-04  9.99944497e-01 -1.97826541e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.78770263799998
Centerline is valid?  [True, True]
Translation: X:187.63, Y:6.44, Z:-1.98
[[ 9.99763675e-01  1.90158430e-02  1.05352912e-02  1.87629039e+02]
 [-1.90179964e-02  9.99819136e-01  1.04247374e-04  6.43940201e+00]
 [-1.05314034e-02 -3.04582868e-04  9.99944497e-01 -1.97888886e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.847702638
Centerline is valid?  [True, True]
Translation: X:187.69, Y:6.44, Z:-1.98
[[ 9.99776011e-01  1.83558348e-02  1.05352751e-02  1.87687377e+02]
 [-1.83579685e-02  9.99831473e-01  1.05849754e-04  6.44007930e+00]
 [-1.05315567e-02 -2.99232293e-04  9.99944497e-01 -1.97950482e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.907702638
Centerline is valid?  [True, True]
Translation: X:187.75, Y:6.44, Z:-1.98
[[ 9.99784933e-01  1.78632414e-02  1.05352596e-02  1.87747576e+02]
 [-1.78653638e-02  9.99840396e-01  1.07373912e-04  6.44034885e+00]
 [-1.05316600e-02 -2.95567064e-04  9.99944497e-01 -1.98014026e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 185.967702638
Centerline is valid?  [True, True]
Translation: X:187.81, Y:6.44, Z:-1.98
[[ 9.99805723e-01  1.66590922e-02  1.05352585e-02  1.87805518e+02]
 [-1.66611489e-02  9.99861188e-01  1.07481600e-04  6.43846324e+00]
 [-1.05320055e-02 -2.82990229e-04  9.99944497e-01 -1.98075062e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 186.027702638
Centerline is valid?  [True, True]
Translation: X:187.86, Y:6.44, Z:-1.98
[[ 9.99821497e-01  1.56837999e-02  1.05352541e-02  1.87863908e+02]
 [-1.56858071e-02  9.99876964e-01  1.07911061e-04  6.43883845e+00]
 [-1.05322654e-02 -2.73145761e-04  9.99944497e-01 -1.98136617e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.087702638
Centerline is valid?  [True, True]
Translation: X:187.92, Y:6.44, Z:-1.98
[[ 9.99876023e-01  1.17024109e-02  1.05352384e-02  1.87924144e+02]
 [-1.17042131e-02  9.99931497e-01  1.09418554e-04  6.43829284e+00]
 [-1.05332363e-02 -2.32711664e-04  9.99944497e-01 -1.98200191e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.147702638
Centerline is valid?  [True, True]
Translation: X:187.98, Y:6.44, Z:-1.98
[[ 9.99909579e-01  8.35713221e-03  1.05352363e-02  1.87984109e+02]
 [-8.35875093e-03  9.99965059e-01  1.09624598e-04  6.43757139e+00]
 [-1.05339520e-02 -1.97676101e-04  9.99944497e-01 -1.98263377e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.207702638
Centerline is valid?  [True, True]
Translation: X:188.04, Y:6.44, Z:-1.98
[[ 9.99931019e-01  5.19285784e-03  1.05352352e-02  1.88043397e+02]
 [-5.19430209e-03  9.99986504e-01  1.09729072e-04  6.43815779e+00]
 [-1.05345232e-02 -1.64444697e-04  9.99944497e-01 -1.98325856e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.26770263799997
Centerline is valid?  [True, True]
Translation: X:188.10, Y:6.44, Z:-1.98
[[ 9.99940400e-01  2.86432612e-03  1.05352330e-02  1.88103725e+02]
 [-2.86564336e-03  9.99995888e-01  1.09938053e-04  6.43804124e+00]
 [-1.05348748e-02 -1.40121721e-04  9.99944497e-01 -1.98389432e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.32770263799998
Centerline is valid?  [True, True]
Translation: X:188.16, Y:6.44, Z:-1.98
[[ 9.99939982e-01 -3.00689581e-03  1.05352319e-02  1.88161892e+02]
 [ 3.00590329e-03  9.99995476e-01  1.10042393e-04  6.43544546e+00]
 [-1.05355151e-02 -7.83679006e-05  9.99944497e-01 -1.98450694e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.38770263799998
Centerline is valid?  [True, True]
Translation: X:188.22, Y:6.43, Z:-1.99
[[ 9.99931327e-01 -5.13317981e-03  1.05352275e-02  1.88223910e+02]
 [ 5.13230091e-03  9.99986824e-01  1.10459314e-04  6.43487088e+00]
 [-1.05356557e-02 -5.63817707e-05  9.99944497e-01 -1.98516061e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.44770263799998
Centerline is valid?  [True, True]
Translation: X:188.29, Y:6.43, Z:-1.99
[[ 9.99905992e-01 -8.77590919e-03  1.05352429e-02  1.88287115e+02]
 [ 8.77524810e-03  9.99961491e-01  1.08975080e-04  6.43252178e+00]
 [-1.05357935e-02 -1.65154648e-05  9.99944497e-01 -1.98582514e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.50770263799998
Centerline is valid?  [True, True]
Translation: X:188.35, Y:6.43, Z:-1.99
[[ 9.99864769e-01 -1.26274495e-02  1.05352608e-02  1.88348864e+02]
 [ 1.26270207e-02  9.99920270e-01  1.07216679e-04  6.42985973e+00]
 [-1.05357747e-02  2.58267760e-05  9.99944497e-01 -1.98647411e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.567702638
Centerline is valid?  [True, True]
Translation: X:188.41, Y:6.43, Z:-1.99
[[ 9.99803077e-01 -1.68170959e-02  1.05352761e-02  1.88410649e+02]
 [ 1.68169158e-02  9.99858580e-01  1.05690593e-04  6.42764732e+00]
 [-1.05355636e-02  7.15010704e-05  9.99944497e-01 -1.98712367e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.627702638
Centerline is valid?  [True, True]
Translation: X:188.47, Y:6.42, Z:-1.99
[[ 9.99762150e-01 -1.90958682e-02  1.05352803e-02  1.88473554e+02]
 [ 1.90958191e-02  9.99817653e-01  1.05266094e-04  6.42438836e+00]
 [-1.05353694e-02  9.59387507e-05  9.99944497e-01 -1.98778577e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.687702638
Centerline is valid?  [True, True]
Translation: X:188.53, Y:6.42, Z:-1.99
[[ 9.99727725e-01 -2.08202578e-02  1.05352971e-02  1.88534924e+02]
 [ 2.08203223e-02  9.99783228e-01  1.03562841e-04  6.42396087e+00]
 [-1.05351695e-02  1.15813637e-04  9.99944497e-01 -1.98843103e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.747702638
Centerline is valid?  [True, True]
Translation: X:188.60, Y:6.42, Z:-1.99
[[ 9.99700748e-01 -2.20776264e-02  1.05352991e-02  1.88595985e+02]
 [ 2.20777629e-02  9.99756251e-01  1.03353914e-04  6.42322681e+00]
 [-1.05350130e-02  1.29272851e-04  9.99944497e-01 -1.98907414e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.807702638
Centerline is valid?  [True, True]
Translation: X:188.66, Y:6.42, Z:-1.99
[[ 9.99617080e-01 -2.55871120e-02  1.05353013e-02  1.88657362e+02]
 [ 2.55874457e-02  9.99672582e-01  1.03130633e-04  6.41970232e+00]
 [-1.05344907e-02  1.66480309e-04  9.99944497e-01 -1.98972027e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.867702638
Centerline is valid?  [True, True]
Translation: X:188.72, Y:6.42, Z:-1.99
[[ 9.99530577e-01 -2.87686130e-02  1.05353088e-02  1.88717938e+02]
 [ 2.87691315e-02  9.99586078e-01  1.02358785e-04  6.41789310e+00]
 [-1.05338927e-02  2.00780949e-04  9.99944497e-01 -1.99035773e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.927702638
Centerline is valid?  [True, True]
Translation: X:188.78, Y:6.41, Z:-1.99
[[ 9.99402998e-01 -3.29037084e-02  1.05353097e-02  1.88778416e+02]
 [ 3.29044575e-02  9.99458496e-01  1.02268220e-04  6.41456370e+00]
 [-1.05329698e-02  2.44451485e-04  9.99944497e-01 -1.99099452e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 186.98770263799997
Centerline is valid?  [True, True]
Translation: X:188.84, Y:6.41, Z:-1.99
[[ 9.99309935e-01 -3.56182757e-02  1.05353107e-02  1.88840829e+02]
 [ 3.56191767e-02  9.99365431e-01  1.02160636e-04  6.41147427e+00]
 [-1.05322641e-02  2.73168956e-04  9.99944497e-01 -1.99165170e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.04770263799998
Centerline is valid?  [True, True]
Translation: X:188.90, Y:6.41, Z:-1.99
[[ 9.99082898e-01 -4.15014414e-02  1.05353160e-02  1.88901301e+02]
 [ 4.15026749e-02  9.99138388e-01  1.01614522e-04  6.40715880e+00]
 [-1.05304558e-02  3.35722464e-04  9.99944497e-01 -1.99228798e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.10770263799998
Centerline is valid?  [True, True]
Translation: X:188.96, Y:6.40, Z:-1.99
[[ 9.98834205e-01 -4.71087965e-02  1.05353164e-02  1.88962088e+02]
 [ 4.71103418e-02  9.98889686e-01  1.01577592e-04  6.40151220e+00]
 [-1.05284041e-02  3.94863182e-04  9.99944497e-01 -1.99292784e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.16770263799998
Centerline is valid?  [True, True]
Translation: X:189.02, Y:6.40, Z:-1.99
[[ 9.98645055e-01 -5.09613636e-02  1.05353179e-02  1.89023503e+02]
 [ 5.09631246e-02  9.98700531e-01  1.01419534e-04  6.39657857e+00]
 [-1.05267960e-02  4.35630602e-04  9.99944497e-01 -1.99357429e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 187.22770263799998
Centerline is valid?  [True, True]
Translation: X:189.08, Y:6.39, Z:-1.99
[[ 9.98499042e-01 -5.37463553e-02  1.05353200e-02  1.89082932e+02]
 [ 5.37482733e-02  9.98554512e-01  1.01199826e-04  6.39340342e+00]
 [-1.05255304e-02  4.65207329e-04  9.99944497e-01 -1.99419994e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.28770263799998
Centerline is valid?  [True, True]
Translation: X:189.15, Y:6.39, Z:-1.99
[[ 9.98481257e-01 -5.40757440e-02  1.05353205e-02  1.89145600e+02]
 [ 5.40776809e-02  9.98536727e-01  1.01147743e-04  6.38710565e+00]
 [-1.05253741e-02  4.68731574e-04  9.99944497e-01 -1.99485953e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.347702638
Centerline is valid?  [True, True]
Translation: X:189.21, Y:6.38, Z:-2.00
[[ 9.98519373e-01 -5.33673009e-02  1.05353352e-02  1.89207866e+02]
 [ 5.33692147e-02  9.98574843e-01  9.95938107e-05  6.38491758e+00]
 [-1.05256357e-02  4.62816216e-04  9.99944497e-01 -1.99551424e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.407702638
Centerline is valid?  [True, True]
Translation: X:189.27, Y:6.38, Z:-2.00
[[ 9.98535118e-01 -5.30718741e-02  1.05353499e-02  1.89269944e+02]
 [ 5.30737882e-02  9.98590588e-01  9.80148815e-05  6.38173027e+00]
 [-1.05257031e-02  4.61279626e-04  9.99944497e-01 -1.99616688e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.467702638
Centerline is valid?  [True, True]
Translation: X:189.33, Y:6.38, Z:-2.00
[[ 9.98566478e-01 -5.24785182e-02  1.05353529e-02  1.89331426e+02]
 [ 5.24804028e-02  9.98621949e-01  9.76829518e-05  6.37871708e+00]
 [-1.05259610e-02  4.55356645e-04  9.99944497e-01 -1.99681412e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.527702638
Centerline is valid?  [True, True]
Translation: X:189.39, Y:6.37, Z:-2.00
[[ 9.98615984e-01 -5.15278929e-02  1.05353560e-02  1.89391872e+02]
 [ 5.15297282e-02  9.98671456e-01  9.73522048e-05  6.37456788e+00]
 [-1.05263757e-02  4.45666563e-04  9.99944497e-01 -1.99745034e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.587702638
Centerline is valid?  [True, True]
Translation: X:189.45, Y:6.37, Z:-2.00
[[ 9.98613364e-01 -5.15786305e-02  1.05353568e-02  1.89453338e+02]
 [ 5.15804696e-02  9.98668837e-01  9.72625982e-05  6.37214936e+00]
 [-1.05263492e-02  4.46290922e-04  9.99944497e-01 -1.99809765e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.647702638
Centerline is valid?  [True, True]
Translation: X:189.52, Y:6.37, Z:-2.00
[[ 9.98710361e-01 -4.96650935e-02  1.05353611e-02  1.89516162e+02]
 [ 4.96668312e-02  9.98765837e-01  9.67990363e-05  6.36873118e+00]
 [-1.05271663e-02  4.26583800e-04  9.99944497e-01 -1.99875891e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.707702638
Centerline is valid?  [True, True]
Translation: X:189.58, Y:6.37, Z:-2.00
[[ 9.98671537e-01 -5.04397329e-02  1.05353778e-02  1.89578756e+02]
 [ 5.04415330e-02  9.98727011e-01  9.49499143e-05  6.36772153e+00]
 [-1.05267556e-02  4.36596828e-04  9.99944497e-01 -1.99941705e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.76770263799997
Centerline is valid?  [True, True]
Translation: X:189.64, Y:6.36, Z:-2.00
[[ 9.98822053e-01 -4.73657367e-02  1.05353829e-02  1.89638321e+02]
 [ 4.73673722e-02  9.98877532e-01  9.43714429e-05  6.36170337e+00]
 [-1.05280273e-02  4.04773126e-04  9.99944497e-01 -2.00004366e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.82770263799998
Centerline is valid?  [True, True]
Translation: X:189.70, Y:6.36, Z:-2.00
[[ 9.98774266e-01 -4.83629107e-02  1.05353819e-02  1.89700417e+02]
 [ 4.83646004e-02  9.98829744e-01  9.44870293e-05  6.35965669e+00]
 [-1.05276225e-02  4.15168322e-04  9.99944497e-01 -2.00069779e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.88770263799998
Centerline is valid?  [True, True]
Translation: X:189.76, Y:6.36, Z:-2.00
[[ 9.98820201e-01 -4.74047660e-02  1.05353961e-02  1.89761148e+02]
 [ 4.74064194e-02  9.98875679e-01  9.28794512e-05  6.35792615e+00]
 [-1.05279538e-02  4.06675533e-04  9.99944497e-01 -2.00133640e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 187.94770263799998
Centerline is valid?  [True, True]
Translation: X:189.82, Y:6.36, Z:-2.00
[[ 9.98900855e-01 -4.56736968e-02  1.05353965e-02  1.89821073e+02]
 [ 4.56752545e-02  9.98956337e-01  9.28325926e-05  6.35587337e+00]
 [-1.05286411e-02  3.88476360e-04  9.99944497e-01 -2.00196755e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.00770263799998
Centerline is valid?  [True, True]
Translation: X:189.88, Y:6.35, Z:-2.00
[[ 9.98931775e-01 -4.49923900e-02  1.05354011e-02  1.89881842e+02]
 [ 4.49939154e-02  9.98987257e-01  9.23037544e-05  6.35393472e+00]
 [-1.05288844e-02  3.81823794e-04  9.99944497e-01 -2.00260728e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.067702638
Centerline is valid?  [True, True]
Translation: X:189.94, Y:6.35, Z:-2.00
[[ 9.99014265e-01 -4.31219592e-02  1.05354017e-02  1.89942995e+02]
 [ 4.31233814e-02  9.99069750e-01  9.22404020e-05  6.35215714e+00]
 [-1.05295787e-02  3.62172668e-04  9.99944497e-01 -2.00325139e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.127702638
Centerline is valid?  [True, True]
Translation: X:190.00, Y:6.35, Z:-2.00
[[ 9.99120839e-01 -4.05777462e-02  1.05354083e-02  1.90004257e+02]
 [ 4.05790352e-02  9.99176328e-01  9.14732976e-05  6.35138440e+00]
 [-1.05304424e-02  3.36123828e-04  9.99944497e-01 -2.00389625e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.187702638
Centerline is valid?  [True, True]
Translation: X:190.07, Y:6.35, Z:-2.00
[[ 9.99271192e-01 -3.66891123e-02  1.05354102e-02  1.90065203e+02]
 [ 3.66901877e-02  9.99326684e-01  9.12569515e-05  6.35279271e+00]
 [-1.05316647e-02  2.95355735e-04  9.99944497e-01 -2.00453837e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.247702638
Centerline is valid?  [True, True]
Translation: X:190.13, Y:6.35, Z:-2.01
[[ 9.99415260e-01 -3.25291112e-02  1.05354108e-02  1.90125480e+02]
 [ 3.25299563e-02  9.99470757e-01  9.11890421e-05  6.35227930e+00]
 [-1.05328013e-02  2.51580732e-04  9.99944497e-01 -2.00517336e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.307702638
Centerline is valid?  [True, True]
Translation: X:190.19, Y:6.35, Z:-2.01
[[ 9.99622089e-01 -2.53906245e-02  1.05354109e-02  1.90186089e+02]
 [ 2.53910732e-02  9.99677591e-01  9.11797702e-05  6.35176558e+00]
 [-1.05343293e-02  1.76360077e-04  9.99944497e-01 -2.00581188e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.367702638
Centerline is valid?  [True, True]
Translation: X:190.25, Y:6.35, Z:-2.01
[[ 9.99730322e-01 -2.06951376e-02  1.05354129e-02  1.90246920e+02]
 [ 2.06953281e-02  9.99785825e-01  9.09456182e-05  6.35358671e+00]
 [-1.05350386e-02  1.27112735e-04  9.99944497e-01 -2.00645280e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 188.427702638
Centerline is valid?  [True, True]
Translation: X:190.31, Y:6.35, Z:-2.01
[[ 9.99850035e-01 -1.37445743e-02  1.05354149e-02  1.90309585e+02]
 [ 1.37443815e-02  9.99905537e-01  9.07103799e-05  6.35367268e+00]
 [-1.05356665e-02  5.41059851e-05  9.99944497e-01 -2.00711289e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.48770263799997
Centerline is valid?  [True, True]
Translation: X:190.37, Y:6.36, Z:-2.01
[[ 9.99919011e-01 -7.13970292e-03  1.05354209e-02  1.90370439e+02]
 [ 7.13915082e-03  9.99974512e-01  9.00112053e-05  6.35593010e+00]
 [-1.05357950e-02 -1.47899567e-05  9.99944497e-01 -2.00775380e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.54770263799998
Centerline is valid?  [True, True]
Translation: X:190.43, Y:6.36, Z:-2.01
[[ 9.99944490e-01 -1.46777456e-04  1.05354229e-02  1.90432964e+02]
 [ 1.45839708e-04  9.99999985e-01  8.97771899e-05  6.35889011e+00]
 [-1.05354359e-02 -8.82357234e-05  9.99944497e-01 -2.00841267e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.60770263799998
Centerline is valid?  [True, True]
Translation: X:190.49, Y:6.36, Z:-2.01
[[ 9.99924109e-01  6.38600200e-03  1.05354269e-02  1.90493237e+02]
 [-6.38729726e-03  9.99979597e-01  8.93004980e-05  6.36020185e+00]
 [-1.05346417e-02 -1.56586624e-04  9.99944497e-01 -2.00904751e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.66770263799998
Centerline is valid?  [True, True]
Translation: X:190.55, Y:6.36, Z:-2.01
[[ 9.99889985e-01  1.04413726e-02  1.05354269e-02  1.90553021e+02]
 [-1.04428929e-02  9.99945468e-01  8.93004980e-05  6.36363164e+00]
 [-1.05339200e-02 -1.99311009e-04  9.99944497e-01 -2.00967770e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.72770263799998
Centerline is valid?  [True, True]
Translation: X:190.61, Y:6.37, Z:-2.01
[[ 9.99823943e-01  1.55269928e-02  1.05354269e-02  1.90612263e+02]
 [-1.55287952e-02  9.99879417e-01  8.93004980e-05  6.36719484e+00]
 [-1.05327700e-02 -2.52887264e-04  9.99944497e-01 -2.01030219e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.78770263799998
Centerline is valid?  [True, True]
Translation: X:190.67, Y:6.37, Z:-2.01
[[ 9.99786608e-01  1.77691911e-02  1.05354260e-02  1.90671260e+02]
 [-1.77711192e-02  9.99842077e-01  8.94120749e-05  6.37021839e+00]
 [-1.05321734e-02 -2.76619306e-04  9.99944497e-01 -2.01092414e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.847702638
Centerline is valid?  [True, True]
Translation: X:190.73, Y:6.37, Z:-2.01
[[ 9.99763237e-01  1.90387742e-02  1.05354250e-02  1.90730491e+02]
 [-1.90407738e-02  9.99818704e-01  8.95238606e-05  6.37495400e+00]
 [-1.05318106e-02 -2.90105310e-04  9.99944497e-01 -2.01154869e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.907702638
Centerline is valid?  [True, True]
Translation: X:190.79, Y:6.38, Z:-2.01
[[ 9.99740935e-01  2.01759405e-02  1.05354221e-02  1.90788261e+02]
 [-2.01780069e-02  9.99796399e-01  8.98690846e-05  6.37530515e+00]
 [-1.05314639e-02 -3.02429622e-04  9.99944497e-01 -2.01215762e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 188.967702638
Centerline is valid?  [True, True]
Translation: X:190.85, Y:6.38, Z:-2.01
[[ 9.99764912e-01  1.89506225e-02  1.05354148e-02  1.90847746e+02]
 [-1.89526298e-02  9.99820379e-01  9.07141126e-05  6.37752516e+00]
 [-1.05318033e-02 -2.90366604e-04  9.99944497e-01 -2.01278513e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.027702638
Centerline is valid?  [True, True]
Translation: X:190.91, Y:6.38, Z:-2.01
[[ 9.99740202e-01  2.02122259e-02  1.05354087e-02  1.90906401e+02]
 [-2.02143106e-02  9.99795666e-01  9.14169928e-05  6.37975710e+00]
 [-1.05314082e-02 -3.04359266e-04  9.99944497e-01 -2.01340380e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.087702638
Centerline is valid?  [True, True]
Translation: X:190.96, Y:6.38, Z:-2.01
[[ 9.99763387e-01  1.90308885e-02  1.05354066e-02  1.90964394e+02]
 [-1.90329102e-02  9.99818854e-01  9.16556503e-05  6.38216448e+00]
 [-1.05317539e-02 -2.92153411e-04  9.99944497e-01 -2.01401519e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.147702638
Centerline is valid?  [True, True]
Translation: X:191.02, Y:6.39, Z:-2.01
[[ 9.99779045e-01  1.81897429e-02  1.05354020e-02  1.91024041e+02]
 [-1.81917235e-02  9.99834513e-01  9.21822597e-05  6.38505797e+00]
 [-1.05319818e-02 -2.83819012e-04  9.99944497e-01 -2.01464426e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.207702638
Centerline is valid?  [True, True]
Translation: X:191.08, Y:6.39, Z:-2.02
[[ 9.99775696e-01  1.83728696e-02  1.05354000e-02  1.91081343e+02]
 [-1.83748627e-02  9.99831164e-01  9.24099849e-05  6.38681105e+00]
 [-1.05319234e-02 -2.85975786e-04  9.99944497e-01 -2.01524831e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.26770263799997
Centerline is valid?  [True, True]
Translation: X:191.14, Y:6.39, Z:-2.02
[[ 9.99820282e-01  1.57610197e-02  1.05353924e-02  1.91141413e+02]
 [-1.57628769e-02  9.99875754e-01  9.32698934e-05  6.38715286e+00]
 [-1.05326134e-02 -2.59321225e-04  9.99944497e-01 -2.01588183e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.32770263799998
Centerline is valid?  [True, True]
Translation: X:191.20, Y:6.39, Z:-2.02
[[ 9.99857347e-01  1.32019302e-02  1.05353924e-02  1.91200840e+02]
 [-1.32036455e-02  9.99912824e-01  9.32698934e-05  6.38815775e+00]
 [-1.05332426e-02 -2.32362174e-04  9.99944497e-01 -2.01650804e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.38770263799998
Centerline is valid?  [True, True]
Translation: X:191.26, Y:6.39, Z:-2.02
[[ 9.99905581e-01  8.82244659e-03  1.05353904e-02  1.91260612e+02]
 [-8.82392123e-03  9.99961064e-01  9.34947759e-05  6.39085573e+00]
 [-1.05341554e-02 -1.86449403e-04  9.99944497e-01 -2.01713821e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.44770263799998
Centerline is valid?  [True, True]
Translation: X:191.32, Y:6.39, Z:-2.02
[[ 9.99939763e-01  3.07836193e-03  1.05353892e-02  1.91319977e+02]
 [-3.07951930e-03  9.99995254e-01  9.36340598e-05  6.39071165e+00]
 [-1.05350509e-02 -1.26072354e-04  9.99944497e-01 -2.01776376e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.50770263799998
Centerline is valid?  [True, True]
Translation: X:191.38, Y:6.39, Z:-2.02
[[ 9.99935034e-01 -4.35132306e-03  1.05353880e-02  1.91379578e+02]
 [ 4.35057657e-03  9.99990532e-01  9.37719192e-05  6.39075146e+00]
 [-1.05356962e-02 -4.79308151e-05  9.99944497e-01 -2.01839182e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.567702638
Centerline is valid?  [True, True]
Translation: X:191.44, Y:6.39, Z:-2.02
[[ 9.99888030e-01 -1.06270043e-02  1.05353869e-02  1.91439925e+02]
 [ 1.06266049e-02  9.99943532e-01  9.38901943e-05  6.39151750e+00]
 [-1.05357898e-02  1.80757132e-05  9.99944497e-01 -2.01902778e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 189.627702638
Centerline is valid?  [True, True]
Translation: X:191.50, Y:6.39, Z:-2.02
[[ 9.99849602e-01 -1.37760557e-02  1.05353880e-02  1.91501345e+02]
 [ 1.37758323e-02  9.99905104e-01  9.37708203e-05  6.39135777e+00]
 [-1.05356800e-02  5.13770208e-05  9.99944497e-01 -2.01967481e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.687702638
Centerline is valid?  [True, True]
Translation: X:191.56, Y:6.39, Z:-2.02
[[ 9.99792920e-01 -1.74104280e-02  1.05353901e-02  1.91561963e+02]
 [ 1.74104089e-02  9.99848423e-01  9.35340025e-05  6.39310564e+00]
 [-1.05354216e-02  8.99108158e-05  9.99944497e-01 -2.02031347e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.747702638
Centerline is valid?  [True, True]
Translation: X:191.62, Y:6.39, Z:-2.02
[[ 9.99815879e-01 -1.60379001e-02  1.05353932e-02  1.91624004e+02]
 [ 1.60378085e-02  9.99871382e-01  9.31782967e-05  6.39319509e+00]
 [-1.05355326e-02  7.58034788e-05  9.99944497e-01 -2.02096690e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.807702638
Centerline is valid?  [True, True]
Translation: X:191.69, Y:6.39, Z:-2.02
[[ 9.99818101e-01 -1.58987208e-02  1.05353974e-02  1.91686298e+02]
 [ 1.58986265e-02  9.99873605e-01  9.27077370e-05  6.39488779e+00]
 [-1.05355397e-02  7.48074744e-05  9.99944497e-01 -2.02162306e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.867702638
Centerline is valid?  [True, True]
Translation: X:191.75, Y:6.40, Z:-2.02
[[ 9.99881756e-01 -1.12017897e-02  1.05354118e-02  1.91747141e+02]
 [ 1.12014523e-02  9.99937258e-01  9.10403922e-05  6.39544186e+00]
 [-1.05357706e-02  2.69822847e-05  9.99944497e-01 -2.02226300e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.927702638
Centerline is valid?  [True, True]
Translation: X:191.81, Y:6.40, Z:-2.02
[[ 9.99914841e-01 -7.70171099e-03  1.05354192e-02  1.91808619e+02]
 [ 7.70118837e-03  9.99970341e-01  9.01749188e-05  6.39738055e+00]
 [-1.05358012e-02 -9.03199193e-06  9.99944497e-01 -2.02291031e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 189.98770263799997
Centerline is valid?  [True, True]
Translation: X:191.87, Y:6.40, Z:-2.02
[[ 9.99942690e-01 -1.90320825e-03  1.05354211e-02  1.91870212e+02]
 [ 1.90236618e-03  9.99998186e-01  8.99481316e-05  6.39858887e+00]
 [-1.05355732e-02 -6.99007478e-05  9.99944497e-01 -2.02355922e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.04770263799998
Centerline is valid?  [True, True]
Translation: X:191.93, Y:6.40, Z:-2.02
[[ 9.99942870e-01  1.80589138e-03  1.05354240e-02  1.91931466e+02]
 [-1.80693577e-03  9.99998363e-01  8.96134657e-05  6.40167145e+00]
 [-1.05352449e-02 -1.08645180e-04  9.99944497e-01 -2.02420463e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.10770263799998
Centerline is valid?  [True, True]
Translation: X:191.99, Y:6.40, Z:-2.02
[[ 9.99939603e-01  3.12974710e-03  1.05354258e-02  1.91990773e+02]
 [-3.13086261e-03  9.99995095e-01  8.93907952e-05  6.40287817e+00]
 [-1.05350944e-02 -1.22370367e-04  9.99944497e-01 -2.02482944e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.16770263799998
Centerline is valid?  [True, True]
Translation: X:192.05, Y:6.40, Z:-2.03
[[ 9.99927984e-01  5.74733214e-03  1.05354240e-02  1.92048686e+02]
 [-5.74859524e-03  9.99983473e-01  8.96117703e-05  6.40193919e+00]
 [-1.05347348e-02 -1.50169205e-04  9.99944497e-01 -2.02543968e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.22770263799998
Centerline is valid?  [True, True]
Translation: X:192.11, Y:6.40, Z:-2.03
[[ 9.99934089e-01  4.56318558e-03  1.05354193e-02  1.92107842e+02]
 [-4.56438869e-03  9.99989579e-01  9.01542000e-05  6.40413107e+00]
 [-1.05348981e-02 -1.38236007e-04  9.99944497e-01 -2.02606352e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.28770263799998
Centerline is valid?  [True, True]
Translation: X:192.17, Y:6.40, Z:-2.03
[[ 9.99935489e-01  4.24526212e-03  1.05354129e-02  1.92166659e+02]
 [-4.24645537e-03  9.99990980e-01  9.08938978e-05  6.40492370e+00]
 [-1.05349320e-02 -1.35626195e-04  9.99944497e-01 -2.02668381e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.347702638
Centerline is valid?  [True, True]
Translation: X:192.23, Y:6.41, Z:-2.03
[[ 9.99940388e-01  2.86801710e-03  1.05354089e-02  1.92226519e+02]
 [-2.86913884e-03  9.99995880e-01  9.13602901e-05  6.40859920e+00]
 [-1.05351035e-02 -1.21582395e-04  9.99944497e-01 -2.02731516e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.407702638
Centerline is valid?  [True, True]
Translation: X:192.29, Y:6.41, Z:-2.03
[[ 9.99940839e-01  2.70638343e-03  1.05354079e-02  1.92285669e+02]
 [-2.70749741e-03  9.99996331e-01  9.14759185e-05  6.41088913e+00]
 [-1.05351217e-02 -1.19995096e-04  9.99944497e-01 -2.02793865e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.467702638
Centerline is valid?  [True, True]
Translation: X:192.34, Y:6.41, Z:-2.03
[[ 9.99944081e-01  9.16396423e-04  1.05354049e-02  1.92343901e+02]
 [-9.17414685e-04  9.99999575e-01  9.18190127e-05  6.41447671e+00]
 [-1.05353163e-02 -1.01479213e-04  9.99944497e-01 -2.02855275e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.527702638
Centerline is valid?  [True, True]
Translation: X:192.40, Y:6.42, Z:-2.03
[[ 9.99943672e-01 -1.28740468e-03  1.05354019e-02  1.92403958e+02]
 [ 1.28650511e-03  9.99999168e-01  9.21622312e-05  6.41749024e+00]
 [-1.05355118e-02 -7.86031916e-05  9.99944497e-01 -2.02918602e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.587702638
Centerline is valid?  [True, True]
Translation: X:192.47, Y:6.42, Z:-2.03
[[ 9.99942893e-01 -1.79310559e-03  1.05353999e-02  1.92465330e+02]
 [ 1.79223166e-03  9.99998390e-01  9.23920578e-05  6.42061061e+00]
 [-1.05355486e-02 -7.35049043e-05  9.99944497e-01 -2.02983309e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.647702638
Centerline is valid?  [True, True]
Translation: X:192.53, Y:6.42, Z:-2.03
[[ 9.99940368e-01 -2.87518221e-03  1.05354019e-02  1.92526439e+02]
 [ 2.87437079e-03  9.99995865e-01  9.21595842e-05  6.42393100e+00]
 [-1.05356233e-02 -6.18714369e-05  9.99944497e-01 -2.03047707e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.707702638
Centerline is valid?  [True, True]
Translation: X:192.59, Y:6.43, Z:-2.03
[[ 9.99943856e-01 -1.13562171e-03  1.05354040e-02  1.92587734e+02]
 [ 1.13471621e-03  9.99999352e-01  9.19257161e-05  6.42683396e+00]
 [-1.05355015e-02 -7.99658614e-05  9.99944497e-01 -2.03112298e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.76770263799997
Centerline is valid?  [True, True]
Translation: X:192.65, Y:6.43, Z:-2.03
[[ 9.99943258e-01  1.57656847e-03  1.05354070e-02  1.92648640e+02]
 [-1.57762081e-03  9.99998751e-01  9.15763183e-05  6.43119982e+00]
 [-1.05352495e-02 -1.08191999e-04  9.99944497e-01 -2.03176484e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 190.82770263799998
Centerline is valid?  [True, True]
Translation: X:192.71, Y:6.43, Z:-2.03
[[ 9.99930151e-01  5.35709936e-03  1.05354087e-02  1.92708065e+02]
 [-5.35835938e-03  9.99985640e-01  9.13746660e-05  6.43387505e+00]
 [-1.05347680e-02 -1.47820790e-04  9.99944497e-01 -2.03239104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.88770263799998
Centerline is valid?  [True, True]
Translation: X:192.77, Y:6.44, Z:-2.03
[[ 9.99879214e-01  1.14263631e-02  1.05354067e-02  1.92767774e+02]
 [-1.14279623e-02  9.99934695e-01  9.16081143e-05  6.43743095e+00]
 [-1.05336719e-02 -2.11995280e-04  9.99944497e-01 -2.03302063e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 190.94770263799998
Centerline is valid?  [True, True]
Translation: X:192.83, Y:6.44, Z:-2.03
[[ 9.99822735e-01  1.56046361e-02  1.05354067e-02  1.92828370e+02]
 [-1.56064672e-02  9.99878207e-01  9.16070701e-05  6.44061585e+00]
 [-1.05326941e-02 -2.56011310e-04  9.99944497e-01 -2.03365936e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.00770263799998
Centerline is valid?  [True, True]
Translation: X:192.89, Y:6.44, Z:-2.03
[[ 9.99739235e-01  2.02600106e-02  1.05354067e-02  1.92886891e+02]
 [-2.02621000e-02  9.99794698e-01  9.16070701e-05  6.44319535e+00]
 [-1.05313878e-02 -3.05052646e-04  9.99944497e-01 -2.03427616e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.067702638
Centerline is valid?  [True, True]
Translation: X:192.95, Y:6.45, Z:-2.03
[[ 9.99656902e-01  2.39808984e-02  1.05353928e-02  1.92947353e+02]
 [-2.39832108e-02  9.99712357e-01  9.31860959e-05  6.44579350e+00]
 [-1.05301276e-02 -3.45826670e-04  9.99944497e-01 -2.03491458e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.127702638
Centerline is valid?  [True, True]
Translation: X:193.01, Y:6.45, Z:-2.04
[[ 9.99555432e-01  2.78916400e-02  1.05353928e-02  1.93006979e+02]
 [-2.78941693e-02  9.99610878e-01  9.31815258e-05  6.44684853e+00]
 [-1.05286943e-02 -3.87016131e-04  9.99944497e-01 -2.03554289e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.187702638
Centerline is valid?  [True, True]
Translation: X:193.07, Y:6.45, Z:-2.04
[[ 9.99421195e-01  3.23462713e-02  1.05353908e-02  1.93066517e+02]
 [-3.23490501e-02  9.99476628e-01  9.34096414e-05  6.45149326e+00]
 [-1.05268554e-02 -4.34165459e-04  9.99944497e-01 -2.03617078e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.247702638
Centerline is valid?  [True, True]
Translation: X:193.13, Y:6.45, Z:-2.04
[[ 9.99196927e-01  3.86588610e-02  1.05353907e-02  1.93126983e+02]
 [-3.86619899e-02  9.99252341e-01  9.34150413e-05  6.45317712e+00]
 [-1.05239025e-02 -5.00659192e-04  9.99944497e-01 -2.03680802e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.307702638
Centerline is valid?  [True, True]
Translation: X:193.19, Y:6.46, Z:-2.04
[[ 9.99034775e-01  4.26441654e-02  1.05353908e-02  1.93187480e+02]
 [-4.26475154e-02  9.99090176e-01  9.34111281e-05  6.45804166e+00]
 [-1.05218220e-02 -5.42629205e-04  9.99944497e-01 -2.03744586e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.367702638
Centerline is valid?  [True, True]
Translation: X:193.25, Y:6.46, Z:-2.04
[[ 9.98916560e-01  4.53289323e-02  1.05353918e-02  1.93247045e+02]
 [-4.53324298e-02  9.98971953e-01  9.32901388e-05  6.46187373e+00]
 [-1.05203322e-02 -5.70783976e-04  9.99944497e-01 -2.03807370e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.427702638
Centerline is valid?  [True, True]
Translation: X:193.31, Y:6.46, Z:-2.04
[[ 9.98847205e-01  4.68323262e-02  1.05353908e-02  1.93306637e+02]
 [-4.68359083e-02  9.98902592e-01  9.34031780e-05  6.46101233e+00]
 [-1.05194549e-02 -5.86730102e-04  9.99944497e-01 -2.03870157e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.48770263799997
Centerline is valid?  [True, True]
Translation: X:193.37, Y:6.47, Z:-2.04
[[ 9.99031209e-01  4.27276237e-02  1.05353899e-02  1.93366892e+02]
 [-4.27309793e-02  9.99086610e-01  9.35122725e-05  6.46601639e+00]
 [-1.05217714e-02 -5.43609204e-04  9.99944497e-01 -2.03933697e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.54770263799998
Centerline is valid?  [True, True]
Translation: X:193.43, Y:6.47, Z:-2.04
[[ 9.99120284e-01  4.05914281e-02  1.05353894e-02  1.93425867e+02]
 [-4.05946659e-02  9.99175692e-01  9.35659212e-05  6.46556934e+00]
 [-1.05229070e-02 -5.21164222e-04  9.99944497e-01 -2.03995832e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.60770263799998
Centerline is valid?  [True, True]
Translation: X:193.49, Y:6.47, Z:-2.04
[[ 9.99290146e-01  3.61691722e-02  1.05353874e-02  1.93485150e+02]
 [-3.61721670e-02  9.99345569e-01  9.37865758e-05  6.46710244e+00]
 [-1.05251006e-02 -4.74807794e-04  9.99944497e-01 -2.04058324e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.66770263799998
Centerline is valid?  [True, True]
Translation: X:193.55, Y:6.47, Z:-2.04
[[ 9.99459993e-01  3.11244084e-02  1.05353868e-02  1.93545028e+02]
 [-3.11271241e-02  9.99515429e-01  9.38527823e-05  6.46520209e+00]
 [-1.05273606e-02 -4.21738395e-04  9.99944497e-01 -2.04121398e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.72770263799998
Centerline is valid?  [True, True]
Translation: X:193.60, Y:6.47, Z:-2.04
[[ 9.99481632e-01  3.04215792e-02  1.05353854e-02  1.93603299e+02]
 [-3.04242576e-02  9.99537071e-01  9.40182956e-05  6.46599511e+00]
 [-1.05276480e-02 -4.14500838e-04  9.99944497e-01 -2.04182811e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.78770263799998
Centerline is valid?  [True, True]
Translation: X:193.66, Y:6.47, Z:-2.04
[[ 9.99602873e-01  2.61362430e-02  1.05353686e-02  1.93663995e+02]
 [-2.61387031e-02  9.99658321e-01  9.58578197e-05  6.46747577e+00]
 [-1.05292635e-02 -3.71200625e-04  9.99944497e-01 -2.04246912e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.847702638
Centerline is valid?  [True, True]
Translation: X:193.72, Y:6.47, Z:-2.04
[[ 9.99664425e-01  2.36652250e-02  1.05353683e-02  1.93724950e+02]
 [-2.36675483e-02  9.99719880e-01  9.58881968e-05  6.46568738e+00]
 [-1.05301480e-02 -3.45202359e-04  9.99944497e-01 -2.04311119e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.907702638
Centerline is valid?  [True, True]
Translation: X:193.78, Y:6.47, Z:-2.04
[[ 9.99710903e-01  2.16128887e-02  1.05353692e-02  1.93784210e+02]
 [-2.16150973e-02  9.99766362e-01  9.57951224e-05  6.46760025e+00]
 [-1.05308373e-02 -3.23490458e-04  9.99944497e-01 -2.04373566e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 191.967702638
Centerline is valid?  [True, True]
Translation: X:193.84, Y:6.47, Z:-2.04
[[ 9.99748561e-01  1.97944806e-02  1.05353650e-02  1.93842735e+02]
 [-1.97965931e-02  9.99804024e-01  9.62569710e-05  6.46690907e+00]
 [-1.05313949e-02 -3.04797101e-04  9.99944497e-01 -2.04435255e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 192.027702638
Centerline is valid?  [True, True]
Translation: X:193.90, Y:6.47, Z:-2.04
[[ 9.99771707e-01  1.85886985e-02  1.05353618e-02  1.93901850e+02]
 [-1.85907476e-02  9.99827172e-01  9.65984010e-05  6.46943247e+00]
 [-1.05317454e-02 -2.92436602e-04  9.99944497e-01 -2.04497588e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.087702638
Centerline is valid?  [True, True]
Translation: X:193.96, Y:6.47, Z:-2.05
[[ 9.99806929e-01  1.65864940e-02  1.05353598e-02  1.93960155e+02]
 [-1.65884344e-02  9.99862398e-01  9.68226081e-05  6.46993437e+00]
 [-1.05323041e-02 -2.71569039e-04  9.99944497e-01 -2.04559040e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.147702638
Centerline is valid?  [True, True]
Translation: X:194.02, Y:6.47, Z:-2.05
[[ 9.99794208e-01  1.73363282e-02  1.05353455e-02  1.94019915e+02]
 [-1.73383264e-02  9.99849675e-01  9.83562635e-05  6.47096000e+00]
 [-1.05320566e-02 -2.81001281e-04  9.99944497e-01 -2.04622127e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.207702638
Centerline is valid?  [True, True]
Translation: X:194.08, Y:6.47, Z:-2.05
[[ 9.99789222e-01  1.76215212e-02  1.05353434e-02  1.94077302e+02]
 [-1.76235376e-02  9.99844689e-01  9.85761256e-05  6.46951481e+00]
 [-1.05319701e-02 -2.84225369e-04  9.99944497e-01 -2.04682591e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.26770263799997
Centerline is valid?  [True, True]
Translation: X:194.14, Y:6.47, Z:-2.05
[[ 9.99785957e-01  1.78057877e-02  1.05353288e-02  1.94136156e+02]
 [-1.78078305e-02  9.99841423e-01  1.00116098e-04  6.46997104e+00]
 [-1.05318755e-02 -2.87706018e-04  9.99944497e-01 -2.04744718e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.32770263799998
Centerline is valid?  [True, True]
Translation: X:194.20, Y:6.47, Z:-2.05
[[ 9.99815772e-01  1.60446053e-02  1.05353152e-02  1.94195448e+02]
 [-1.60465652e-02  9.99871240e-01  1.01525729e-04  6.47123571e+00]
 [-1.05323297e-02 -2.70562648e-04  9.99944497e-01 -2.04807306e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.38770263799998
Centerline is valid?  [True, True]
Translation: X:194.25, Y:6.47, Z:-2.05
[[ 9.99865849e-01  1.25415817e-02  1.05353014e-02  1.94253414e+02]
 [-1.25433622e-02  9.99921324e-01  1.02940998e-04  6.46802613e+00]
 [-1.05331814e-02 -2.35075290e-04  9.99944497e-01 -2.04868451e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.44770263799998
Centerline is valid?  [True, True]
Translation: X:194.31, Y:6.47, Z:-2.05
[[ 9.99889560e-01  1.04821509e-02  1.05352901e-02  1.94312890e+02]
 [-1.04838290e-02  9.99945038e-01  1.04075405e-04  6.46812006e+00]
 [-1.05336202e-02 -2.14514092e-04  9.99944497e-01 -2.04931198e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.50770263799998
Centerline is valid?  [True, True]
Translation: X:194.37, Y:6.47, Z:-2.05
[[ 9.99922493e-01  6.63447044e-03  1.05352868e-02  1.94373083e+02]
 [-6.63593872e-03  9.99977976e-01  1.04417016e-04  6.47096741e+00]
 [-1.05343620e-02 -1.74320440e-04  9.99944497e-01 -2.04994672e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.567702638
Centerline is valid?  [True, True]
Translation: X:194.43, Y:6.47, Z:-2.05
[[ 9.99936589e-01  3.97827190e-03  1.05352824e-02  1.94431793e+02]
 [-3.97959741e-03  9.99992076e-01  1.04855123e-04  6.47237969e+00]
 [-1.05347818e-02 -1.46774657e-04  9.99944497e-01 -2.05056576e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.627702638
Centerline is valid?  [True, True]
Translation: X:194.49, Y:6.47, Z:-2.05
[[ 9.99939004e-01  3.31590654e-03  1.05352777e-02  1.94491552e+02]
 [-3.31720021e-03  9.99994493e-01  1.05322026e-04  6.47215982e+00]
 [-1.05348705e-02 -1.40263228e-04  9.99944497e-01 -2.05119569e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.687702638
Centerline is valid?  [True, True]
Translation: X:194.55, Y:6.47, Z:-2.05
[[ 9.99943820e-01 -1.16805781e-03  1.05352777e-02  1.94550773e+02]
 [ 1.16701298e-03  9.99999313e-01  1.05322026e-04  6.47423812e+00]
 [-1.05353935e-02 -9.30213035e-05  9.99944497e-01 -2.05181985e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.747702638
Centerline is valid?  [True, True]
Translation: X:194.61, Y:6.47, Z:-2.05
[[ 9.99942991e-01 -1.73868258e-03  1.05352763e-02  1.94610810e+02]
 [ 1.73766789e-03  9.99998485e-01  1.05466676e-04  6.47265812e+00]
 [-1.05354437e-02 -8.71538523e-05  9.99944497e-01 -2.05245233e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.807702638
Centerline is valid?  [True, True]
Translation: X:194.67, Y:6.47, Z:-2.05
[[ 9.99942645e-01 -1.92714421e-03  1.05352818e-02  1.94671937e+02]
 [ 1.92614586e-03  9.99998139e-01  1.04908813e-04  6.47432725e+00]
 [-1.05354644e-02 -8.46103069e-05  9.99944497e-01 -2.05309612e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.867702638
Centerline is valid?  [True, True]
Translation: X:194.73, Y:6.48, Z:-2.05
[[ 9.99944104e-01 -8.92371890e-04  1.05352841e-02  1.94733053e+02]
 [ 8.91318484e-04  9.99999597e-01  1.04683199e-04  6.47658896e+00]
 [-1.05353733e-02 -9.52870543e-05  9.99944497e-01 -2.05374010e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.927702638
Centerline is valid?  [True, True]
Translation: X:194.79, Y:6.48, Z:-2.05
[[ 9.99939767e-01  3.07745615e-03  1.05352863e-02  1.94794756e+02]
 [-3.07872751e-03  9.99995255e-01  1.04460531e-04  6.47843997e+00]
 [-1.05349148e-02 -1.36889515e-04  9.99944497e-01 -2.05439023e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 192.98770263799997
Centerline is valid?  [True, True]
Translation: X:194.85, Y:6.48, Z:-2.05
[[ 9.99925178e-01  6.21663633e-03  1.05352885e-02  1.94852616e+02]
 [-6.21807956e-03  9.99980662e-01  1.04239073e-04  6.48046983e+00]
 [-1.05344367e-02 -1.69740536e-04  9.99944497e-01 -2.05499988e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.04770263799998
Centerline is valid?  [True, True]
Translation: X:194.91, Y:6.48, Z:-2.06
[[ 9.99906198e-01  8.75229297e-03  1.05352710e-02  1.94911366e+02]
 [-8.75389516e-03  9.99961678e-01  1.05974453e-04  6.47982378e+00]
 [-1.05339398e-02 -1.98189171e-04  9.99944497e-01 -2.05562009e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.10770263799998
Centerline is valid?  [True, True]
Translation: X:194.97, Y:6.48, Z:-2.06
[[ 9.99877517e-01  1.15740445e-02  1.05352543e-02  1.94970403e+02]
 [-1.15758205e-02  9.99932992e-01  1.07609397e-04  6.48213095e+00]
 [-1.05333029e-02 -2.29550430e-04  9.99944497e-01 -2.05624355e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.16770263799998
Centerline is valid?  [True, True]
Translation: X:195.03, Y:6.48, Z:-2.06
[[ 9.99847969e-01  1.38941549e-02  1.05352543e-02  1.95029419e+02]
 [-1.38960596e-02  9.99903439e-01  1.07613643e-04  6.48094096e+00]
 [-1.05327418e-02 -2.53995804e-04  9.99944497e-01 -2.05686522e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 193.22770263799998
Centerline is valid?  [True, True]
Translation: X:195.09, Y:6.48, Z:-2.06
[[ 9.99884416e-01  1.09619120e-02  1.05352377e-02  1.95089795e+02]
 [-1.09636709e-02  9.99939891e-01  1.09211154e-04  6.48314666e+00]
 [-1.05334073e-02 -2.24703410e-04  9.99944497e-01 -2.05750276e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.28770263799998
Centerline is valid?  [True, True]
Translation: X:195.15, Y:6.48, Z:-2.06
[[ 9.99903348e-01  9.07211612e-03  1.05352366e-02  1.95148461e+02]
 [-9.07377134e-03  9.99958827e-01  1.09323548e-04  6.48033780e+00]
 [-1.05338110e-02 -2.04907309e-04  9.99944497e-01 -2.05812063e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.347702638
Centerline is valid?  [True, True]
Translation: X:195.21, Y:6.48, Z:-2.06
[[ 9.99924636e-01  6.30324038e-03  1.05352331e-02  1.95207079e+02]
 [-6.30474551e-03  9.99980119e-01  1.09660334e-04  6.48041489e+00]
 [-1.05343324e-02 -1.76074033e-04  9.99944497e-01 -2.05873848e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.407702638
Centerline is valid?  [True, True]
Translation: X:195.26, Y:6.48, Z:-2.06
[[ 9.99943207e-01  1.60975535e-03  1.05352283e-02  1.95264606e+02]
 [-1.61100486e-03  9.99998696e-01  1.10117326e-04  6.47720758e+00]
 [-1.05350373e-02 -1.27083376e-04  9.99944497e-01 -2.05934456e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.467702638
Centerline is valid?  [True, True]
Translation: X:195.32, Y:6.48, Z:-2.06
[[ 9.99939950e-01 -3.01749170e-03  1.05352223e-02  1.95324432e+02]
 [ 3.01649301e-03  9.99995444e-01  1.10684364e-04  6.47588659e+00]
 [-1.05355083e-02 -7.88982931e-05  9.99944497e-01 -2.05997515e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.527702638
Centerline is valid?  [True, True]
Translation: X:195.38, Y:6.47, Z:-2.06
[[ 9.99923925e-01 -6.41507126e-03  1.05352199e-02  1.95384081e+02]
 [ 6.41425871e-03  9.99979422e-01  1.10914955e-04  6.47371361e+00]
 [-1.05357146e-02 -4.33308916e-05  9.99944497e-01 -2.06060352e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.587702638
Centerline is valid?  [True, True]
Translation: X:195.45, Y:6.47, Z:-2.06
[[ 9.99913473e-01 -7.87758233e-03  1.05352199e-02  1.95446700e+02]
 [ 7.87685095e-03  9.99968971e-01  1.10914955e-04  6.47430460e+00]
 [-1.05357667e-02 -2.79210014e-05  9.99944497e-01 -2.06126334e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.647702638
Centerline is valid?  [True, True]
Translation: X:195.51, Y:6.47, Z:-2.06
[[ 9.99905364e-01 -8.84711406e-03  1.05352328e-02  1.95508221e+02]
 [ 8.84644951e-03  9.99960863e-01  1.09679481e-04  6.47489884e+00]
 [-1.05357908e-02 -1.64696970e-05  9.99944497e-01 -2.06191066e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.707702638
Centerline is valid?  [True, True]
Translation: X:195.57, Y:6.47, Z:-2.06
[[ 9.99922954e-01 -6.56464493e-03  1.05352416e-02  1.95569557e+02]
 [ 6.56386270e-03  9.99978452e-01  1.08824459e-04  6.47357307e+00]
 [-1.05357290e-02 -3.96641952e-05  9.99944497e-01 -2.06255612e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.76770263799997
Centerline is valid?  [True, True]
Translation: X:195.63, Y:6.47, Z:-2.06
[[ 9.99923693e-01 -6.45104814e-03  1.05352438e-02  1.95631659e+02]
 [ 6.45026189e-03  9.99979191e-01  1.08608178e-04  6.47073860e+00]
 [-1.05357252e-02 -4.06448088e-05  9.99944497e-01 -2.06320995e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.82770263799998
Centerline is valid?  [True, True]
Translation: X:195.69, Y:6.47, Z:-2.06
[[ 9.99919490e-01 -7.07268544e-03  1.05352485e-02  1.95692058e+02]
 [ 7.07193846e-03  9.99974988e-01  1.08154533e-04  6.46912904e+00]
 [-1.05357499e-02 -3.36411964e-05  9.99944497e-01 -2.06384579e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.88770263799998
Centerline is valid?  [True, True]
Translation: X:195.75, Y:6.47, Z:-2.06
[[ 9.99918837e-01 -7.16430004e-03  1.05352508e-02  1.95754658e+02]
 [ 7.16356051e-03  9.99974336e-01  1.07930512e-04  6.46671389e+00]
 [-1.05357536e-02 -3.24518461e-05  9.99944497e-01 -2.06450491e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 193.94770263799998
Centerline is valid?  [True, True]
Translation: X:195.82, Y:6.47, Z:-2.07
[[ 9.99905221e-01 -8.86329794e-03  1.05352553e-02  1.95816148e+02]
 [ 8.86265741e-03  9.99960720e-01  1.07484568e-04  6.46636541e+00]
 [-1.05357942e-02 -1.41040225e-05  9.99944497e-01 -2.06515240e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.00770263799998
Centerline is valid?  [True, True]
Translation: X:195.88, Y:6.46, Z:-2.07
[[ 9.99932551e-01 -4.88900420e-03  1.05352576e-02  1.95877748e+02]
 [ 4.88814541e-03  9.99988047e-01  1.07264105e-04  6.46384901e+00]
 [-1.05356560e-02 -5.57589996e-05  9.99944497e-01 -2.06580098e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.067702638
Centerline is valid?  [True, True]
Translation: X:195.94, Y:6.46, Z:-2.07
[[ 9.99939184e-01 -3.26129068e-03  1.05352621e-02  1.95939312e+02]
 [ 3.26034623e-03  9.99994679e-01  1.06819819e-04  6.46381883e+00]
 [-1.05355544e-02 -7.24647207e-05  9.99944497e-01 -2.06644929e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.127702638
Centerline is valid?  [True, True]
Translation: X:196.00, Y:6.46, Z:-2.07
[[ 9.99926462e-01  6.00649434e-03  1.05352643e-02  1.96000700e+02]
 [-6.00795074e-03  9.99981946e-01  1.06596736e-04  6.46242350e+00]
 [-1.05344339e-02 -1.69884246e-04  9.99944497e-01 -2.06709575e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.187702638
Centerline is valid?  [True, True]
Translation: X:196.06, Y:6.47, Z:-2.07
[[ 9.99901653e-01  9.25704511e-03  1.05352667e-02  1.96060079e+02]
 [-9.25867942e-03  9.99957132e-01  1.06364069e-04  6.46538082e+00]
 [-1.05338304e-02 -2.03896265e-04  9.99944497e-01 -2.06772151e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.247702638
Centerline is valid?  [True, True]
Translation: X:196.12, Y:6.46, Z:-2.07
[[ 9.99808720e-01  1.64782454e-02  1.05352644e-02  1.96120615e+02]
 [-1.64802827e-02  9.99864185e-01  1.06593496e-04  6.46276124e+00]
 [-1.05320770e-02 -2.80197242e-04  9.99944497e-01 -2.06835919e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.307702638
Centerline is valid?  [True, True]
Translation: X:196.18, Y:6.46, Z:-2.07
[[ 9.99712370e-01  2.15449543e-02  1.05352643e-02  1.96180603e+02]
 [-2.15472728e-02  9.99767825e-01  1.06603253e-04  6.46278106e+00]
 [-1.05305215e-02 -3.33578804e-04  9.99944497e-01 -2.06899122e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.367702638
Centerline is valid?  [True, True]
Translation: X:196.24, Y:6.46, Z:-2.07
[[ 9.99589866e-01  2.66290660e-02  1.05352643e-02  1.96238202e+02]
 [-2.66316665e-02  9.99645309e-01  1.06600848e-04  6.46415729e+00]
 [-1.05286888e-02 -3.87128772e-04  9.99944497e-01 -2.06959822e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 194.427702638
Centerline is valid?  [True, True]
Translation: X:196.30, Y:6.46, Z:-2.07
[[ 9.99534550e-01  2.86302641e-02  1.05352555e-02  1.96297324e+02]
 [-2.86329847e-02  9.99589986e-01  1.07460191e-04  6.46409354e+00]
 [-1.05278593e-02 -4.09065983e-04  9.99944497e-01 -2.07022174e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.48770263799997
Centerline is valid?  [True, True]
Translation: X:196.35, Y:6.47, Z:-2.07
[[ 9.99485803e-01  3.02842917e-02  1.05352520e-02  1.96354843e+02]
 [-3.02871076e-02  9.99541235e-01  1.07806403e-04  6.46591410e+00]
 [-1.05271539e-02 -4.26833280e-04  9.99944497e-01 -2.07082819e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.54770263799998
Centerline is valid?  [True, True]
Translation: X:196.41, Y:6.47, Z:-2.07
[[ 9.99440542e-01  3.17428988e-02  1.05352351e-02  1.96414654e+02]
 [-3.17458127e-02  9.99495969e-01  1.09429204e-04  6.46658300e+00]
 [-1.05264514e-02 -4.43817583e-04  9.99944497e-01 -2.07145958e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.60770263799998
Centerline is valid?  [True, True]
Translation: X:196.47, Y:6.47, Z:-2.07
[[ 9.99454868e-01  3.12885798e-02  1.05352339e-02  1.96474722e+02]
 [-3.12914697e-02  9.99510296e-01  1.09541650e-04  6.46821248e+00]
 [-1.05266474e-02 -4.39144889e-04  9.99944497e-01 -2.07209271e+00]
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SLAMing on frame at distance 194.66770263799998
Centerline is valid?  [True, True]
Translation: X:196.53, Y:6.47, Z:-2.07
[[ 9.99515055e-01  2.93029532e-02  1.05352310e-02  1.96533206e+02]
 [-2.93057359e-02  9.99570489e-01  1.09823899e-04  6.46815858e+00]
 [-1.05274878e-02 -4.18513338e-04  9.99944497e-01 -2.07270909e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.72770263799998
Centerline is valid?  [True, True]
Translation: X:196.59, Y:6.47, Z:-2.07
[[ 9.99691042e-01  2.25128725e-02  1.05352140e-02  1.96593672e+02]
 [-2.25152955e-02  9.99746492e-01  1.11431386e-04  6.47146664e+00]
 [-1.05300346e-02 -3.48600415e-04  9.99944497e-01 -2.07334766e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.78770263799998
Centerline is valid?  [True, True]
Translation: X:196.65, Y:6.47, Z:-2.07
[[ 9.99802351e-01  1.68602759e-02  1.05352136e-02  1.96654187e+02]
 [-1.68623858e-02  9.99857814e-01  1.11470099e-04  6.47171956e+00]
 [-1.05318362e-02 -2.89096903e-04  9.99944497e-01 -2.07398530e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.847702638
Centerline is valid?  [True, True]
Translation: X:196.71, Y:6.47, Z:-2.07
[[ 9.99859709e-01  1.30219369e-02  1.05352130e-02  1.96712534e+02]
 [-1.30238344e-02  9.99915180e-01  1.11524178e-04  6.47258356e+00]
 [-1.05328672e-02 -2.48717401e-04  9.99944497e-01 -2.07460016e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.907702638
Centerline is valid?  [True, True]
Translation: X:196.77, Y:6.47, Z:-2.08
[[ 9.99921847e-01  6.73120281e-03  1.05352093e-02  1.96772831e+02]
 [-6.73275497e-03  9.99977328e-01  1.11870915e-04  6.47270480e+00]
 [-1.05342175e-02 -1.82793155e-04  9.99944497e-01 -2.07523570e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 194.967702638
Centerline is valid?  [True, True]
Translation: X:196.83, Y:6.47, Z:-2.08
[[ 9.99944155e-01 -8.34381847e-04  1.05352093e-02  1.96831246e+02]
 [ 8.33249501e-04  9.99999647e-01  1.11870915e-04  6.47157612e+00]
 [-1.05352990e-02 -1.03086209e-04  9.99944497e-01 -2.07585102e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.027702638
Centerline is valid?  [True, True]
Translation: X:196.89, Y:6.47, Z:-2.08
[[ 9.99929917e-01 -5.40089461e-03  1.05352055e-02  1.96892018e+02]
 [ 5.40001189e-03  9.99985414e-01  1.12231476e-04  6.47133724e+00]
 [-1.05356580e-02 -5.53333755e-05  9.99944497e-01 -2.07649153e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.087702638
Centerline is valid?  [True, True]
Translation: X:196.95, Y:6.47, Z:-2.08
[[ 9.99912359e-01 -8.01773750e-03  1.05352075e-02  1.96954254e+02]
 [ 8.01700200e-03  9.99967857e-01  1.12043333e-04  6.47167580e+00]
 [-1.05357672e-02 -2.75727335e-05  9.99944497e-01 -2.07714715e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.147702638
Centerline is valid?  [True, True]
Translation: X:197.02, Y:6.47, Z:-2.08
[[ 9.99913048e-01 -7.93128110e-03  1.05352246e-02  1.97017733e+02]
 [ 7.93055802e-03  9.99968547e-01  1.10409873e-04  6.47133473e+00]
 [-1.05357689e-02 -2.68500630e-05  9.99944497e-01 -2.07781474e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.207702638
Centerline is valid?  [True, True]
Translation: X:197.08, Y:6.47, Z:-2.08
[[ 9.99936603e-01 -3.97472279e-03  1.05352429e-02  1.97079641e+02]
 [ 3.97379884e-03  9.99992099e-01  1.08632543e-04  6.47320584e+00]
 [-1.05355915e-02 -6.67607196e-05  9.99944497e-01 -2.07846593e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.26770263799997
Centerline is valid?  [True, True]
Translation: X:197.14, Y:6.47, Z:-2.08
[[ 9.99943885e-01  1.11155255e-03  1.05352468e-02  1.97140595e+02]
 [-1.11275484e-03  9.99999375e-01  1.08259396e-04  6.47363170e+00]
 [-1.05351199e-02 -1.19976468e-04  9.99944497e-01 -2.07910791e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.32770263799998
Centerline is valid?  [True, True]
Translation: X:197.20, Y:6.48, Z:-2.08
[[ 9.99901591e-01  9.26378204e-03  1.05352470e-02  1.97201213e+02]
 [-9.26543647e-03  9.99957069e-01  1.08239119e-04  6.47527088e+00]
 [-1.05337920e-02 -2.05842129e-04  9.99944497e-01 -2.07974673e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.38770263799998
Centerline is valid?  [True, True]
Translation: X:197.26, Y:6.48, Z:-2.08
[[ 9.99799770e-01  1.70126197e-02  1.05352423e-02  1.97260816e+02]
 [-1.70147088e-02  9.99855233e-01  1.08695846e-04  6.47728146e+00]
 [-1.05318679e-02 -2.87928162e-04  9.99944497e-01 -2.08037524e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.44770263799998
Centerline is valid?  [True, True]
Translation: X:197.32, Y:6.48, Z:-2.08
[[ 9.99688342e-01  2.26324310e-02  1.05352409e-02  1.97321061e+02]
 [-2.26348332e-02  9.99743793e-01  1.08824841e-04  6.47741929e+00]
 [-1.05300788e-02 -3.47254346e-04  9.99944497e-01 -2.08101008e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.50770263799998
Centerline is valid?  [True, True]
Translation: X:197.38, Y:6.48, Z:-2.08
[[ 9.99662873e-01  2.37307766e-02  1.05352399e-02  1.97381054e+02]
 [-2.37332408e-02  9.99718321e-01  1.08920403e-04  6.47859841e+00]
 [-1.05296876e-02 -3.58919069e-04  9.99944497e-01 -2.08164235e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.567702638
Centerline is valid?  [True, True]
Translation: X:197.44, Y:6.48, Z:-2.08
[[ 9.99546986e-01  2.81927516e-02  1.05352388e-02  1.97441546e+02]
 [-2.81954645e-02  9.99602423e-01  1.09035027e-04  6.47756918e+00]
 [-1.05279762e-02 -4.06031583e-04  9.99944497e-01 -2.08227965e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 195.627702638
Centerline is valid?  [True, True]
Translation: X:197.50, Y:6.48, Z:-2.08
[[ 9.99522620e-01  2.90437724e-02  1.05352399e-02  1.97501850e+02]
 [-2.90465313e-02  9.99578055e-01  1.08920338e-04  6.47847379e+00]
 [-1.05276312e-02 -4.14880518e-04  9.99944497e-01 -2.08291502e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.687702638
Centerline is valid?  [True, True]
Translation: X:197.56, Y:6.48, Z:-2.08
[[ 9.99570786e-01  2.73359172e-02  1.05352386e-02  1.97561644e+02]
 [-2.73385826e-02  9.99626225e-01  1.09046633e-04  6.47769491e+00]
 [-1.05283199e-02 -3.97018320e-04  9.99944497e-01 -2.08354501e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.747702638
Centerline is valid?  [True, True]
Translation: X:197.62, Y:6.48, Z:-2.08
[[ 9.99627492e-01  2.51770747e-02  1.05352375e-02  1.97620896e+02]
 [-2.51796216e-02  9.99682937e-01  1.09160294e-04  6.47639123e+00]
 [-1.05291488e-02 -3.74392924e-04  9.99944497e-01 -2.08416922e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.807702638
Centerline is valid?  [True, True]
Translation: X:197.68, Y:6.48, Z:-2.08
[[ 9.99726306e-01  2.08883189e-02  1.05352218e-02  1.97681043e+02]
 [-2.08906436e-02  9.99781761e-01  1.10649157e-04  6.47708509e+00]
 [-1.05306114e-02 -3.30706437e-04  9.99944497e-01 -2.08480406e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.867702638
Centerline is valid?  [True, True]
Translation: X:197.74, Y:6.48, Z:-2.09
[[ 9.99849852e-01  1.37580367e-02  1.05352162e-02  1.97739692e+02]
 [-1.37599715e-02  9.99905321e-01  1.11183487e-04  6.47592861e+00]
 [-1.05326891e-02 -2.56131068e-04  9.99944497e-01 -2.08542222e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.927702638
Centerline is valid?  [True, True]
Translation: X:197.80, Y:6.48, Z:-2.09
[[ 9.99913777e-01  7.83888512e-03  1.05352130e-02  1.97799543e+02]
 [-7.84049466e-03  9.99969257e-01  1.11482756e-04  6.47854846e+00]
 [-1.05340152e-02 -1.94074425e-04  9.99944497e-01 -2.08605330e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 195.98770263799997
Centerline is valid?  [True, True]
Translation: X:197.86, Y:6.48, Z:-2.09
[[ 9.99926152e-01  6.05805866e-03  1.05352119e-02  1.97858562e+02]
 [-6.05957052e-03  9.99981634e-01  1.11590624e-04  6.47800129e+00]
 [-1.05343424e-02 -1.75421243e-04  9.99944497e-01 -2.08667513e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.04770263799998
Centerline is valid?  [True, True]
Translation: X:197.92, Y:6.48, Z:-2.09
[[ 9.99938300e-01  3.52222997e-03  1.05352095e-02  1.97917037e+02]
 [-3.52360348e-03  9.99993786e-01  1.11814772e-04  6.48108369e+00]
 [-1.05347502e-02 -1.48929774e-04  9.99944497e-01 -2.08729172e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.10770263799998
Centerline is valid?  [True, True]
Translation: X:197.98, Y:6.48, Z:-2.09
[[ 9.99938123e-01  3.57200116e-03  1.05352046e-02  1.97975497e+02]
 [-3.57338225e-03  9.99993609e-01  1.12272113e-04  6.48453855e+00]
 [-1.05347363e-02 -1.49911480e-04  9.99944497e-01 -2.08790835e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.16770263799998
Centerline is valid?  [True, True]
Translation: X:198.03, Y:6.49, Z:-2.09
[[ 9.99937878e-01  3.64016530e-03  1.05351885e-02  1.98034130e+02]
 [-3.64156588e-03  9.99993363e-01  1.13763833e-04  6.48640784e+00]
 [-1.05347045e-02 -1.52121349e-04  9.99944497e-01 -2.08852739e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.22770263799998
Centerline is valid?  [True, True]
Translation: X:198.09, Y:6.49, Z:-2.09
[[ 9.99940385e-01  2.87001948e-03  1.05351708e-02  1.98092681e+02]
 [-2.87139435e-03  9.99995871e-01  1.15379608e-04  6.49008592e+00]
 [-1.05347962e-02 -1.45623359e-04  9.99944497e-01 -2.08914585e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.28770263799998
Centerline is valid?  [True, True]
Translation: X:198.15, Y:6.49, Z:-2.09
[[ 9.99939117e-01  3.28223965e-03  1.05351658e-02  1.98151389e+02]
 [-3.28364223e-03  9.99994602e-01  1.15838733e-04  6.49234649e+00]
 [-1.05347287e-02 -1.50425396e-04  9.99944497e-01 -2.08976497e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.347702638
Centerline is valid?  [True, True]
Translation: X:198.21, Y:6.49, Z:-2.09
[[ 9.99940462e-01  2.84322873e-03  1.05351479e-02  1.98209750e+02]
 [-2.84462385e-03  9.99995947e-01  1.17443088e-04  6.49276427e+00]
 [-1.05347713e-02 -1.47404629e-04  9.99944497e-01 -2.09038107e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.407702638
Centerline is valid?  [True, True]
Translation: X:198.27, Y:6.49, Z:-2.09
[[ 9.99944104e-01  8.94395625e-04  1.05351414e-02  1.98267917e+02]
 [-8.95688735e-04  9.99999592e-01  1.18024920e-04  6.49467626e+00]
 [-1.05350315e-02 -1.27454530e-04  9.99944497e-01 -2.09099455e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.467702638
Centerline is valid?  [True, True]
Translation: X:198.33, Y:6.49, Z:-2.09
[[ 9.99943691e-01 -1.27541134e-03  1.05351362e-02  1.98328406e+02]
 [ 1.27423375e-03  9.99999181e-01  1.18488435e-04  6.49388915e+00]
 [-1.05352787e-02 -1.05057537e-04  9.99944497e-01 -2.09163208e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.527702638
Centerline is valid?  [True, True]
Translation: X:198.39, Y:6.49, Z:-2.09
[[ 9.99934972e-01 -4.36597980e-03  1.05351362e-02  1.98389490e+02]
 [ 4.36497373e-03  9.99990466e-01  1.18488435e-04  6.49314065e+00]
 [-1.05355530e-02 -7.24951378e-05  9.99944497e-01 -2.09227556e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.587702638
Centerline is valid?  [True, True]
Translation: X:198.45, Y:6.49, Z:-2.09
[[ 9.99913156e-01 -7.91772985e-03  1.05351374e-02  1.98450198e+02]
 [ 7.91692209e-03  9.99968654e-01  1.18374974e-04  6.49416873e+00]
 [-1.05357445e-02 -3.49588317e-05  9.99944497e-01 -2.09291520e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.647702638
Centerline is valid?  [True, True]
Translation: X:198.51, Y:6.49, Z:-2.09
[[ 9.99915505e-01 -7.61540573e-03  1.05351400e-02  1.98512065e+02]
 [ 7.61458360e-03  9.99971002e-01  1.18147411e-04  6.49354649e+00]
 [-1.05357342e-02 -3.79167241e-05  9.99944497e-01 -2.09356678e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.707702638
Centerline is valid?  [True, True]
Translation: X:198.57, Y:6.50, Z:-2.09
[[ 9.99924607e-01 -6.30802520e-03  1.05351451e-02  1.98574505e+02]
 [ 6.30713534e-03  9.99980103e-01  1.17688457e-04  6.49536320e+00]
 [-1.05356779e-02 -5.12329984e-05  9.99944497e-01 -2.09422451e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.76770263799997
Centerline is valid?  [True, True]
Translation: X:198.64, Y:6.50, Z:-2.09
[[ 9.99937536e-01 -3.73287371e-03  1.05351502e-02  1.98636543e+02]
 [ 3.73184575e-03  9.99993030e-01  1.17230909e-04  6.49784648e+00]
 [-1.05355144e-02 -7.79080306e-05  9.99944497e-01 -2.09487809e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 196.82770263799998
Centerline is valid?  [True, True]
Translation: X:198.70, Y:6.50, Z:-2.10
[[ 9.99937762e-01 -3.67187625e-03  1.05351553e-02  1.98698015e+02]
 [ 3.67084978e-03  9.99993256e-01  1.16768998e-04  6.50034207e+00]
 [-1.05355130e-02 -7.80887583e-05  9.99944497e-01 -2.09552569e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.88770263799998
Centerline is valid?  [True, True]
Translation: X:198.76, Y:6.50, Z:-2.10
[[ 9.99935509e-01 -4.24128788e-03  1.05351633e-02  1.98758504e+02]
 [ 4.24030068e-03  9.99991003e-01  1.16040441e-04  6.50190113e+00]
 [-1.05355607e-02 -7.13606975e-05  9.99944497e-01 -2.09616264e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 196.94770263799998
Centerline is valid?  [True, True]
Translation: X:198.82, Y:6.50, Z:-2.10
[[ 9.99935956e-01 -4.13460415e-03  1.05351646e-02  1.98819533e+02]
 [ 4.13361218e-03  9.99991450e-01  1.15930687e-04  6.50439938e+00]
 [-1.05355538e-02 -7.23749774e-05  9.99944497e-01 -2.09680584e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.00770263799998
Centerline is valid?  [True, True]
Translation: X:198.88, Y:6.51, Z:-2.10
[[ 9.99933704e-01 -4.64732208e-03  1.05351693e-02  1.98880471e+02]
 [ 4.64636308e-03  9.99989199e-01  1.15502149e-04  6.50835150e+00]
 [-1.05355922e-02 -6.65442698e-05  9.99944497e-01 -2.09744801e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.067702638
Centerline is valid?  [True, True]
Translation: X:198.94, Y:6.51, Z:-2.10
[[ 9.99919998e-01 -7.00058537e-03  1.05351857e-02  1.98942246e+02]
 [ 6.99977301e-03  9.99975495e-01  1.13981488e-04  6.51108062e+00]
 [-1.05357255e-02 -4.02284605e-05  9.99944497e-01 -2.09809805e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.127702638
Centerline is valid?  [True, True]
Translation: X:199.00, Y:6.51, Z:-2.10
[[ 9.99898952e-01 -9.54438740e-03  1.05352012e-02  1.99004838e+02]
 [ 9.54373147e-03  9.99954451e-01  1.12533853e-04  6.51143164e+00]
 [-1.05357954e-02 -1.19773510e-05  9.99944497e-01 -2.09875649e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.187702638
Centerline is valid?  [True, True]
Translation: X:199.07, Y:6.51, Z:-2.10
[[ 9.99856659e-01 -1.32541051e-02  1.05352070e-02  1.99066519e+02]
 [ 1.32536608e-02  9.99912160e-01  1.11986577e-04  6.51432230e+00]
 [-1.05357659e-02  2.76595348e-05  9.99944497e-01 -2.09940627e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.247702638
Centerline is valid?  [True, True]
Translation: X:199.13, Y:6.52, Z:-2.10
[[ 9.99827305e-01 -1.53091089e-02  1.05352158e-02  1.99129208e+02]
 [ 1.53087876e-02  9.99882807e-01  1.11148420e-04  6.51646966e+00]
 [-1.05356828e-02  5.01521564e-05  9.99944497e-01 -2.10006636e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.307702638
Centerline is valid?  [True, True]
Translation: X:199.19, Y:6.52, Z:-2.10
[[ 9.99767736e-01 -1.88011615e-02  1.05352326e-02  1.99189312e+02]
 [ 1.88010511e-02  9.99823239e-01  1.09534305e-04  6.52261671e+00]
 [-1.05354298e-02  8.85645823e-05  9.99944497e-01 -2.10069909e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.367702638
Centerline is valid?  [True, True]
Translation: X:199.25, Y:6.53, Z:-2.10
[[ 9.99802036e-01 -1.68788998e-02  1.05352338e-02  1.99250709e+02]
 [ 1.68786838e-02  9.99857539e-01  1.09421134e-04  6.52587191e+00]
 [-1.05355798e-02  6.84214072e-05  9.99944497e-01 -2.10134623e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.427702638
Centerline is valid?  [True, True]
Translation: X:199.31, Y:6.53, Z:-2.10
[[ 9.99840617e-01 -1.44135103e-02  1.05352372e-02  1.99312197e+02]
 [ 1.44131609e-02  9.99896119e-01  1.09095498e-04  6.52852347e+00]
 [-1.05357152e-02  4.27679576e-05  9.99944497e-01 -2.10199410e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.48770263799997
Centerline is valid?  [True, True]
Translation: X:199.37, Y:6.53, Z:-2.10
[[ 9.99911772e-01 -8.09058951e-03  1.05352516e-02  1.99374075e+02]
 [ 8.08990395e-03  9.99967270e-01  1.07687475e-04  6.53308129e+00]
 [-1.05357780e-02 -2.24488005e-05  9.99944497e-01 -2.10264548e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.54770263799998
Centerline is valid?  [True, True]
Translation: X:199.43, Y:6.54, Z:-2.10
[[ 9.99943006e-01  1.72986043e-03  1.05352559e-02  1.99434937e+02]
 [-1.73108648e-03  9.99998496e-01  1.07258148e-04  6.53964910e+00]
 [-1.05350545e-02 -1.25489474e-04  9.99944497e-01 -2.10328709e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.60770263799998
Centerline is valid?  [True, True]
Translation: X:199.49, Y:6.54, Z:-2.10
[[ 9.99912857e-01  7.95526771e-03  1.05352570e-02  1.99494687e+02]
 [-7.95683806e-03  9.99968338e-01  1.07150371e-04  6.54438101e+00]
 [-1.05340710e-02 -1.90968368e-04  9.99944497e-01 -2.10391704e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.66770263799998
Centerline is valid?  [True, True]
Translation: X:199.56, Y:6.55, Z:-2.10
[[ 9.99808577e-01  1.64868981e-02  1.05352570e-02  1.99555306e+02]
 [-1.64889418e-02  9.99864042e-01  1.07150371e-04  6.55007033e+00]
 [-1.05320581e-02 -2.80845099e-04  9.99944497e-01 -2.10455631e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.72770263799998
Centerline is valid?  [True, True]
Translation: X:199.61, Y:6.56, Z:-2.11
[[ 9.99650345e-01  2.42527744e-02  1.05352571e-02  1.99614692e+02]
 [-2.42552488e-02  9.99705792e-01  1.07143981e-04  6.55544766e+00]
 [-1.05295590e-02 -3.62641800e-04  9.99944497e-01 -2.10518257e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.78770263799998
Centerline is valid?  [True, True]
Translation: X:199.68, Y:6.56, Z:-2.11
[[ 9.99537807e-01  2.85163224e-02  1.05352560e-02  1.99675389e+02]
 [-2.85190344e-02  9.99593244e-01  1.07246469e-04  6.55921385e+00]
 [-1.05279125e-02 -4.07652231e-04  9.99944497e-01 -2.10582255e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.847702638
Centerline is valid?  [True, True]
Translation: X:199.73, Y:6.56, Z:-2.11
[[ 9.99439095e-01  3.17884199e-02  1.05352572e-02  1.99734735e+02]
 [-3.17913121e-02  9.99494523e-01  1.07129286e-04  6.56439896e+00]
 [-1.05265264e-02 -4.41998847e-04  9.99944497e-01 -2.10644827e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.907702638
Centerline is valid?  [True, True]
Translation: X:199.79, Y:6.57, Z:-2.11
[[ 9.99429179e-01  3.20986756e-02  1.05352539e-02  1.99792946e+02]
 [-3.21015885e-02  9.99484605e-01  1.07454604e-04  6.56881913e+00]
 [-1.05263749e-02 -4.45591652e-04  9.99944497e-01 -2.10706230e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 197.967702638
Centerline is valid?  [True, True]
Translation: X:199.85, Y:6.57, Z:-2.11
[[ 9.99455084e-01  3.12816929e-02  1.05352506e-02  1.99852135e+02]
 [-3.12845638e-02  9.99510512e-01  1.07775707e-04  6.57463867e+00]
 [-1.05267223e-02 -4.37307699e-04  9.99944497e-01 -2.10768679e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 198.027702638
Centerline is valid?  [True, True]
Translation: X:199.91, Y:6.58, Z:-2.11
[[ 9.99525993e-01  2.89274618e-02  1.05352419e-02  1.99912303e+02]
 [-2.89302110e-02  9.99581428e-01  1.08620335e-04  6.57941810e+00]
 [-1.05276901e-02 -4.13355620e-04  9.99944497e-01 -2.10832189e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.087702638
Centerline is valid?  [True, True]
Translation: X:199.97, Y:6.58, Z:-2.11
[[ 9.99550270e-01  2.80760902e-02  1.05352408e-02  1.99971042e+02]
 [-2.80787933e-02  9.99605707e-01  1.08726985e-04  6.58066506e+00]
 [-1.05280342e-02 -4.04494937e-04  9.99944497e-01 -2.10894097e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.147702638
Centerline is valid?  [True, True]
Translation: X:200.03, Y:6.59, Z:-2.11
[[ 9.99595608e-01  2.64126754e-02  1.05352389e-02  2.00030372e+02]
 [-2.64152883e-02  9.99651049e-01  1.08912330e-04  6.58603983e+00]
 [-1.05286860e-02 -3.87159659e-04  9.99944497e-01 -2.10956680e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.207702638
Centerline is valid?  [True, True]
Translation: X:200.09, Y:6.59, Z:-2.11
[[ 9.99608351e-01  2.59259376e-02  1.05352366e-02  2.00089821e+02]
 [-2.59285257e-02  9.99663793e-01  1.09131437e-04  6.58879633e+00]
 [-1.05288653e-02 -3.82251850e-04  9.99944497e-01 -2.11019362e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.26770263799997
Centerline is valid?  [True, True]
Translation: X:200.15, Y:6.59, Z:-2.11
[[ 9.99624863e-01  2.52812701e-02  1.05352344e-02  2.00148568e+02]
 [-2.52838248e-02  9.99680307e-01  1.09351014e-04  6.59134021e+00]
 [-1.05291018e-02 -3.75681011e-04  9.99944497e-01 -2.11081302e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.32770263799998
Centerline is valid?  [True, True]
Translation: X:200.21, Y:6.59, Z:-2.11
[[ 9.99630794e-01  2.50456535e-02  1.05352191e-02  2.00206008e+02]
 [-2.50482104e-02  9.99686238e-01  1.10801500e-04  6.59415974e+00]
 [-1.05291385e-02 -3.74648977e-04  9.99944497e-01 -2.11141967e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.38770263799998
Centerline is valid?  [True, True]
Translation: X:200.27, Y:6.60, Z:-2.11
[[ 9.99681437e-01  2.29354435e-02  1.05352136e-02  2.00266023e+02]
 [-2.29378888e-02  9.99736886e-01  1.11317845e-04  6.59570688e+00]
 [-1.05298886e-02 -3.52937942e-04  9.99944497e-01 -2.11205257e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.44770263799998
Centerline is valid?  [True, True]
Translation: X:200.32, Y:6.60, Z:-2.11
[[ 9.99751248e-01  1.96583535e-02  1.05352119e-02  2.00323977e+02]
 [-1.96606187e-02  9.99806705e-01  1.11482710e-04  6.59804383e+00]
 [-1.05309839e-02 -3.18583763e-04  9.99944497e-01 -2.11266355e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.50770263799998
Centerline is valid?  [True, True]
Translation: X:200.38, Y:6.60, Z:-2.11
[[ 9.99788190e-01  1.76800762e-02  1.05351956e-02  2.00384059e+02]
 [-1.76822477e-02  9.99843650e-01  1.13001862e-04  6.59949559e+00]
 [-1.05315505e-02 -2.99263866e-04  9.99944497e-01 -2.11329795e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.567702638
Centerline is valid?  [True, True]
Translation: X:200.44, Y:6.60, Z:-2.11
[[ 9.99833503e-01  1.48988837e-02  1.05351944e-02  2.00443557e+02]
 [-1.49009021e-02  9.99888969e-01  1.13111694e-04  6.60051334e+00]
 [-1.05323395e-02 -2.70076762e-04  9.99944497e-01 -2.11392501e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.627702638
Centerline is valid?  [True, True]
Translation: X:200.50, Y:6.60, Z:-2.11
[[ 9.99859892e-01  1.30079400e-02  1.05351921e-02  2.00501422e+02]
 [-1.30098558e-02  9.99915362e-01  1.13330053e-04  6.60318822e+00]
 [-1.05328262e-02 -2.50375504e-04  9.99944497e-01 -2.11453515e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.687702638
Centerline is valid?  [True, True]
Translation: X:200.56, Y:6.60, Z:-2.12
[[ 9.99870106e-01  1.21975998e-02  1.05351862e-02  2.00560278e+02]
 [-1.21994763e-02  9.99925577e-01  1.13869971e-04  6.60401979e+00]
 [-1.05330132e-02 -2.42378935e-04  9.99944497e-01 -2.11515578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.747702638
Centerline is valid?  [True, True]
Translation: X:200.62, Y:6.61, Z:-2.12
[[ 9.99894818e-01  9.96812294e-03  1.05351700e-02  2.00620152e+02]
 [-9.96989136e-03  9.99950293e-01  1.15351619e-04  6.60592234e+00]
 [-1.05334965e-02 -2.20373987e-04  9.99944497e-01 -2.11578801e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.807702638
Centerline is valid?  [True, True]
Translation: X:200.68, Y:6.61, Z:-2.12
[[ 9.99914154e-01  7.79062839e-03  1.05351700e-02  2.00677646e+02]
 [-7.79227600e-03  9.99969633e-01  1.15351619e-04  6.60665328e+00]
 [-1.05339514e-02 -1.97434669e-04  9.99944497e-01 -2.11639384e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.867702638
Centerline is valid?  [True, True]
Translation: X:200.74, Y:6.61, Z:-2.12
[[ 9.99930092e-01  5.36850425e-03  1.05351643e-02  2.00736570e+02]
 [-5.37002298e-03  9.99985575e-01  1.15875414e-04  6.60685860e+00]
 [-1.05343902e-02 -1.72441387e-04  9.99944497e-01 -2.11701509e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.927702638
Centerline is valid?  [True, True]
Translation: X:200.80, Y:6.61, Z:-2.12
[[ 9.99943984e-01  1.01942804e-03  1.05351596e-02  2.00796952e+02]
 [-1.02070988e-03  9.99999472e-01  1.16297117e-04  6.60777418e+00]
 [-1.05350355e-02 -1.27043944e-04  9.99944497e-01 -2.11765171e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 198.98770263799997
Centerline is valid?  [True, True]
Translation: X:200.86, Y:6.61, Z:-2.12
[[ 9.99940586e-01 -2.79910546e-03  1.05351584e-02  2.00855467e+02]
 [ 2.79803441e-03  9.99996079e-01  1.16402413e-04  6.60794510e+00]
 [-1.05354429e-02 -8.69177612e-05  9.99944497e-01 -2.11826832e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.04770263799998
Centerline is valid?  [True, True]
Translation: X:200.92, Y:6.61, Z:-2.12
[[ 9.99929591e-01 -5.46112014e-03  1.05351561e-02  2.00915657e+02]
 [ 5.46019464e-03  9.99985086e-01  1.16610132e-04  6.60719932e+00]
 [-1.05356358e-02 -5.90779189e-05  9.99944497e-01 -2.11890255e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.10770263799998
Centerline is valid?  [True, True]
Translation: X:200.98, Y:6.61, Z:-2.12
[[ 9.99913802e-01 -7.83579997e-03  1.05351573e-02  2.00977897e+02]
 [ 7.83500734e-03  9.99969299e-01  1.16507848e-04  6.60738776e+00]
 [-1.05357468e-02 -3.39547705e-05  9.99944497e-01 -2.11955823e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.16770263799998
Centerline is valid?  [True, True]
Translation: X:201.04, Y:6.61, Z:-2.12
[[ 9.99916517e-01 -7.48133089e-03  1.05351617e-02  2.01038274e+02]
 [ 7.48052281e-03  9.99972014e-01  1.16106261e-04  6.60672757e+00]
 [-1.05357355e-02 -3.72880504e-05  9.99944497e-01 -2.12019395e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 199.22770263799998
Centerline is valid?  [True, True]
Translation: X:201.10, Y:6.61, Z:-2.12
[[ 9.99913725e-01 -7.84557617e-03  1.05351639e-02  2.01099295e+02]
 [ 7.84479045e-03  9.99969222e-01  1.15903339e-04  6.60514312e+00]
 [-1.05357490e-02 -3.32471858e-05  9.99944497e-01 -2.12083650e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.28770263799998
Centerline is valid?  [True, True]
Translation: X:201.16, Y:6.60, Z:-2.12
[[ 9.99918720e-01 -7.18077353e-03  1.05351650e-02  2.01159686e+02]
 [ 7.17995198e-03  9.99974217e-01  1.15802174e-04  6.60446423e+00]
 [-1.05357250e-02 -4.01507827e-05  9.99944497e-01 -2.12147260e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.347702638
Centerline is valid?  [True, True]
Translation: X:201.22, Y:6.60, Z:-2.12
[[ 9.99930013e-01 -5.38325022e-03  1.05351662e-02  2.01221108e+02]
 [ 5.38233000e-03  9.99985508e-01  1.15698129e-04  6.60492680e+00]
 [-1.05356363e-02 -5.89862907e-05  9.99944497e-01 -2.12211970e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.407702638
Centerline is valid?  [True, True]
Translation: X:201.28, Y:6.61, Z:-2.12
[[ 9.99942507e-01 -1.99813638e-03  1.05351696e-02  2.01282672e+02]
 [ 1.99703157e-03  9.99997999e-01  1.15387620e-04  6.60579222e+00]
 [-1.05353791e-02 -9.43419196e-05  9.99944497e-01 -2.12276817e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.467702638
Centerline is valid?  [True, True]
Translation: X:201.34, Y:6.61, Z:-2.12
[[ 9.99936244e-01  4.06424717e-03  1.05351729e-02  2.01343396e+02]
 [-4.06568519e-03  9.99991728e-01  1.15084298e-04  6.60503733e+00]
 [-1.05346180e-02 -1.57909657e-04  9.99944497e-01 -2.12340762e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.527702638
Centerline is valid?  [True, True]
Translation: X:201.40, Y:6.60, Z:-2.12
[[ 9.99916370e-01  7.50086265e-03  1.05351752e-02  2.01402438e+02]
 [-7.50248918e-03  9.99971849e-01  1.14876824e-04  6.60350621e+00]
 [-1.05340169e-02 -1.93907254e-04  9.99944497e-01 -2.12402932e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.587702638
Centerline is valid?  [True, True]
Translation: X:201.46, Y:6.60, Z:-2.12
[[ 9.99879901e-01  1.13663355e-02  1.05351595e-02  2.01462609e+02]
 [-1.13681914e-02  9.99935373e-01  1.16296481e-04  6.60217789e+00]
 [-1.05331568e-02 -2.36048223e-04  9.99944497e-01 -2.12466425e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.647702638
Centerline is valid?  [True, True]
Translation: X:201.52, Y:6.60, Z:-2.13
[[ 9.99818967e-01  1.58443817e-02  1.05351578e-02  2.01521917e+02]
 [-1.58464876e-02  9.99874430e-01  1.16445202e-04  6.60079469e+00]
 [-1.05319899e-02 -2.83369370e-04  9.99944497e-01 -2.12528906e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.707702638
Centerline is valid?  [True, True]
Translation: X:201.58, Y:6.60, Z:-2.13
[[ 9.99758924e-01  1.92640609e-02  1.05351543e-02  2.01581652e+02]
 [-1.92663598e-02  9.99814380e-01  1.16761320e-04  6.59660796e+00]
 [-1.05309495e-02 -3.19707246e-04  9.99944497e-01 -2.12591818e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.76770263799997
Centerline is valid?  [True, True]
Translation: X:201.64, Y:6.60, Z:-2.13
[[ 9.99748551e-01  1.97950785e-02  1.05351537e-02  2.01641300e+02]
 [-1.97974075e-02  9.99804005e-01  1.16817699e-04  6.59740748e+00]
 [-1.05307765e-02 -3.25357057e-04  9.99944497e-01 -2.12654676e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.82770263799998
Centerline is valid?  [True, True]
Translation: X:201.70, Y:6.60, Z:-2.13
[[ 9.99686508e-01  2.27133538e-02  1.05351526e-02  2.01701633e+02]
 [-2.27158458e-02  9.99741955e-01  1.16922173e-04  6.59575358e+00]
 [-1.05297783e-02 -3.56200419e-04  9.99944497e-01 -2.12718229e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.88770263799998
Centerline is valid?  [True, True]
Translation: X:201.76, Y:6.60, Z:-2.13
[[ 9.99661752e-01  2.37779679e-02  1.05351518e-02  2.01760962e+02]
 [-2.37805196e-02  9.99717197e-01  1.16987825e-04  6.59522725e+00]
 [-1.05293907e-02 -3.67479638e-04  9.99944497e-01 -2.12780737e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 199.94770263799998
Centerline is valid?  [True, True]
Translation: X:201.82, Y:6.59, Z:-2.13
[[ 9.99642938e-01  2.45561888e-02  1.05351494e-02  2.01819373e+02]
 [-2.45587859e-02  9.99698381e-01  1.17207212e-04  6.59414244e+00]
 [-1.05290936e-02 -3.75895840e-04  9.99944497e-01 -2.12842281e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.00770263799998
Centerline is valid?  [True, True]
Translation: X:201.88, Y:6.59, Z:-2.13
[[ 9.99618306e-01  2.55392433e-02  1.05351317e-02  2.01876871e+02]
 [-2.55419115e-02  9.99673745e-01  1.18773390e-04  6.59325535e+00]
 [-1.05286612e-02 -3.87815457e-04  9.99944497e-01 -2.12902972e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.067702638
Centerline is valid?  [True, True]
Translation: X:201.93, Y:6.59, Z:-2.13
[[ 9.99616239e-01  2.56200319e-02  1.05351257e-02  2.01934358e+02]
 [-2.56227102e-02  9.99671677e-01  1.19309141e-04  6.59292989e+00]
 [-1.05286100e-02 -3.89201826e-04  9.99944497e-01 -2.12963577e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.127702638
Centerline is valid?  [True, True]
Translation: X:201.99, Y:6.59, Z:-2.13
[[ 9.99606471e-01  2.59983755e-02  1.05351055e-02  2.01994141e+02]
 [-2.60010932e-02  9.99661907e-01  1.21061500e-04  6.59313926e+00]
 [-1.05283963e-02 -3.94938119e-04  9.99944497e-01 -2.13026702e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.187702638
Centerline is valid?  [True, True]
Translation: X:202.05, Y:6.59, Z:-2.13
[[ 9.99589966e-01  2.66253942e-02  1.05351043e-02  2.02053218e+02]
 [-2.66281479e-02  9.99645401e-01  1.21170628e-04  6.59176731e+00]
 [-1.05281423e-02 -4.01651259e-04  9.99944497e-01 -2.13088936e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.247702638
Centerline is valid?  [True, True]
Translation: X:202.11, Y:6.59, Z:-2.13
[[ 9.99564621e-01  2.75604728e-02  1.05350992e-02  2.02111699e+02]
 [-2.75632829e-02  9.99620053e-01  1.21612357e-04  6.59162013e+00]
 [-1.05277447e-02 -4.11941329e-04  9.99944497e-01 -2.13150583e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.307702638
Centerline is valid?  [True, True]
Translation: X:202.17, Y:6.59, Z:-2.13
[[ 9.99548431e-01  2.81415354e-02  1.05350814e-02  2.02170204e+02]
 [-2.81443937e-02  9.99603861e-01  1.23129699e-04  6.59112825e+00]
 [-1.05274430e-02 -4.19577578e-04  9.99944497e-01 -2.13212334e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.367702638
Centerline is valid?  [True, True]
Translation: X:202.23, Y:6.59, Z:-2.13
[[ 9.99594795e-01  2.64435000e-02  1.05350717e-02  2.02230093e+02]
 [-2.64462730e-02  9.99650228e-01  1.23959977e-04  6.58938956e+00]
 [-1.05281089e-02 -4.02523129e-04  9.99944497e-01 -2.13275475e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 200.427702638
Centerline is valid?  [True, True]
Translation: X:202.29, Y:6.59, Z:-2.13
[[ 9.99633344e-01  2.49437147e-02  1.05350701e-02  2.02287922e+02]
 [-2.49464058e-02  9.99688782e-01  1.24096113e-04  6.58933131e+00]
 [-1.05286959e-02 -3.86862746e-04  9.99944497e-01 -2.13336411e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.48770263799997
Centerline is valid?  [True, True]
Translation: X:202.35, Y:6.59, Z:-2.13
[[ 9.99637470e-01  2.47778195e-02  1.05350638e-02  2.02346984e+02]
 [-2.47805070e-02  9.99692908e-01  1.24622828e-04  6.58774928e+00]
 [-1.05287407e-02 -3.85641871e-04  9.99944497e-01 -2.13398658e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.54770263799998
Centerline is valid?  [True, True]
Translation: X:202.41, Y:6.59, Z:-2.13
[[ 9.99641486e-01  2.46152644e-02  1.05350613e-02  2.02407004e+02]
 [-2.46179451e-02  9.99696925e-01  1.24834145e-04  6.58664891e+00]
 [-1.05287956e-02 -3.84140951e-04  9.99944497e-01 -2.13461895e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.60770263799998
Centerline is valid?  [True, True]
Translation: X:202.47, Y:6.59, Z:-2.14
[[ 9.99621432e-01  2.54166271e-02  1.05350601e-02  2.02467536e+02]
 [-2.54193534e-02  9.99676868e-01  1.24940470e-04  6.58613720e+00]
 [-1.05284803e-02 -3.92687587e-04  9.99944497e-01 -2.13525672e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.66770263799998
Centerline is valid?  [True, True]
Translation: X:202.53, Y:6.59, Z:-2.14
[[ 9.99635006e-01  2.48770303e-02  1.05350595e-02  2.02526028e+02]
 [-2.48797272e-02  9.99690444e-01  1.24987257e-04  6.58516313e+00]
 [-1.05286890e-02 -3.87051044e-04  9.99944497e-01 -2.13587288e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.72770263799998
Centerline is valid?  [True, True]
Translation: X:202.58, Y:6.58, Z:-2.14
[[ 9.99679122e-01  2.30361842e-02  1.05350570e-02  2.02584465e+02]
 [-2.30387812e-02  9.99734564e-01  1.25195711e-04  6.58395893e+00]
 [-1.05293766e-02 -3.67870413e-04  9.99944497e-01 -2.13648856e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.78770263799998
Centerline is valid?  [True, True]
Translation: X:202.64, Y:6.58, Z:-2.14
[[ 9.99708005e-01  2.17466588e-02  1.05350396e-02  2.02643660e+02]
 [-2.17491995e-02  9.99763450e-01  1.26648718e-04  6.58206290e+00]
 [-1.05297933e-02 -3.55740415e-04  9.99944497e-01 -2.13711310e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.847702638
Centerline is valid?  [True, True]
Translation: X:202.70, Y:6.58, Z:-2.14
[[ 9.99736240e-01  2.04074477e-02  1.05350391e-02  2.02702268e+02]
 [-2.04099146e-02  9.99791688e-01  1.26686257e-04  6.58106968e+00]
 [-1.05302592e-02 -3.41672091e-04  9.99944497e-01 -2.13773047e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.907702638
Centerline is valid?  [True, True]
Translation: X:202.76, Y:6.58, Z:-2.14
[[ 9.99787630e-01  1.77118090e-02  1.05350215e-02  2.02760854e+02]
 [-1.77141416e-02  9.99843084e-01  1.28134387e-04  6.58020809e+00]
 [-1.05310989e-02 -3.14726038e-04  9.99944497e-01 -2.13834870e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 200.967702638
Centerline is valid?  [True, True]
Translation: X:202.82, Y:6.58, Z:-2.14
[[ 9.99828613e-01  1.52235991e-02  1.05350174e-02  2.02820142e+02]
 [-1.52257972e-02  9.99884073e-01  1.28468365e-04  6.57937712e+00]
 [-1.05318404e-02 -2.88850386e-04  9.99944497e-01 -2.13897349e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.027702638
Centerline is valid?  [True, True]
Translation: X:202.88, Y:6.58, Z:-2.14
[[ 9.99914801e-01  7.70742059e-03  1.05350148e-02  2.02879469e+02]
 [-7.70920401e-03  9.99970275e-01  1.28684790e-04  6.57619067e+00]
 [-1.05337098e-02 -2.09890405e-04  9.99944497e-01 -2.13959829e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.087702638
Centerline is valid?  [True, True]
Translation: X:202.94, Y:6.57, Z:-2.14
[[ 9.99937460e-01  3.75371763e-03  1.05350127e-02  2.02938891e+02]
 [-3.75528351e-03  9.99992941e-01  1.28858109e-04  6.57464331e+00]
 [-1.05344546e-02 -1.68412009e-04  9.99944497e-01 -2.14022426e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.147702638
Centerline is valid?  [True, True]
Translation: X:203.00, Y:6.57, Z:-2.14
[[ 9.99937343e-01 -3.78466796e-03  1.05350113e-02  2.02998650e+02]
 [ 3.78351922e-03  9.99992834e-01  1.28968459e-04  6.57166858e+00]
 [-1.05354239e-02 -8.91009604e-05  9.99944497e-01 -2.14085356e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.20770263799997
Centerline is valid?  [True, True]
Translation: X:203.06, Y:6.57, Z:-2.14
[[ 9.99894334e-01 -1.00166872e-02  1.05350086e-02  2.03059842e+02]
 [ 1.00158819e-02  9.99949831e-01  1.29190314e-04  6.56931352e+00]
 [-1.05357741e-02 -2.36592607e-05  9.99944497e-01 -2.14149812e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.26770263799997
Centerline is valid?  [True, True]
Translation: X:203.12, Y:6.57, Z:-2.14
[[ 9.99872007e-01 -1.20408543e-02  1.05350260e-02  2.03122064e+02]
 [ 1.20401766e-02  9.99927506e-01  1.27755627e-04  6.56898047e+00]
 [-1.05358006e-02 -8.95701723e-07  9.99944497e-01 -2.14215255e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.32770263799998
Centerline is valid?  [True, True]
Translation: X:203.18, Y:6.57, Z:-2.14
[[ 9.99767524e-01 -1.88125140e-02  1.05350445e-02  2.03182885e+02]
 [ 1.88122285e-02  9.99823026e-01  1.26208172e-04  6.56511976e+00]
 [-1.05355544e-02  7.20088334e-05  9.99944497e-01 -2.14279169e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.38770263799998
Centerline is valid?  [True, True]
Translation: X:203.24, Y:6.56, Z:-2.14
[[ 9.99660204e-01 -2.38430302e-02  1.05350484e-02  2.03243489e+02]
 [ 2.38430273e-02  9.99715707e-01  1.25888560e-04  6.56220105e+00]
 [-1.05350549e-02  1.25341662e-04  9.99944497e-01 -2.14342959e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.44770263799998
Centerline is valid?  [True, True]
Translation: X:203.30, Y:6.55, Z:-2.14
[[ 9.99498753e-01 -2.98538865e-02  1.05350496e-02  2.03304315e+02]
 [ 2.98542185e-02  9.99554256e-01  1.25781042e-04  6.55362065e+00]
 [-1.05341087e-02  1.88797679e-04  9.99944497e-01 -2.14406928e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.50770263799998
Centerline is valid?  [True, True]
Translation: X:203.36, Y:6.55, Z:-2.14
[[ 9.99443365e-01 -3.16539393e-02  1.05350662e-02  2.03364872e+02]
 [ 3.16543860e-02  9.99498867e-01  1.24379647e-04  6.55001450e+00]
 [-1.05337238e-02  2.09170638e-04  9.99944497e-01 -2.14470581e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.567702638
Centerline is valid?  [True, True]
Translation: X:203.43, Y:6.54, Z:-2.15
[[ 9.99311779e-01 -3.55665703e-02  1.05350682e-02  2.03427629e+02]
 [ 3.55672361e-02  9.99367278e-01  1.24212377e-04  6.54470930e+00]
 [-1.05328202e-02  2.50576365e-04  9.99944497e-01 -2.14536622e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 201.627702638
Centerline is valid?  [True, True]
Translation: X:203.49, Y:6.54, Z:-2.15
[[ 9.99199389e-01 -3.85952367e-02  1.05350745e-02  2.03489038e+02]
 [ 3.85960765e-02  9.99254886e-01  1.23669154e-04  6.54068118e+00]
 [-1.05319977e-02  2.83042399e-04  9.99944497e-01 -2.14601231e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.687702638
Centerline is valid?  [True, True]
Translation: X:203.55, Y:6.54, Z:-2.15
[[ 9.99183038e-01 -3.90162682e-02  1.05350772e-02  2.03551266e+02]
 [ 3.90171337e-02  9.99238534e-01  1.23445001e-04  6.53606539e+00]
 [-1.05318714e-02  2.87704363e-04  9.99944497e-01 -2.14666719e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.747702638
Centerline is valid?  [True, True]
Translation: X:203.61, Y:6.53, Z:-2.15
[[ 9.99121774e-01 -4.05547970e-02  1.05350955e-02  2.03611096e+02]
 [ 4.05557646e-02  9.99177269e-01  1.21862442e-04  6.53216992e+00]
 [-1.05313700e-02  3.05503433e-04  9.99944497e-01 -2.14729595e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.807702638
Centerline is valid?  [True, True]
Translation: X:203.67, Y:6.53, Z:-2.15
[[ 9.99141816e-01 -4.00579914e-02  1.05350972e-02  2.03671922e+02]
 [ 4.00589330e-02  9.99197311e-01  1.21714917e-04  6.52649299e+00]
 [-1.05315164e-02  3.00414287e-04  9.99944497e-01 -2.14793600e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.867702638
Centerline is valid?  [True, True]
Translation: X:203.73, Y:6.52, Z:-2.15
[[ 9.99168390e-01 -3.93895920e-02  1.05351026e-02  2.03733273e+02]
 [ 3.93905014e-02  9.99223886e-01  1.21243100e-04  6.52421569e+00]
 [-1.05317019e-02  2.93840701e-04  9.99944497e-01 -2.14858176e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.927702638
Centerline is valid?  [True, True]
Translation: X:203.80, Y:6.52, Z:-2.15
[[ 9.99235393e-01 -3.76515654e-02  1.05351051e-02  2.03796059e+02]
 [ 3.76523806e-02  9.99290890e-01  1.21021245e-04  6.52018976e+00]
 [-1.05321912e-02  2.75743078e-04  9.99944497e-01 -2.14924261e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 201.98770263799997
Centerline is valid?  [True, True]
Translation: X:203.86, Y:6.52, Z:-2.15
[[ 9.99274127e-01 -3.66091480e-02  1.05351147e-02  2.03857924e+02]
 [ 3.66099141e-02  9.99329625e-01  1.20186519e-04  6.51780561e+00]
 [-1.05324521e-02  2.65590364e-04  9.99944497e-01 -2.14989355e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.04770263799998
Centerline is valid?  [True, True]
Translation: X:203.92, Y:6.52, Z:-2.15
[[ 9.99284069e-01 -3.63367813e-02  1.05351209e-02  2.03918632e+02]
 [ 3.63375380e-02  9.99339566e-01  1.19640115e-04  6.51526568e+00]
 [-1.05325105e-02  2.63265894e-04  9.99944497e-01 -2.15053247e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.10770263799998
Centerline is valid?  [True, True]
Translation: X:203.98, Y:6.51, Z:-2.15
[[ 9.99199483e-01 -3.85927891e-02  1.05351234e-02  2.03980473e+02]
 [ 3.85936735e-02  9.99254980e-01  1.19420640e-04  6.51058022e+00]
 [-1.05318833e-02  2.87264069e-04  9.99944497e-01 -2.15118330e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.16770263799998
Centerline is valid?  [True, True]
Translation: X:204.04, Y:6.51, Z:-2.15
[[ 9.99213312e-01 -3.82330699e-02  1.05351394e-02  2.04042327e+02]
 [ 3.82339493e-02  9.99268808e-01  1.17990516e-04  6.50738650e+00]
 [-1.05319473e-02  2.84902291e-04  9.99944497e-01 -2.15183363e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.22770263799998
Centerline is valid?  [True, True]
Translation: X:204.10, Y:6.50, Z:-2.15
[[ 9.99058265e-01 -4.20903010e-02  1.05351431e-02  2.04102601e+02]
 [ 4.20913982e-02  9.99113757e-01  1.17658593e-04  6.50152462e+00]
 [-1.05307587e-02  3.25891113e-04  9.99944497e-01 -2.15246774e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.28770263799998
Centerline is valid?  [True, True]
Translation: X:204.16, Y:6.50, Z:-2.15
[[ 9.98999472e-01 -4.34633934e-02  1.05351457e-02  2.04164569e+02]
 [ 4.34645693e-02  9.99054962e-01  1.17423507e-04  6.49554927e+00]
 [-1.05302932e-02  3.40599549e-04  9.99944497e-01 -2.15311977e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.347702638
Centerline is valid?  [True, True]
Translation: X:204.23, Y:6.49, Z:-2.15
[[ 9.99068036e-01 -4.18577279e-02  1.05351493e-02  2.04226729e+02]
 [ 4.18588181e-02  9.99123529e-01  1.17100243e-04  6.49249684e+00]
 [-1.05308171e-02  3.23997788e-04  9.99944497e-01 -2.15377410e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.407702638
Centerline is valid?  [True, True]
Translation: X:204.29, Y:6.49, Z:-2.15
[[ 9.98984792e-01 -4.37995038e-02  1.05351668e-02  2.04287012e+02]
 [ 4.38007186e-02  9.99040281e-01  1.15505692e-04  6.48881373e+00]
 [-1.05301151e-02  3.46059446e-04  9.99944497e-01 -2.15440775e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.467702638
Centerline is valid?  [True, True]
Translation: X:204.35, Y:6.49, Z:-2.16
[[ 9.98950175e-01 -4.45820472e-02  1.05351672e-02  2.04349596e+02]
 [ 4.45833059e-02  9.99005663e-01  1.15466551e-04  6.48631373e+00]
 [-1.05298394e-02  3.54347250e-04  9.99944497e-01 -2.15506680e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.527702638
Centerline is valid?  [True, True]
Translation: X:204.41, Y:6.49, Z:-2.16
[[ 9.98894958e-01 -4.58025503e-02  1.05351737e-02  2.04411656e+02]
 [ 4.58038830e-02  9.98950445e-01  1.14872646e-04  6.48550113e+00]
 [-1.05293779e-02  3.67806157e-04  9.99944497e-01 -2.15572018e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.587702638
Centerline is valid?  [True, True]
Translation: X:204.47, Y:6.48, Z:-2.16
[[ 9.98885567e-01 -4.60068970e-02  1.05351928e-02  2.04473163e+02]
 [ 4.60082598e-02  9.98941053e-01  1.13090913e-04  6.48087173e+00]
 [-1.05292396e-02  3.71741008e-04  9.99944497e-01 -2.15636652e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.647702638
Centerline is valid?  [True, True]
Translation: X:204.54, Y:6.48, Z:-2.16
[[ 9.98870432e-01 -4.63343320e-02  1.05352102e-02  2.04535406e+02]
 [ 4.63357303e-02  9.98925917e-01  1.11450516e-04  6.48105314e+00]
 [-1.05290585e-02  3.76832031e-04  9.99944497e-01 -2.15702127e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.70770263799997
Centerline is valid?  [True, True]
Translation: X:204.60, Y:6.48, Z:-2.16
[[ 9.98901434e-01 -4.56610785e-02  1.05352273e-02  2.04597698e+02]
 [ 4.56624567e-02  9.98956920e-01  1.09809423e-04  6.47794121e+00]
 [-1.05292522e-02  3.71375569e-04  9.99944497e-01 -2.15767617e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.76770263799997
Centerline is valid?  [True, True]
Translation: X:204.66, Y:6.48, Z:-2.16
[[ 9.98920037e-01 -4.52522693e-02  1.05352434e-02  2.04658435e+02]
 [ 4.52536413e-02  9.98975523e-01  1.08236940e-04  6.47827580e+00]
 [-1.05293483e-02  3.68638079e-04  9.99944497e-01 -2.15831511e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 202.82770263799998
Centerline is valid?  [True, True]
Translation: X:204.72, Y:6.48, Z:-2.16
[[ 9.98952432e-01 -4.45314293e-02  1.05352457e-02  2.04719410e+02]
 [ 4.45327637e-02  9.99007919e-01  1.08012292e-04  6.47638753e+00]
 [-1.05296038e-02  3.61264467e-04  9.99944497e-01 -2.15895719e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.88770263799998
Centerline is valid?  [True, True]
Translation: X:204.78, Y:6.47, Z:-2.16
[[ 9.98836088e-01 -4.70688584e-02  1.05352469e-02  2.04780444e+02]
 [ 4.70703350e-02  9.98891572e-01  1.07897858e-04  6.47463684e+00]
 [-1.05286480e-02  3.88125326e-04  9.99944497e-01 -2.15959997e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 202.94770263799998
Centerline is valid?  [True, True]
Translation: X:204.84, Y:6.47, Z:-2.16
[[ 9.98775196e-01 -4.83437347e-02  1.05352481e-02  2.04841053e+02]
 [ 4.83452833e-02  9.98830677e-01  1.07782990e-04  6.47399522e+00]
 [-1.05281396e-02  4.01678576e-04  9.99944497e-01 -2.16023839e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.00770263799998
Centerline is valid?  [True, True]
Translation: X:204.90, Y:6.47, Z:-2.16
[[ 9.98632340e-01 -5.12099340e-02  1.05352505e-02  2.04903635e+02]
 [ 5.12116443e-02  9.98687817e-01  1.07547137e-04  6.47182229e+00]
 [-1.05269338e-02  4.32127452e-04  9.99944497e-01 -2.16089737e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.067702638
Centerline is valid?  [True, True]
Translation: X:204.97, Y:6.47, Z:-2.16
[[ 9.98546144e-01 -5.28640480e-02  1.05352551e-02  2.04965186e+02]
 [ 5.28658550e-02  9.98601617e-01  1.07088295e-04  6.47138898e+00]
 [-1.05261839e-02  4.50022666e-04  9.99944497e-01 -2.16154552e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.127702638
Centerline is valid?  [True, True]
Translation: X:205.03, Y:6.47, Z:-2.16
[[ 9.98466681e-01 -5.43442204e-02  1.05352701e-02  2.05026763e+02]
 [ 5.43461253e-02  9.98522152e-01  1.05601402e-04  6.47196637e+00]
 [-1.05254393e-02  4.67111626e-04  9.99944497e-01 -2.16219342e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.187702638
Centerline is valid?  [True, True]
Translation: X:205.09, Y:6.47, Z:-2.16
[[ 9.98386477e-01 -5.57982965e-02  1.05352777e-02  2.05087871e+02]
 [ 5.58002902e-02  9.98441945e-01  1.04836048e-04  6.46910612e+00]
 [-1.05247128e-02  4.83204659e-04  9.99944497e-01 -2.16283646e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.247702638
Centerline is valid?  [True, True]
Translation: X:205.15, Y:6.47, Z:-2.16
[[ 9.98237511e-01 -5.84027427e-02  1.05352783e-02  2.05148707e+02]
 [ 5.84048818e-02  9.98292972e-01  1.04767583e-04  6.46949242e+00]
 [-1.05234131e-02  5.10728755e-04  9.99944497e-01 -2.16347742e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.307702638
Centerline is valid?  [True, True]
Translation: X:205.21, Y:6.47, Z:-2.16
[[ 9.98215150e-01 -5.87836893e-02  1.05352788e-02  2.05209139e+02]
 [ 5.87858501e-02  9.98270611e-01  1.04717269e-04  6.46778714e+00]
 [-1.05232149e-02  5.14794959e-04  9.99944497e-01 -2.16411391e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.367702638
Centerline is valid?  [True, True]
Translation: X:205.27, Y:6.47, Z:-2.16
[[ 9.98274939e-01 -5.77594547e-02  1.05352800e-02  2.05271370e+02]
 [ 5.77615598e-02  9.98330402e-01  1.04602209e-04  6.46801558e+00]
 [-1.05237321e-02  5.04112442e-04  9.99944497e-01 -2.16476952e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.427702638
Centerline is valid?  [True, True]
Translation: X:205.33, Y:6.47, Z:-2.17
[[ 9.98281287e-01 -5.76496240e-02  1.05352845e-02  2.05333890e+02]
 [ 5.76517278e-02  9.98336751e-01  1.04147180e-04  6.46793758e+00]
 [-1.05237657e-02  5.03409173e-04  9.99944497e-01 -2.16542793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.48770263799997
Centerline is valid?  [True, True]
Translation: X:205.39, Y:6.47, Z:-2.17
[[ 9.98413439e-01 -5.53137689e-02  1.05352901e-02  2.05394433e+02]
 [ 5.53157490e-02  9.98468906e-01  1.03575393e-04  6.46639280e+00]
 [-1.05248887e-02  4.79356399e-04  9.99944497e-01 -2.16606529e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.54770263799998
Centerline is valid?  [True, True]
Translation: X:205.45, Y:6.47, Z:-2.17
[[ 9.98535336e-01 -5.30677942e-02  1.05352912e-02  2.05454306e+02]
 [ 5.30696507e-02  9.98590808e-01  1.03461154e-04  6.46629726e+00]
 [-1.05259354e-02  4.55794608e-04  9.99944497e-01 -2.16669602e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.60770263799998
Centerline is valid?  [True, True]
Translation: X:205.52, Y:6.47, Z:-2.17
[[ 9.98610507e-01 -5.16339293e-02  1.05352912e-02  2.05515230e+02]
 [ 5.16357062e-02  9.98665982e-01  1.03461154e-04  6.46824838e+00]
 [-1.05265791e-02  4.40679807e-04  9.99944497e-01 -2.16733812e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.66770263799998
Centerline is valid?  [True, True]
Translation: X:205.58, Y:6.47, Z:-2.17
[[ 9.98731930e-01 -4.92294648e-02  1.05352934e-02  2.05576029e+02]
 [ 4.92311105e-02  9.98787408e-01  1.03237747e-04  6.46644028e+00]
 [-1.05276008e-02  4.15557360e-04  9.99944497e-01 -2.16797836e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.72770263799998
Centerline is valid?  [True, True]
Translation: X:205.64, Y:6.47, Z:-2.17
[[ 9.98826191e-01 -4.72784086e-02  1.05352942e-02  2.05638325e+02]
 [ 4.72799468e-02  9.98881673e-01  1.03153886e-04  6.46797370e+00]
 [-1.05283893e-02  3.95075347e-04  9.99944497e-01 -2.16863481e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.78770263799998
Centerline is valid?  [True, True]
Translation: X:205.70, Y:6.47, Z:-2.17
[[ 9.98839340e-01 -4.69997789e-02  1.05353093e-02  2.05700862e+02]
 [ 4.70013180e-02  9.98894822e-01  1.01596693e-04  6.47049838e+00]
 [-1.05284409e-02  3.93694647e-04  9.99944497e-01 -2.16929298e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.847702638
Centerline is valid?  [True, True]
Translation: X:205.76, Y:6.47, Z:-2.17
[[ 9.98828513e-01 -4.72293190e-02  1.05353264e-02  2.05763200e+02]
 [ 4.72308899e-02  9.98883994e-01  9.97907884e-05  6.47152795e+00]
 [-1.05282819e-02  3.97918954e-04  9.99944497e-01 -2.16994876e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.907702638
Centerline is valid?  [True, True]
Translation: X:205.82, Y:6.47, Z:-2.17
[[ 9.98808177e-01 -4.76574573e-02  1.05353347e-02  2.05824619e+02]
 [ 4.76590612e-02  9.98863656e-01  9.89005081e-05  6.47290840e+00]
 [-1.05280763e-02  4.03321527e-04  9.99944497e-01 -2.17059545e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 203.967702638
Centerline is valid?  [True, True]
Translation: X:205.89, Y:6.47, Z:-2.17
[[ 9.98764813e-01 -4.85577566e-02  1.05353435e-02  2.05885296e+02]
 [ 4.85594205e-02  9.98820291e-01  9.79590273e-05  6.47297992e+00]
 [-1.05276715e-02  4.13752144e-04  9.99944497e-01 -2.17123416e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 204.027702638
Centerline is valid?  [True, True]
Translation: X:205.95, Y:6.47, Z:-2.17
[[ 9.98702031e-01 -4.98323139e-02  1.05353456e-02  2.05948008e+02]
 [ 4.98340511e-02  9.98757507e-01  9.77267917e-05  6.47189900e+00]
 [-1.05271255e-02  4.27419007e-04  9.99944497e-01 -2.17189464e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.087702638
Centerline is valid?  [True, True]
Translation: X:206.01, Y:6.47, Z:-2.17
[[ 9.98690338e-01 -5.00660991e-02  1.05353509e-02  2.06010836e+02]
 [ 5.00678552e-02  9.98745814e-01  9.71555111e-05  6.47197051e+00]
 [-1.05270018e-02  4.30454153e-04  9.99944497e-01 -2.17255624e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.147702638
Centerline is valid?  [True, True]
Translation: X:206.07, Y:6.47, Z:-2.17
[[ 9.98686832e-01 -5.01359914e-02  1.05353563e-02  2.06072208e+02]
 [ 5.01377577e-02  9.98742307e-01  9.65625776e-05  6.47322291e+00]
 [-1.05269474e-02  4.31783368e-04  9.99944497e-01 -2.17320261e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.20770263799997
Centerline is valid?  [True, True]
Translation: X:206.13, Y:6.47, Z:-2.17
[[ 9.98742236e-01 -4.90199085e-02  1.05353585e-02  2.06134218e+02]
 [ 4.90216153e-02  9.98797713e-01  9.63246913e-05  6.47299631e+00]
 [-1.05274138e-02  4.20256755e-04  9.99944497e-01 -2.17385578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.26770263799997
Centerline is valid?  [True, True]
Translation: X:206.19, Y:6.47, Z:-2.17
[[ 9.98779268e-01 -4.82595003e-02  1.05353730e-02  2.06194591e+02]
 [ 4.82611819e-02  9.98834746e-01  9.47074020e-05  6.47381675e+00]
 [-1.05276672e-02  4.13857765e-04  9.99944497e-01 -2.17449094e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.32770263799998
Centerline is valid?  [True, True]
Translation: X:206.25, Y:6.48, Z:-2.18
[[ 9.98947117e-01 -4.46504587e-02  1.05353751e-02  2.06254621e+02]
 [ 4.46519422e-02  9.99002600e-01  9.44760660e-05  6.47591254e+00]
 [-1.05290855e-02  3.76048368e-04  9.99944497e-01 -2.17512347e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.38770263799998
Centerline is valid?  [True, True]
Translation: X:206.32, Y:6.47, Z:-2.18
[[ 9.99063671e-01 -4.19617295e-02  1.05353745e-02  2.06316902e+02]
 [ 4.19630630e-02  9.99119158e-01  9.45409804e-05  6.47493110e+00]
 [-1.05300616e-02  3.47644127e-04  9.99944497e-01 -2.17577960e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.44770263799998
Centerline is valid?  [True, True]
Translation: X:206.38, Y:6.48, Z:-2.18
[[ 9.99197372e-01 -3.86473361e-02  1.05353884e-02  2.06378649e+02]
 [ 3.86485021e-02  9.99252863e-01  9.29731597e-05  6.47628420e+00]
 [-1.05311102e-02  3.14278443e-04  9.99944497e-01 -2.17642933e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.50770263799998
Centerline is valid?  [True, True]
Translation: X:206.44, Y:6.48, Z:-2.18
[[ 9.99291995e-01 -3.61180632e-02  1.05353929e-02  2.06438517e+02]
 [ 3.61190941e-02  9.99347488e-01  9.24621498e-05  6.47795081e+00]
 [-1.05318579e-02  2.88132160e-04  9.99944497e-01 -2.17705993e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.567702638
Centerline is valid?  [True, True]
Translation: X:206.50, Y:6.48, Z:-2.18
[[ 9.99510938e-01 -2.94429945e-02  1.05353929e-02  2.06499757e+02]
 [ 2.94436548e-02  9.99566437e-01  9.24621498e-05  6.48138692e+00]
 [-1.05335475e-02  2.17783540e-04  9.99944497e-01 -2.17770547e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.627702638
Centerline is valid?  [True, True]
Translation: X:206.56, Y:6.48, Z:-2.18
[[ 9.99665173e-01 -2.36336274e-02  1.05353950e-02  2.06559267e+02]
 [ 2.36339677e-02  9.99720675e-01  9.22146699e-05  6.48205113e+00]
 [-1.05346316e-02  1.56809391e-04  9.99944497e-01 -2.17833237e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.687702638
Centerline is valid?  [True, True]
Translation: X:206.62, Y:6.48, Z:-2.18
[[ 9.99748539e-01 -1.97955751e-02  1.05353940e-02  2.06621227e+02]
 [ 1.97957011e-02  9.99804042e-01  9.23352147e-05  6.48438393e+00]
 [-1.05351573e-02  1.16243514e-04  9.99944497e-01 -2.17898548e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.747702638
Centerline is valid?  [True, True]
Translation: X:206.68, Y:6.49, Z:-2.18
[[ 9.99881882e-01 -1.11904809e-02  1.05353990e-02  2.06682150e+02]
 [ 1.11901353e-02  9.99937384e-01  9.17577113e-05  6.48916973e+00]
 [-1.05357661e-02  2.61456670e-05  9.99944497e-01 -2.17962744e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.807702638
Centerline is valid?  [True, True]
Translation: X:206.74, Y:6.49, Z:-2.18
[[ 9.99922286e-01 -6.66542532e-03  1.05354001e-02  2.06743660e+02]
 [ 6.66482977e-03  9.99977786e-01  9.16367524e-05  6.49107269e+00]
 [-1.05357768e-02 -2.14129830e-05  9.99944497e-01 -2.18027560e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.867702638
Centerline is valid?  [True, True]
Translation: X:206.80, Y:6.50, Z:-2.18
[[ 9.99944488e-01  1.61040768e-04  1.05354021e-02  2.06804168e+02]
 [-1.62012649e-04  9.99999983e-01  9.13957315e-05  6.49683084e+00]
 [-1.05353872e-02 -9.30975264e-05  9.99944497e-01 -2.18091350e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.927702638
Centerline is valid?  [True, True]
Translation: X:206.86, Y:6.50, Z:-2.18
[[ 9.99914229e-01  7.78076344e-03  1.05354032e-02  2.06864553e+02]
 [-7.78215689e-03  9.99969714e-01  9.12742219e-05  6.50226360e+00]
 [-1.05343739e-02 -1.73254554e-04  9.99944497e-01 -2.18155013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 204.98770263799997
Centerline is valid?  [True, True]
Translation: X:206.92, Y:6.51, Z:-2.18
[[ 9.99851343e-01  1.36490971e-02  1.05354028e-02  2.06922662e+02]
 [-1.36508167e-02  9.99906819e-01  9.13224441e-05  6.50778713e+00]
 [-1.05331746e-02 -2.35125721e-04  9.99944497e-01 -2.18216289e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.04770263799998
Centerline is valid?  [True, True]
Translation: X:206.98, Y:6.51, Z:-2.18
[[ 9.99856994e-01  1.32286468e-02  1.05353861e-02  2.06982627e+02]
 [-1.32303629e-02  9.99912471e-01  9.32052157e-05  6.51258718e+00]
 [-1.05332310e-02 -2.32578868e-04  9.99944497e-01 -2.18279635e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.10770263799998
Centerline is valid?  [True, True]
Translation: X:207.04, Y:6.52, Z:-2.18
[[ 9.99825734e-01  1.54112580e-02  1.05353851e-02  2.07041216e+02]
 [-1.54130964e-02  9.99881207e-01  9.33233148e-05  6.51771485e+00]
 [-1.05326953e-02 -2.55689958e-04  9.99944497e-01 -2.18341420e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.16770263799998
Centerline is valid?  [True, True]
Translation: X:207.10, Y:6.52, Z:-2.18
[[ 9.99812499e-01  1.62472281e-02  1.05353703e-02  2.07099806e+02]
 [-1.62491302e-02  9.99867970e-01  9.49663945e-05  6.52204280e+00]
 [-1.05324363e-02 -2.66139191e-04  9.99944497e-01 -2.18403299e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 205.22770263799998
Centerline is valid?  [True, True]
Translation: X:207.16, Y:6.53, Z:-2.18
[[ 9.99745462e-01  1.99503648e-02  1.05353681e-02  2.07160246e+02]
 [-1.99524748e-02  9.99800925e-01  9.52007725e-05  6.52774862e+00]
 [-1.05313715e-02 -3.05383208e-04  9.99944497e-01 -2.18467047e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.28770263799998
Centerline is valid?  [True, True]
Translation: X:207.22, Y:6.53, Z:-2.19
[[ 9.99713236e-01  2.15046793e-02  1.05353681e-02  2.07220833e+02]
 [-2.15068756e-02  9.99768696e-01  9.52007725e-05  6.53025695e+00]
 [-1.05308840e-02 -3.21756324e-04  9.99944497e-01 -2.18530906e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.347702638
Centerline is valid?  [True, True]
Translation: X:207.28, Y:6.54, Z:-2.19
[[ 9.99674644e-01  2.32295355e-02  1.05353682e-02  2.07279317e+02]
 [-2.32318274e-02  9.99730100e-01  9.51998533e-05  6.53618407e+00]
 [-1.05303132e-02 -3.39924734e-04  9.99944497e-01 -2.18592580e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.407702638
Centerline is valid?  [True, True]
Translation: X:207.34, Y:6.54, Z:-2.19
[[ 9.99620399e-01  2.54571235e-02  1.05353532e-02  2.07337587e+02]
 [-2.54595561e-02  9.99675848e-01  9.68281467e-05  6.54056213e+00]
 [-1.05294732e-02 -3.65016806e-04  9.99944497e-01 -2.18654125e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.467702638
Centerline is valid?  [True, True]
Translation: X:207.40, Y:6.55, Z:-2.19
[[ 9.99548724e-01  2.81310337e-02  1.05353381e-02  2.07397174e+02]
 [-2.81336317e-02  9.99604166e-01  9.84453006e-05  6.54500511e+00]
 [-1.05283985e-02 -3.94798196e-04  9.99944497e-01 -2.18717058e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.527702638
Centerline is valid?  [True, True]
Translation: X:207.46, Y:6.55, Z:-2.19
[[ 9.99515551e-01  2.92860063e-02  1.05353371e-02  2.07457508e+02]
 [-2.92886694e-02  9.99570990e-01  9.85516139e-05  6.54832454e+00]
 [-1.05279311e-02 -4.07069876e-04  9.99944497e-01 -2.18780666e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.587702638
Centerline is valid?  [True, True]
Translation: X:207.52, Y:6.55, Z:-2.19
[[ 9.99476448e-01  3.05914600e-02  1.05353323e-02  2.07518314e+02]
 [-3.05942009e-02  9.99531883e-01  9.90642903e-05  6.55123268e+00]
 [-1.05273700e-02 -4.21332497e-04  9.99944497e-01 -2.18844795e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.647702638
Centerline is valid?  [True, True]
Translation: X:207.58, Y:6.55, Z:-2.19
[[ 9.99488597e-01  3.01919159e-02  1.05353333e-02  2.07577697e+02]
 [-3.01946335e-02  9.99544033e-01  9.89570452e-05  6.55465106e+00]
 [-1.05275418e-02 -4.17016966e-04  9.99944497e-01 -2.18907386e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.70770263799997
Centerline is valid?  [True, True]
Translation: X:207.64, Y:6.56, Z:-2.19
[[ 9.99516318e-01  2.92598305e-02  1.05353261e-02  2.07636757e+02]
 [-2.92625044e-02  9.99571756e-01  9.97190509e-05  6.55666030e+00]
 [-1.05278966e-02 -4.07960844e-04  9.99944497e-01 -2.18969684e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.76770263799997
Centerline is valid?  [True, True]
Translation: X:207.70, Y:6.56, Z:-2.19
[[ 9.99550395e-01  2.80716123e-02  1.05353104e-02  2.07696542e+02]
 [-2.80742375e-02  9.99605836e-01  1.01344369e-04  6.55939828e+00]
 [-1.05283129e-02 -3.97069611e-04  9.99944497e-01 -2.19032813e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.82770263799998
Centerline is valid?  [True, True]
Translation: X:207.76, Y:6.56, Z:-2.19
[[ 9.99587803e-01  2.67064082e-02  1.05353082e-02  2.07755888e+02]
 [-2.67089600e-02  9.99643247e-01  1.01573109e-04  6.56114003e+00]
 [-1.05288371e-02 -3.82918367e-04  9.99944497e-01 -2.19095372e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.88770263799998
Centerline is valid?  [True, True]
Translation: X:207.82, Y:6.56, Z:-2.19
[[ 9.99650410e-01  2.42500445e-02  1.05353060e-02  2.07815655e+02]
 [-2.42524625e-02  9.99705861e-01  1.01800716e-04  6.56368091e+00]
 [-1.05297385e-02 -3.57272242e-04  9.99944497e-01 -2.19158384e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 205.94770263799998
Centerline is valid?  [True, True]
Translation: X:207.87, Y:6.57, Z:-2.19
[[ 9.99691480e-01  2.24934025e-02  1.05353013e-02  2.07874378e+02]
 [-2.24957282e-02  9.99746934e-01  1.02288097e-04  6.56629957e+00]
 [-1.05303343e-02 -3.39255814e-04  9.99944497e-01 -2.19220315e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.00770263799998
Centerline is valid?  [True, True]
Translation: X:207.93, Y:6.57, Z:-2.19
[[ 9.99818514e-01  1.58728121e-02  1.05352852e-02  2.07934369e+02]
 [-1.58747877e-02  9.99873982e-01  1.03913865e-04  6.56955607e+00]
 [-1.05323082e-02 -2.71140423e-04  9.99944497e-01 -2.19283667e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.067702638
Centerline is valid?  [True, True]
Translation: X:207.99, Y:6.57, Z:-2.19
[[ 9.99854229e-01  1.34360620e-02  1.05352826e-02  2.07993138e+02]
 [-1.34379052e-02  9.99909702e-01  1.04185814e-04  6.57138993e+00]
 [-1.05329314e-02 -2.45742755e-04  9.99944497e-01 -2.19345623e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.127702638
Centerline is valid?  [True, True]
Translation: X:208.05, Y:6.57, Z:-2.19
[[ 9.99905958e-01  8.77973989e-03  1.05352803e-02  2.08052309e+02]
 [-8.78132717e-03  9.99961438e-01  1.04413493e-04  6.57481467e+00]
 [-1.05339573e-02 -1.96917417e-04  9.99944497e-01 -2.19408017e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.187702638
Centerline is valid?  [True, True]
Translation: X:208.11, Y:6.58, Z:-2.19
[[ 9.99940628e-01  2.78352701e-03  1.05352769e-02  2.08110872e+02]
 [-2.78478520e-03  9.99996117e-01  1.04758675e-04  6.57630291e+00]
 [-1.05349444e-02 -1.34090939e-04  9.99944497e-01 -2.19469758e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.247702638
Centerline is valid?  [True, True]
Translation: X:208.17, Y:6.58, Z:-2.20
[[ 9.99932018e-01 -4.99670803e-03  1.05352734e-02  2.08170254e+02]
 [ 4.99587796e-03  9.99987515e-01  1.05105504e-04  6.57869206e+00]
 [-1.05356671e-02 -5.24654186e-05  9.99944497e-01 -2.19532372e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.307702638
Centerline is valid?  [True, True]
Translation: X:208.23, Y:6.58, Z:-2.20
[[ 9.99876346e-01 -1.16747607e-02  1.05352711e-02  2.08229758e+02]
 [ 1.16742988e-02  9.99931848e-01  1.05338616e-04  6.57970144e+00]
 [-1.05357829e-02  1.76663123e-05  9.99944497e-01 -2.19595091e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.367702638
Centerline is valid?  [True, True]
Translation: X:208.29, Y:6.58, Z:-2.20
[[ 9.99838467e-01 -1.45618672e-02  1.05352711e-02  2.08292599e+02]
 [ 1.45615656e-02  9.99893969e-01  1.05339323e-04  6.58376881e+00]
 [-1.05356879e-02  4.80877337e-05  9.99944497e-01 -2.19661342e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 206.427702638
Centerline is valid?  [True, True]
Translation: X:208.35, Y:6.59, Z:-2.20
[[ 9.99850000e-01 -1.37471706e-02  1.05352890e-02  2.08353968e+02]
 [ 1.37468429e-02  9.99905502e-01  1.03519749e-04  6.58630701e+00]
 [-1.05357165e-02  4.13227416e-05  9.99944497e-01 -2.19725897e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.48770263799997
Centerline is valid?  [True, True]
Translation: X:208.41, Y:6.59, Z:-2.20
[[ 9.99867488e-01 -1.24102315e-02  1.05352911e-02  2.08414983e+02]
 [ 1.24098319e-02  9.99922990e-01  1.03295829e-04  6.59213902e+00]
 [-1.05357617e-02  2.74590514e-05  9.99944497e-01 -2.19790226e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.54770263799998
Centerline is valid?  [True, True]
Translation: X:208.48, Y:6.60, Z:-2.20
[[ 9.99926037e-01 -6.07679244e-03  1.05352954e-02  2.08477192e+02]
 [ 6.07604599e-03  9.99981535e-01  1.02858718e-04  6.59634431e+00]
 [-1.05357259e-02 -3.88381707e-05  9.99944497e-01 -2.19855780e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.60770263799998
Centerline is valid?  [True, True]
Translation: X:208.54, Y:6.60, Z:-2.20
[[ 9.99943274e-01  1.56740019e-03  1.05352997e-02  2.08539040e+02]
 [-1.56856625e-03  9.99998765e-01  1.02419276e-04  6.60152315e+00]
 [-1.05351261e-02 -1.18938782e-04  9.99944497e-01 -2.19920964e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.66770263799998
Centerline is valid?  [True, True]
Translation: X:208.60, Y:6.61, Z:-2.20
[[ 9.99890452e-01  1.03967445e-02  1.05353039e-02  2.08598544e+02]
 [-1.03983959e-02  9.99945930e-01  1.01984681e-04  6.60694884e+00]
 [-1.05336739e-02 -2.11523770e-04  9.99944497e-01 -2.19983682e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.72770263799998
Centerline is valid?  [True, True]
Translation: X:208.66, Y:6.61, Z:-2.20
[[ 9.99737752e-01  2.03330834e-02  1.05353039e-02  2.08659153e+02]
 [-2.03352861e-02  9.99793211e-01  1.01987403e-04  6.61486926e+00]
 [-1.05310516e-02 -3.16199076e-04  9.99944497e-01 -2.20047619e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.78770263799998
Centerline is valid?  [True, True]
Translation: X:208.72, Y:6.62, Z:-2.20
[[ 9.99522021e-01  2.90643750e-02  1.05353036e-02  2.08719101e+02]
 [-2.90670623e-02  9.99577458e-01  1.02016521e-04  6.61836755e+00]
 [-1.05278869e-02 -4.08198085e-04  9.99944497e-01 -2.20110817e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.847702638
Centerline is valid?  [True, True]
Translation: X:208.78, Y:6.62, Z:-2.20
[[ 9.99388316e-01  3.33466749e-02  1.05353035e-02  2.08779425e+02]
 [-3.33495998e-02  9.99443742e-01  1.02028338e-04  6.62315241e+00]
 [-1.05260408e-02 -4.53314084e-04  9.99944497e-01 -2.20174424e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.907702638
Centerline is valid?  [True, True]
Translation: X:208.84, Y:6.63, Z:-2.20
[[ 9.99195539e-01  3.86947436e-02  1.05353035e-02  2.08838468e+02]
 [-3.86979650e-02  9.99250948e-01  1.02021263e-04  6.62676361e+00]
 [-1.05234644e-02 -5.09633999e-04  9.99944497e-01 -2.20236667e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 206.967702638
Centerline is valid?  [True, True]
Translation: X:208.90, Y:6.63, Z:-2.20
[[ 9.99121643e-01  4.05579889e-02  1.05353015e-02  2.08898302e+02]
 [-4.05613160e-02  9.99177046e-01  1.02236465e-04  6.62757549e+00]
 [-1.05224849e-02 -5.29472356e-04  9.99944497e-01 -2.20299732e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.027702638
Centerline is valid?  [True, True]
Translation: X:208.96, Y:6.63, Z:-2.20
[[ 9.99109316e-01  4.08605099e-02  1.05353010e-02  2.08957082e+02]
 [-4.08638541e-02  9.99164719e-01  1.02279871e-04  6.62821401e+00]
 [-1.05223219e-02 -5.32701776e-04  9.99944497e-01 -2.20361672e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.087702638
Centerline is valid?  [True, True]
Translation: X:209.02, Y:6.63, Z:-2.20
[[ 9.99127219e-01  4.04203897e-02  1.05352979e-02  2.09017594e+02]
 [-4.04237131e-02  9.99182622e-01  1.02605605e-04  6.63054823e+00]
 [-1.05225392e-02 -5.28391910e-04  9.99944497e-01 -2.20425474e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.147702638
Centerline is valid?  [True, True]
Translation: X:209.08, Y:6.63, Z:-2.20
[[ 9.99229344e-01  3.78117096e-02  1.05352979e-02  2.09076840e+02]
 [-3.78148883e-02  9.99284756e-01  1.02605605e-04  6.62995895e+00]
 [-1.05238829e-02 -5.00917643e-04  9.99944497e-01 -2.20487890e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.20770263799997
Centerline is valid?  [True, True]
Translation: X:209.14, Y:6.63, Z:-2.21
[[ 9.99298448e-01  3.59391181e-02  1.05352972e-02  2.09135893e+02]
 [-3.59421937e-02  9.99353865e-01  1.02674974e-04  6.63083894e+00]
 [-1.05247999e-02 -4.81264634e-04  9.99944497e-01 -2.20550121e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.26770263799997
Centerline is valid?  [True, True]
Translation: X:209.20, Y:6.63, Z:-2.21
[[ 9.99405114e-01  3.28393879e-02  1.05352827e-02  2.09196392e+02]
 [-3.28423069e-02  9.99460541e-01  1.04138879e-04  6.63123018e+00]
 [-1.05261795e-02 -4.50079917e-04  9.99944497e-01 -2.20613976e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.32770263799998
Centerline is valid?  [True, True]
Translation: X:209.25, Y:6.63, Z:-2.21
[[ 9.99460006e-01  3.11240163e-02  1.05352823e-02  2.09254539e+02]
 [-3.11268407e-02  9.99515437e-01  1.04183901e-04  6.63080698e+00]
 [-1.05269346e-02 -4.32057696e-04  9.99944497e-01 -2.20675237e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.38770263799998
Centerline is valid?  [True, True]
Translation: X:209.31, Y:6.63, Z:-2.21
[[ 9.99513332e-01  2.93616692e-02  1.05352677e-02  2.09313193e+02]
 [-2.93644111e-02  9.99568767e-01  1.05633599e-04  6.63144721e+00]
 [-1.05276230e-02 -4.14944123e-04  9.99944497e-01 -2.20737150e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.44770263799998
Centerline is valid?  [True, True]
Translation: X:209.37, Y:6.64, Z:-2.21
[[ 9.99526384e-01  2.89139442e-02  1.05352644e-02  2.09372966e+02]
 [-2.89166647e-02  9.99581820e-01  1.05963062e-04  6.63537147e+00]
 [-1.05277950e-02 -4.10557585e-04  9.99944497e-01 -2.20800192e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.50770263799998
Centerline is valid?  [True, True]
Translation: X:209.43, Y:6.64, Z:-2.21
[[ 9.99579019e-01  2.70331953e-02  1.05352622e-02  2.09433093e+02]
 [-2.70358138e-02  9.99634460e-01  1.06179134e-04  6.63584774e+00]
 [-1.05285408e-02 -3.90963822e-04  9.99944497e-01 -2.20863562e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.567702638
Centerline is valid?  [True, True]
Translation: X:209.49, Y:6.64, Z:-2.21
[[ 9.99662176e-01  2.37600872e-02  1.05352622e-02  2.09493297e+02]
 [-2.37625242e-02  9.99717626e-01  1.06179134e-04  6.64013352e+00]
 [-1.05297645e-02 -3.56487687e-04  9.99944497e-01 -2.20927038e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 207.627702638
Centerline is valid?  [True, True]
Translation: X:209.55, Y:6.64, Z:-2.21
[[ 9.99765558e-01  1.89165922e-02  1.05352622e-02  2.09553448e+02]
 [-1.89187604e-02  9.99821019e-01  1.06179134e-04  6.64213740e+00]
 [-1.05313681e-02 -3.05468343e-04  9.99944497e-01 -2.20990433e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.687702638
Centerline is valid?  [True, True]
Translation: X:209.61, Y:6.64, Z:-2.21
[[ 9.99850741e-01  1.36931917e-02  1.05352600e-02  2.09613692e+02]
 [-1.36950725e-02  9.99906212e-01  1.06404843e-04  6.64420503e+00]
 [-1.05328149e-02 -2.50670111e-04  9.99944497e-01 -2.21053944e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.747702638
Centerline is valid?  [True, True]
Translation: X:209.67, Y:6.65, Z:-2.21
[[ 9.99917855e-01  7.30014120e-03  1.05352598e-02  2.09672123e+02]
 [-7.30166755e-03  9.99973337e-01  1.06423156e-04  6.64560771e+00]
 [-1.05342020e-02 -1.83339378e-04  9.99944497e-01 -2.21115523e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.807702638
Centerline is valid?  [True, True]
Translation: X:209.73, Y:6.65, Z:-2.21
[[ 9.99939700e-01  3.09913001e-03  1.05352553e-02  2.09730889e+02]
 [-3.10042793e-03  9.99995188e-01  1.06867492e-04  6.64685003e+00]
 [-1.05348734e-02 -1.39524848e-04  9.99944497e-01 -2.21177485e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.867702638
Centerline is valid?  [True, True]
Translation: X:209.79, Y:6.65, Z:-2.21
[[ 9.99937657e-01 -3.69998607e-03  1.05352542e-02  2.09791012e+02]
 [ 3.69906437e-03  9.99993153e-01  1.06971912e-04  6.64821487e+00]
 [-1.05355779e-02 -6.79946601e-05  9.99944497e-01 -2.21240851e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.927702638
Centerline is valid?  [True, True]
Translation: X:209.85, Y:6.65, Z:-2.21
[[ 9.99910054e-01 -8.30012738e-03  1.05352531e-02  2.09853609e+02]
 [ 8.29945989e-03  9.99965553e-01  1.07076308e-04  6.64866244e+00]
 [-1.05357790e-02 -1.96297660e-05  9.99944497e-01 -2.21306816e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 207.98770263799997
Centerline is valid?  [True, True]
Translation: X:209.91, Y:6.65, Z:-2.21
[[ 9.99874233e-01 -1.18543868e-02  1.05352678e-02  2.09914977e+02]
 [ 1.18539320e-02  9.99929734e-01  1.05611960e-04  6.65058316e+00]
 [-1.05357795e-02  1.92856712e-05  9.99944497e-01 -2.21371381e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.04770263799998
Centerline is valid?  [True, True]
Translation: X:209.98, Y:6.65, Z:-2.21
[[ 9.99835013e-01 -1.47971345e-02  1.05352823e-02  2.09977031e+02]
 [ 1.47968585e-02  9.99890515e-01  1.04148347e-04  6.65132695e+00]
 [-1.05356699e-02  5.17579180e-05  9.99944497e-01 -2.21436657e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.10770263799998
Centerline is valid?  [True, True]
Translation: X:210.04, Y:6.65, Z:-2.22
[[ 9.99805352e-01 -1.66812908e-02  1.05352973e-02  2.10039279e+02]
 [ 1.66811356e-02  9.99860855e-01  1.02608465e-04  6.65293462e+00]
 [-1.05355430e-02  7.31522306e-05  9.99944497e-01 -2.21502140e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.16770263799998
Centerline is valid?  [True, True]
Translation: X:210.10, Y:6.65, Z:-2.22
[[ 9.99796578e-01 -1.71991444e-02  1.05353016e-02  2.10099369e+02]
 [ 1.71990227e-02  9.99852081e-01  1.02167157e-04  6.65336775e+00]
 [-1.05355004e-02  7.90505166e-05  9.99944497e-01 -2.21565421e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.22770263799998
Centerline is valid?  [True, True]
Translation: X:210.16, Y:6.65, Z:-2.22
[[ 9.99801204e-01 -1.69280925e-02  1.05353026e-02  2.10161542e+02]
 [ 1.69279568e-02  9.99856707e-01  1.02057782e-04  6.65454773e+00]
 [-1.05355206e-02  7.63036545e-05  9.99944497e-01 -2.21630929e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.28770263799998
Centerline is valid?  [True, True]
Translation: X:210.22, Y:6.66, Z:-2.22
[[ 9.99810152e-01 -1.63910660e-02  1.05353172e-02  2.10224270e+02]
 [ 1.63909166e-02  9.99865655e-01  1.00532496e-04  6.65526574e+00]
 [-1.05355497e-02  7.21700948e-05  9.99944497e-01 -2.21696911e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.347702638
Centerline is valid?  [True, True]
Translation: X:210.29, Y:6.66, Z:-2.22
[[ 9.99841796e-01 -1.43314024e-02  1.05353231e-02  2.10286869e+02]
 [ 1.43311452e-02  9.99897299e-01  9.99047713e-05  6.65609739e+00]
 [-1.05356729e-02  5.10942801e-05  9.99944497e-01 -2.21762825e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.407702638
Centerline is valid?  [True, True]
Translation: X:210.35, Y:6.66, Z:-2.22
[[ 9.99876489e-01 -1.16624808e-02  1.05353378e-02  2.10349291e+02]
 [ 1.16620920e-02  9.99931991e-01  9.83344860e-05  6.65843063e+00]
 [-1.05357681e-02  2.45417385e-05  9.99944497e-01 -2.21828495e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.467702638
Centerline is valid?  [True, True]
Translation: X:210.41, Y:6.66, Z:-2.22
[[ 9.99915754e-01 -7.58236113e-03  1.05353426e-02  2.10411656e+02]
 [ 7.58175137e-03  9.99971253e-01  9.78160391e-05  6.66055867e+00]
 [-1.05357814e-02 -1.79314501e-05  9.99944497e-01 -2.21894184e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.527702638
Centerline is valid?  [True, True]
Translation: X:210.47, Y:6.66, Z:-2.22
[[ 9.99934715e-01 -4.42408587e-03  1.05353464e-02  2.10473662e+02]
 [ 4.42330520e-03  9.99990212e-01  9.74007464e-05  6.66297492e+00]
 [-1.05356742e-02 -5.07933349e-05  9.99944497e-01 -2.21959504e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.587702638
Centerline is valid?  [True, True]
Translation: X:210.54, Y:6.67, Z:-2.22
[[ 9.99941655e-01 -2.38596648e-03  1.05353504e-02  2.10535160e+02]
 [ 2.38507723e-03  9.99997151e-01  9.69697800e-05  6.66559258e+00]
 [-1.05355518e-02 -7.18364979e-05  9.99944497e-01 -2.22024291e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.647702638
Centerline is valid?  [True, True]
Translation: X:210.60, Y:6.67, Z:-2.22
[[ 9.99944121e-01 -8.72818105e-04  1.05353543e-02  2.10596181e+02]
 [ 8.71849379e-04  9.99999615e-01  9.65424855e-05  6.66747891e+00]
 [-1.05354345e-02 -8.73518486e-05  9.99944497e-01 -2.22088567e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.70770263799997
Centerline is valid?  [True, True]
Translation: X:210.66, Y:6.67, Z:-2.22
[[ 9.99944037e-01 -9.64195599e-04  1.05353582e-02  2.10657845e+02]
 [ 9.63236461e-04  9.99999531e-01  9.61136321e-05  6.66979048e+00]
 [-1.05354460e-02 -8.59602120e-05  9.99944497e-01 -2.22153526e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.76770263799997
Centerline is valid?  [True, True]
Translation: X:210.72, Y:6.67, Z:-2.22
[[ 9.99942429e-01 -2.03598746e-03  1.05353602e-02  2.10719203e+02]
 [ 2.03509009e-03  9.99997925e-01  9.58970419e-05  6.67134378e+00]
 [-1.05355336e-02 -7.44511138e-05  9.99944497e-01 -2.22218169e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 208.82770263799998
Centerline is valid?  [True, True]
Translation: X:210.78, Y:6.67, Z:-2.22
[[ 9.99938208e-01 -3.54779395e-03  1.05353622e-02  2.10779585e+02]
 [ 3.54698279e-03  9.99993705e-01  9.56786051e-05  6.67141186e+00]
 [-1.05356353e-02 -5.83039446e-05  9.99944497e-01 -2.22281772e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.88770263799998
Centerline is valid?  [True, True]
Translation: X:210.84, Y:6.67, Z:-2.22
[[ 9.99934411e-01 -4.49225023e-03  1.05353632e-02  2.10842448e+02]
 [ 4.49149263e-03  9.99989909e-01  9.55703458e-05  6.67223527e+00]
 [-1.05356862e-02 -4.82445714e-05  9.99944497e-01 -2.22348003e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 208.94770263799998
Centerline is valid?  [True, True]
Translation: X:210.90, Y:6.67, Z:-2.22
[[ 9.99922485e-01 -6.63546082e-03  1.05353786e-02  2.10903771e+02]
 [ 6.63484046e-03  9.99977985e-01  9.38340647e-05  6.67305890e+00]
 [-1.05357693e-02 -2.39262346e-05  9.99944497e-01 -2.22412487e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.00770263799998
Centerline is valid?  [True, True]
Translation: X:210.96, Y:6.67, Z:-2.22
[[ 9.99908828e-01 -8.44635694e-03  1.05353796e-02  2.10964293e+02]
 [ 8.44583823e-03  9.99964329e-01  9.37261662e-05  6.67323861e+00]
 [-1.05357954e-02 -4.73750921e-06  9.99944497e-01 -2.22476246e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.067702638
Centerline is valid?  [True, True]
Translation: X:211.03, Y:6.67, Z:-2.23
[[ 9.99907186e-01 -8.63860328e-03  1.05353815e-02  2.11025476e+02]
 [ 8.63809753e-03  9.99962687e-01  9.35087218e-05  6.67375954e+00]
 [-1.05357962e-02 -2.49438966e-06  9.99944497e-01 -2.22540696e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.127702638
Centerline is valid?  [True, True]
Translation: X:211.09, Y:6.67, Z:-2.23
[[ 9.99921594e-01 -6.76842093e-03  1.05353844e-02  2.11085797e+02]
 [ 6.76781482e-03  9.99977094e-01  9.31819862e-05  6.67392003e+00]
 [-1.05357738e-02 -2.18731493e-05  9.99944497e-01 -2.22604227e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.187702638
Centerline is valid?  [True, True]
Translation: X:211.15, Y:6.68, Z:-2.23
[[ 9.99937423e-01 -3.76249043e-03  1.05353844e-02  2.11146957e+02]
 [ 3.76171748e-03  9.99992920e-01  9.31819862e-05  6.67535167e+00]
 [-1.05356604e-02 -5.35450154e-05  9.99944497e-01 -2.22668678e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.247702638
Centerline is valid?  [True, True]
Translation: X:211.21, Y:6.68, Z:-2.23
[[ 9.99939757e-01 -3.08039198e-03  1.05353882e-02  2.11207469e+02]
 [ 3.07958570e-03  9.99995254e-01  9.27523608e-05  6.67738443e+00]
 [-1.05356239e-02 -6.03021422e-05  9.99944497e-01 -2.22732418e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.307702638
Centerline is valid?  [True, True]
Translation: X:211.27, Y:6.68, Z:-2.23
[[ 9.99943880e-01  1.11454777e-03  1.05353891e-02  2.11268318e+02]
 [-1.11558574e-03  9.99999373e-01  9.26456097e-05  6.67795359e+00]
 [-1.05352793e-02 -1.04393540e-04  9.99944497e-01 -2.22796526e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.367702638
Centerline is valid?  [True, True]
Translation: X:211.33, Y:6.68, Z:-2.23
[[ 9.99941105e-01  2.60625542e-03  1.05353910e-02  2.11327993e+02]
 [-2.60737394e-03  9.99996597e-01  9.24338506e-05  6.67884960e+00]
 [-1.05351142e-02 -1.19898111e-04  9.99944497e-01 -2.22859391e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.427702638
Centerline is valid?  [True, True]
Translation: X:211.39, Y:6.68, Z:-2.23
[[ 9.99938105e-01  3.57667539e-03  1.05353892e-02  2.11387058e+02]
 [-3.57784990e-03  9.99993595e-01  9.26363424e-05  6.67899315e+00]
 [-1.05349904e-02 -1.30324650e-04  9.99944497e-01 -2.22921638e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.48770263799997
Centerline is valid?  [True, True]
Translation: X:211.45, Y:6.68, Z:-2.23
[[ 9.99931140e-01  5.16922595e-03  1.05353758e-02  2.11445873e+02]
 [-5.17050471e-03  9.99986628e-01  9.41438555e-05  6.68040828e+00]
 [-1.05347482e-02 -1.48610583e-04  9.99944497e-01 -2.22983736e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.54770263799998
Centerline is valid?  [True, True]
Translation: X:211.51, Y:6.68, Z:-2.23
[[ 9.99925779e-01  6.11901467e-03  1.05353729e-02  2.11505824e+02]
 [-6.12034950e-03  9.99981266e-01  9.44629812e-05  6.68183016e+00]
 [-1.05345975e-02 -1.58936134e-04  9.99944497e-01 -2.23046939e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.60770263799998
Centerline is valid?  [True, True]
Translation: X:211.56, Y:6.68, Z:-2.23
[[ 9.99923291e-01  6.51291155e-03  1.05353719e-02  2.11563531e+02]
 [-6.51426935e-03  9.99978777e-01  9.45685212e-05  6.68193383e+00]
 [-1.05345324e-02 -1.63191518e-04  9.99944497e-01 -2.23107747e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.66770263799998
Centerline is valid?  [True, True]
Translation: X:211.62, Y:6.68, Z:-2.23
[[ 9.99921586e-01  6.76969076e-03  1.05353672e-02  2.11622757e+02]
 [-6.77106837e-03  9.99977072e-01  9.50964604e-05  6.68335249e+00]
 [-1.05344818e-02 -1.66424695e-04  9.99944497e-01 -2.23170203e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.72770263799998
Centerline is valid?  [True, True]
Translation: X:211.68, Y:6.68, Z:-2.23
[[ 9.99927353e-01  5.85621455e-03  1.05353604e-02  2.11682142e+02]
 [-5.85754934e-03  9.99982840e-01  9.58437203e-05  6.68493181e+00]
 [-1.05346183e-02 -1.57548151e-04  9.99944497e-01 -2.23232844e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.78770263799998
Centerline is valid?  [True, True]
Translation: X:211.74, Y:6.69, Z:-2.23
[[ 9.99908326e-01  8.50566494e-03  1.05353594e-02  2.11740389e+02]
 [-8.50714786e-03  9.99963809e-01  9.59493970e-05  6.68522583e+00]
 [-1.05341620e-02 -1.85566461e-04  9.99944497e-01 -2.23294223e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.847702638
Centerline is valid?  [True, True]
Translation: X:211.80, Y:6.69, Z:-2.23
[[ 9.99892955e-01  1.01531151e-02  1.05353555e-02  2.11798591e+02]
 [-1.01546939e-02  9.99948435e-01  9.63723973e-05  6.68752511e+00]
 [-1.05338338e-02 -2.03345392e-04  9.99944497e-01 -2.23355600e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.907702638
Centerline is valid?  [True, True]
Translation: X:211.86, Y:6.69, Z:-2.23
[[ 9.99855025e-01  1.33767070e-02  1.05353510e-02  2.11859158e+02]
 [-1.33784699e-02  9.99910500e-01  9.68722131e-05  6.68897127e+00]
 [-1.05331122e-02 -2.37805045e-04  9.99944497e-01 -2.23419465e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 209.967702638
Centerline is valid?  [True, True]
Translation: X:211.92, Y:6.69, Z:-2.23
[[ 9.99832080e-01  1.49939355e-02  1.05353519e-02  2.11917902e+02]
 [-1.49957871e-02  9.99887552e-01  9.67698940e-05  6.68972277e+00]
 [-1.05327163e-02 -2.54739539e-04  9.99944497e-01 -2.23481357e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 210.027702638
Centerline is valid?  [True, True]
Translation: X:211.98, Y:6.69, Z:-2.24
[[ 9.99818318e-01  1.58851704e-02  1.05353375e-02  2.11975519e+02]
 [-1.58870877e-02  9.99873787e-01  9.83170675e-05  6.69052528e+00]
 [-1.05324460e-02 -2.65675035e-04  9.99944497e-01 -2.23542190e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.087702638
Centerline is valid?  [True, True]
Translation: X:212.04, Y:6.69, Z:-2.24
[[ 9.99810181e-01  1.63893067e-02  1.05353323e-02  2.12035811e+02]
 [-1.63912578e-02  9.99865649e-01  9.88663227e-05  6.69097996e+00]
 [-1.05322965e-02 -2.71534903e-04  9.99944497e-01 -2.23605761e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.147702638
Centerline is valid?  [True, True]
Translation: X:212.10, Y:6.69, Z:-2.24
[[ 9.99838297e-01  1.45734789e-02  1.05353302e-02  2.12095043e+02]
 [-1.45753316e-02  9.99893769e-01  9.90928671e-05  6.69045166e+00]
 [-1.05327669e-02 -2.52632775e-04  9.99944497e-01 -2.23668180e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.20770263799997
Centerline is valid?  [True, True]
Translation: X:212.15, Y:6.69, Z:-2.24
[[ 9.99859616e-01  1.30290362e-02  1.05353260e-02  2.12154225e+02]
 [-1.30308078e-02  9.99915090e-01  9.95337904e-05  6.69055334e+00]
 [-1.05331346e-02 -2.36803626e-04  9.99944497e-01 -2.23730569e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.26770263799997
Centerline is valid?  [True, True]
Translation: X:212.21, Y:6.69, Z:-2.24
[[ 9.99870460e-01  1.21683931e-02  1.05353176e-02  2.12213103e+02]
 [-1.21701263e-02  9.99925936e-01  1.00412257e-04  6.68995409e+00]
 [-1.05333155e-02 -2.28615396e-04  9.99944497e-01 -2.23792665e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.32770263799998
Centerline is valid?  [True, True]
Translation: X:212.27, Y:6.69, Z:-2.24
[[ 9.99878819e-01  1.14610063e-02  1.05353134e-02  2.12271177e+02]
 [-1.14627049e-02  9.99934296e-01  1.00853397e-04  6.69033185e+00]
 [-1.05334653e-02 -2.21604364e-04  9.99944497e-01 -2.23853890e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.38770263799998
Centerline is valid?  [True, True]
Translation: X:212.33, Y:6.69, Z:-2.24
[[ 9.99896551e-01  9.79253240e-03  1.05353093e-02  2.12330429e+02]
 [-9.79414288e-03  9.99952031e-01  1.01281425e-04  6.68997914e+00]
 [-1.05338121e-02 -2.04455272e-04  9.99944497e-01 -2.23916346e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.44770263799998
Centerline is valid?  [True, True]
Translation: X:212.39, Y:6.69, Z:-2.24
[[ 9.99909862e-01  8.32319752e-03  1.05353015e-02  2.12389057e+02]
 [-8.32473493e-03  9.99965344e-01  1.02084657e-04  6.68961095e+00]
 [-1.05340867e-02 -1.89779047e-04  9.99944497e-01 -2.23978174e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.50770263799998
Centerline is valid?  [True, True]
Translation: X:212.45, Y:6.69, Z:-2.24
[[ 9.99909370e-01  8.38203104e-03  1.05352975e-02  2.12446521e+02]
 [-8.38357607e-03  9.99964852e-01  1.02497005e-04  6.68888262e+00]
 [-1.05340681e-02 -1.90811184e-04  9.99944497e-01 -2.24038743e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.567702638
Centerline is valid?  [True, True]
Translation: X:212.51, Y:6.69, Z:-2.24
[[ 9.99907649e-01  8.58492644e-03  1.05352925e-02  2.12505221e+02]
 [-8.58648814e-03  9.99963130e-01  1.03011162e-04  6.68912521e+00]
 [-1.05340197e-02 -1.93462813e-04  9.99944497e-01 -2.24100631e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.627702638
Centerline is valid?  [True, True]
Translation: X:212.56, Y:6.69, Z:-2.24
[[ 9.99904869e-01  8.90283681e-03  1.05352788e-02  2.12562869e+02]
 [-8.90443066e-03  9.99960349e-01  1.04389527e-04  6.68916580e+00]
 [-1.05339317e-02 -1.98190256e-04  9.99944497e-01 -2.24161475e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.687702638
Centerline is valid?  [True, True]
Translation: X:212.62, Y:6.69, Z:-2.24
[[ 9.99905904e-01  8.78588661e-03  1.05352617e-02  2.12622995e+02]
 [-8.78749186e-03  9.99961384e-01  1.06087956e-04  6.68884513e+00]
 [-1.05339228e-02 -1.98656500e-04  9.99944497e-01 -2.24224951e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.747702638
Centerline is valid?  [True, True]
Translation: X:212.68, Y:6.69, Z:-2.24
[[ 9.99909188e-01  8.40385341e-03  1.05352606e-02  2.12681686e+02]
 [-8.40543858e-03  9.99964668e-01  1.06193364e-04  6.68903688e+00]
 [-1.05339960e-02 -1.94737207e-04  9.99944497e-01 -2.24286797e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.807702638
Centerline is valid?  [True, True]
Translation: X:212.74, Y:6.69, Z:-2.24
[[ 9.99908284e-01  8.51076063e-03  1.05352451e-02  2.12741921e+02]
 [-8.51236777e-03  9.99963763e-01  1.07716716e-04  6.68981681e+00]
 [-1.05339466e-02 -1.97386717e-04  9.99944497e-01 -2.24350386e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.867702638
Centerline is valid?  [True, True]
Translation: X:212.80, Y:6.69, Z:-2.24
[[ 9.99904395e-01  8.95603076e-03  1.05352440e-02  2.12800511e+02]
 [-8.95766374e-03  9.99959874e-01  1.07824488e-04  6.68895220e+00]
 [-1.05338555e-02 -2.02185352e-04  9.99944497e-01 -2.24412114e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.927702638
Centerline is valid?  [True, True]
Translation: X:212.86, Y:6.69, Z:-2.24
[[ 9.99906745e-01  8.68964545e-03  1.05352407e-02  2.12859592e+02]
 [-8.69126706e-03  9.99962224e-01  1.08147423e-04  6.68762764e+00]
 [-1.05339029e-02 -1.99701928e-04  9.99944497e-01 -2.24474372e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 210.98770263799997
Centerline is valid?  [True, True]
Translation: X:212.92, Y:6.69, Z:-2.25
[[ 9.99910848e-01  8.20391666e-03  1.05352362e-02  2.12918183e+02]
 [-8.20551584e-03  9.99966328e-01  1.08577346e-04  6.68829583e+00]
 [-1.05339907e-02 -1.95014714e-04  9.99944497e-01 -2.24536143e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.04770263799998
Centerline is valid?  [True, True]
Translation: X:212.98, Y:6.69, Z:-2.25
[[ 9.99907159e-01  8.64185580e-03  1.05352340e-02  2.12976734e+02]
 [-8.64348155e-03  9.99962639e-01  1.08792637e-04  6.68781488e+00]
 [-1.05339002e-02 -1.99843638e-04  9.99944497e-01 -2.24597842e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.10770263799998
Centerline is valid?  [True, True]
Translation: X:213.04, Y:6.69, Z:-2.25
[[ 9.99912590e-01  7.98887960e-03  1.05352181e-02  2.13036185e+02]
 [-7.99048510e-03  9.99968069e-01  1.10309604e-04  6.68821670e+00]
 [-1.05340005e-02 -1.94481465e-04  9.99944497e-01 -2.24660600e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.16770263799998
Centerline is valid?  [True, True]
Translation: X:213.10, Y:6.69, Z:-2.25
[[ 9.99916470e-01  7.48748553e-03  1.05352158e-02  2.13095182e+02]
 [-7.48906557e-03  9.99971950e-01  1.10533990e-04  6.68836210e+00]
 [-1.05340926e-02 -1.89423679e-04  9.99944497e-01 -2.24722777e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 211.22770263799998
Centerline is valid?  [True, True]
Translation: X:213.15, Y:6.69, Z:-2.25
[[ 9.99912130e-01  8.04622497e-03  1.05352111e-02  2.13152580e+02]
 [-8.04784072e-03  9.99967609e-01  1.10980871e-04  6.68831602e+00]
 [-1.05339768e-02 -1.95756819e-04  9.99944497e-01 -2.24783284e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.28770263799998
Centerline is valid?  [True, True]
Translation: X:213.21, Y:6.69, Z:-2.25
[[ 9.99917642e-01  7.32933692e-03  1.05352053e-02  2.13212020e+02]
 [-7.33091857e-03  9.99973122e-01  1.11519816e-04  6.68899443e+00]
 [-1.05341048e-02 -1.88743364e-04  9.99944497e-01 -2.24845957e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.347702638
Centerline is valid?  [True, True]
Translation: X:213.27, Y:6.69, Z:-2.25
[[ 9.99930757e-01  5.24313127e-03  1.05352029e-02  2.13270748e+02]
 [-5.24459961e-03  9.99986241e-01  1.11752103e-04  6.68833229e+00]
 [-1.05344720e-02 -1.66997286e-04  9.99944497e-01 -2.24907843e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.407702638
Centerline is valid?  [True, True]
Translation: X:213.33, Y:6.69, Z:-2.25
[[ 9.99944498e-01 -1.04049185e-04  1.05351994e-02  2.13328060e+02]
 [ 1.02874082e-04  9.99999988e-01  1.12082502e-04  6.68819226e+00]
 [-1.05352109e-02 -1.10992483e-04  9.99944497e-01 -2.24968249e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.467702638
Centerline is valid?  [True, True]
Translation: X:213.39, Y:6.69, Z:-2.25
[[ 9.99928130e-01 -5.72228842e-03  1.05351923e-02  2.13388785e+02]
 [ 5.72141814e-03  9.99983626e-01  1.12743726e-04  6.68703561e+00]
 [-1.05356649e-02 -5.24593825e-05  9.99944497e-01 -2.25032265e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.527702638
Centerline is valid?  [True, True]
Translation: X:213.45, Y:6.69, Z:-2.25
[[ 9.99847871e-01 -1.39012502e-02  1.05351934e-02  2.13451152e+02]
 [ 1.39008350e-02  9.99903372e-01  1.12636024e-04  6.68513490e+00]
 [-1.05357412e-02  3.38290973e-05  9.99944497e-01 -2.25097944e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.587702638
Centerline is valid?  [True, True]
Translation: X:213.51, Y:6.68, Z:-2.25
[[ 9.99777462e-01 -1.82766567e-02  1.05352092e-02  2.13512468e+02]
 [ 1.82765002e-02  9.99832965e-01  1.11139520e-04  6.68345775e+00]
 [-1.05354807e-02  8.14319663e-05  9.99944497e-01 -2.25162412e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.647702638
Centerline is valid?  [True, True]
Translation: X:213.57, Y:6.68, Z:-2.25
[[ 9.99654470e-01 -2.40821596e-02  1.05352115e-02  2.13574366e+02]
 [ 2.40823276e-02  9.99709973e-01  1.10928069e-04  6.68278755e+00]
 [-1.05348273e-02  1.42822674e-04  9.99944497e-01 -2.25227604e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.70770263799997
Centerline is valid?  [True, True]
Translation: X:213.64, Y:6.68, Z:-2.25
[[ 9.99577622e-01 -2.70847992e-02  1.05352286e-02  2.13636377e+02]
 [ 2.70851514e-02  9.99633124e-01  1.09272580e-04  6.68143856e+00]
 [-1.05343231e-02  1.76121837e-04  9.99944497e-01 -2.25292797e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.76770263799997
Centerline is valid?  [True, True]
Translation: X:213.70, Y:6.68, Z:-2.25
[[ 9.99488781e-01 -3.01858574e-02  1.05352341e-02  2.13697261e+02]
 [ 3.01863874e-02  9.99544281e-01  1.08740379e-04  6.67968707e+00]
 [-1.05337154e-02  2.09335870e-04  9.99944497e-01 -2.25356884e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.82770263799998
Centerline is valid?  [True, True]
Translation: X:213.76, Y:6.68, Z:-2.25
[[ 9.99432645e-01 -3.19905619e-02  1.05352363e-02  2.13758631e+02]
 [ 3.19911943e-02  9.99488145e-01  1.08527371e-04  6.67914801e+00]
 [-1.05333157e-02  2.28568994e-04  9.99944497e-01 -2.25421520e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.88770263799998
Centerline is valid?  [True, True]
Translation: X:213.82, Y:6.68, Z:-2.25
[[ 9.99428018e-01 -3.21347904e-02  1.05352385e-02  2.13819033e+02]
 [ 3.21354331e-02  9.99483518e-01  1.08312159e-04  6.67676001e+00]
 [-1.05332779e-02  2.30304247e-04  9.99944497e-01 -2.25485117e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 211.94770263799998
Centerline is valid?  [True, True]
Translation: X:213.88, Y:6.68, Z:-2.26
[[ 9.99510169e-01 -2.94691435e-02  1.05352396e-02  2.13882312e+02]
 [ 2.94696393e-02  9.99565670e-01  1.08205026e-04  6.67766222e+00]
 [-1.05338526e-02  2.02317688e-04  9.99944497e-01 -2.25551788e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.00770263799998
Centerline is valid?  [True, True]
Translation: X:213.94, Y:6.68, Z:-2.26
[[ 9.99619084e-01 -2.55087193e-02  1.05352471e-02  2.13942131e+02]
 [ 2.55090029e-02  9.99674587e-01  1.07470583e-04  6.67595713e+00]
 [-1.05345602e-02  1.61314004e-04  9.99944497e-01 -2.25614739e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.067702638
Centerline is valid?  [True, True]
Translation: X:214.00, Y:6.68, Z:-2.26
[[ 9.99716254e-01 -2.13640091e-02  1.05352461e-02  2.14003925e+02]
 [ 2.13640616e-02  9.99771757e-01  1.07571566e-04  6.67705493e+00]
 [-1.05351397e-02  1.17534603e-04  9.99944497e-01 -2.25679863e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.127702638
Centerline is valid?  [True, True]
Translation: X:214.06, Y:6.68, Z:-2.26
[[ 9.99830584e-01 -1.50934104e-02  1.05352504e-02  2.14064151e+02]
 [ 1.50931193e-02  9.99886087e-01  1.07148186e-04  6.67631970e+00]
 [-1.05356675e-02  5.18797569e-05  9.99944497e-01 -2.25743277e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.187702638
Centerline is valid?  [True, True]
Translation: X:214.13, Y:6.68, Z:-2.26
[[ 9.99893490e-01 -1.01003589e-02  1.05352505e-02  2.14126400e+02]
 [ 1.00997907e-02  9.99948990e-01  1.07140195e-04  6.67723474e+00]
 [-1.05357952e-02 -7.24959481e-07  9.99944497e-01 -2.25808871e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.247702638
Centerline is valid?  [True, True]
Translation: X:214.19, Y:6.68, Z:-2.26
[[ 9.99936180e-01 -4.07962816e-03  1.05352549e-02  2.14188508e+02]
 [ 4.07873036e-03  9.99991676e-01  1.06702606e-04  6.67866898e+00]
 [-1.05356025e-02 -6.37253319e-05  9.99944497e-01 -2.25874289e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.307702638
Centerline is valid?  [True, True]
Translation: X:214.25, Y:6.68, Z:-2.26
[[ 9.99944019e-01  9.82949767e-04  1.05352592e-02  2.14249370e+02]
 [-9.84124026e-04  9.99999510e-01  1.06276407e-04  6.67848247e+00]
 [-1.05351496e-02 -1.16638459e-04  9.99944497e-01 -2.25938379e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.367702638
Centerline is valid?  [True, True]
Translation: X:214.31, Y:6.68, Z:-2.26
[[ 9.99941827e-01  2.31339727e-03  1.05352625e-02  2.14309622e+02]
 [-2.31464195e-03  9.99997316e-01  1.05952750e-04  6.67839106e+00]
 [-1.05349891e-02 -1.30331946e-04  9.99944497e-01 -2.26001834e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 212.427702638
Centerline is valid?  [True, True]
Translation: X:214.37, Y:6.68, Z:-2.26
[[ 9.99942873e-01  1.80512498e-03  1.05352613e-02  2.14368182e+02]
 [-1.80634262e-03  9.99998363e-01  1.06063552e-04  6.67666045e+00]
 [-1.05350526e-02 -1.25087785e-04  9.99944497e-01 -2.26063523e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.48770263799997
Centerline is valid?  [True, True]
Translation: X:214.43, Y:6.68, Z:-2.26
[[ 9.99943944e-01  1.05656667e-03  1.05352569e-02  2.14426965e+02]
 [-1.05774746e-03  9.99999435e-01  1.06508357e-04  6.67605654e+00]
 [-1.05351384e-02 -1.17646028e-04  9.99944497e-01 -2.26125481e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.54770263799998
Centerline is valid?  [True, True]
Translation: X:214.49, Y:6.67, Z:-2.26
[[ 9.99942811e-01 -1.83931408e-03  1.05352535e-02  2.14486944e+02]
 [ 1.83829052e-03  9.99998305e-01  1.06838955e-04  6.67258299e+00]
 [-1.05354321e-02 -8.74659884e-05  9.99944497e-01 -2.26188662e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.60770263799998
Centerline is valid?  [True, True]
Translation: X:214.55, Y:6.67, Z:-2.26
[[ 9.99936177e-01 -4.08059453e-03  1.05352523e-02  2.14548177e+02]
 [ 4.07969415e-03  9.99991672e-01  1.06953752e-04  6.67067280e+00]
 [-1.05356010e-02 -6.39663187e-05  9.99944497e-01 -2.26253164e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.66770263799998
Centerline is valid?  [True, True]
Translation: X:214.61, Y:6.67, Z:-2.26
[[ 9.99937804e-01 -3.66007910e-03  1.05352547e-02  2.14610039e+02]
 [ 3.65915781e-03  9.99993300e-01  1.06723270e-04  6.66968711e+00]
 [-1.05355747e-02 -6.81664730e-05  9.99944497e-01 -2.26318314e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.72770263799998
Centerline is valid?  [True, True]
Translation: X:214.67, Y:6.67, Z:-2.26
[[ 9.99938180e-01 -3.55588127e-03  1.05352593e-02  2.14671062e+02]
 [ 3.55495903e-03  9.99993675e-01  1.06264076e-04  6.66826727e+00]
 [-1.05355705e-02 -6.88050918e-05  9.99944497e-01 -2.26382557e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.78770263799998
Centerline is valid?  [True, True]
Translation: X:214.73, Y:6.67, Z:-2.26
[[ 9.99942922e-01 -1.77785233e-03  1.05352738e-02  2.14732893e+02]
 [ 1.77684671e-03  9.99998416e-01  1.04811741e-04  6.66581096e+00]
 [-1.05354434e-02 -8.60861918e-05  9.99944497e-01 -2.26447570e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.847702638
Centerline is valid?  [True, True]
Translation: X:214.79, Y:6.66, Z:-2.27
[[ 9.99944215e-01 -7.57724587e-04  1.05352770e-02  2.14793902e+02]
 [ 7.56665834e-04  9.99999708e-01  1.04481630e-04  6.66400118e+00]
 [-1.05353531e-02 -9.65041177e-05  9.99944497e-01 -2.26511805e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.907702638
Centerline is valid?  [True, True]
Translation: X:214.85, Y:6.66, Z:-2.27
[[ 9.99944502e-01  1.66338130e-05  1.05352781e-02  2.14854302e+02]
 [-1.77343705e-05  9.99999994e-01  1.04370610e-04  6.66076002e+00]
 [-1.05352763e-02 -1.04551654e-04  9.99944497e-01 -2.26575400e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 212.967702638
Centerline is valid?  [True, True]
Translation: X:214.92, Y:6.66, Z:-2.27
[[ 9.99943856e-01  1.13672692e-03  1.05352778e-02  2.14915262e+02]
 [-1.13788995e-03  9.99999347e-01  1.04400007e-04  6.65912843e+00]
 [-1.05351523e-02 -1.16382132e-04  9.99944497e-01 -2.26639612e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.027702638
Centerline is valid?  [True, True]
Translation: X:214.97, Y:6.66, Z:-2.27
[[ 9.99943322e-01  1.53651963e-03  1.05352778e-02  2.14974491e+02]
 [-1.53770484e-03  9.99998812e-01  1.04400007e-04  6.65688087e+00]
 [-1.05351049e-02 -1.20594237e-04  9.99944497e-01 -2.26701991e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.087702638
Centerline is valid?  [True, True]
Translation: X:215.03, Y:6.65, Z:-2.27
[[ 9.99944416e-01  4.15573796e-04  1.05352756e-02  2.15034806e+02]
 [-4.16699172e-04  9.99999908e-01  1.04624900e-04  6.65330343e+00]
 [-1.05352311e-02 -1.09009126e-04  9.99944497e-01 -2.26765516e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.147702638
Centerline is valid?  [True, True]
Translation: X:215.09, Y:6.65, Z:-2.27
[[ 9.99943912e-01 -1.08704575e-03  1.05352731e-02  2.15094845e+02]
 [ 1.08600111e-03  9.99999405e-01  1.04876544e-04  6.64902310e+00]
 [-1.05353808e-02 -9.34293433e-05  9.99944497e-01 -2.26828746e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.20770263799997
Centerline is valid?  [True, True]
Translation: X:215.16, Y:6.65, Z:-2.27
[[ 9.99938188e-01 -3.55365785e-03  1.05352719e-02  2.15155903e+02]
 [ 3.55274888e-03  9.99993683e-01  1.04992627e-04  6.64785126e+00]
 [-1.05355785e-02 -6.75569621e-05  9.99944497e-01 -2.26893072e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.26770263799997
Centerline is valid?  [True, True]
Translation: X:215.22, Y:6.64, Z:-2.27
[[ 9.99929065e-01 -5.55630937e-03  1.05352731e-02  2.15217782e+02]
 [ 5.55551277e-03  9.99984563e-01  1.04877211e-04  6.64190453e+00]
 [-1.05356932e-02 -4.63409278e-05  9.99944497e-01 -2.26958196e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.32770263799998
Centerline is valid?  [True, True]
Translation: X:215.28, Y:6.64, Z:-2.27
[[ 9.99886595e-01 -1.07613164e-02  1.05352777e-02  2.15279765e+02]
 [ 1.07608136e-02  9.99942095e-01  1.04412824e-04  6.63752172e+00]
 [-1.05357913e-02  8.96717615e-06  9.99944497e-01 -2.27023422e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.38770263799998
Centerline is valid?  [True, True]
Translation: X:215.34, Y:6.63, Z:-2.27
[[ 9.99808432e-01 -1.64956719e-02  1.05352924e-02  2.15340932e+02]
 [ 1.64955033e-02  9.99863935e-01  1.02902121e-04  6.63357489e+00]
 [-1.05355564e-02  7.09025432e-05  9.99944497e-01 -2.27087722e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.44770263799998
Centerline is valid?  [True, True]
Translation: X:215.40, Y:6.63, Z:-2.27
[[ 9.99756750e-01 -1.93765160e-02  1.05352947e-02  2.15400929e+02]
 [ 1.93765098e-02  9.99812253e-01  1.02668677e-04  6.63030929e+00]
 [-1.05353061e-02  1.01493538e-04  9.99944497e-01 -2.27150884e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.50770263799998
Centerline is valid?  [True, True]
Translation: X:215.46, Y:6.63, Z:-2.27
[[ 9.99710919e-01 -2.16121918e-02  1.05352947e-02  2.15461274e+02]
 [ 2.16123097e-02  9.99766421e-01  1.02668677e-04  6.62607420e+00]
 [-1.05350528e-02  1.25053055e-04  9.99944497e-01 -2.27214419e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.567702638
Centerline is valid?  [True, True]
Translation: X:215.52, Y:6.62, Z:-2.27
[[ 9.99692991e-01 -2.24261398e-02  1.05352969e-02  2.15523147e+02]
 [ 2.24263053e-02  9.99748494e-01  1.02443591e-04  6.62330549e+00]
 [-1.05349446e-02  1.33855646e-04  9.99944497e-01 -2.27279564e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 213.627702638
Centerline is valid?  [True, True]
Translation: X:215.58, Y:6.62, Z:-2.27
[[ 9.99672486e-01 -2.33222710e-02  1.05353124e-02  2.15584963e+02]
 [ 2.33225033e-02  9.99727988e-01  1.00819962e-04  6.61848074e+00]
 [-1.05347981e-02  1.44922918e-04  9.99944497e-01 -2.27344534e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.687702638
Centerline is valid?  [True, True]
Translation: X:215.65, Y:6.62, Z:-2.27
[[ 9.99685267e-01 -2.27678220e-02  1.05353157e-02  2.15646827e+02]
 [ 2.27680272e-02  9.99740770e-01  1.00473694e-04  6.61662861e+00]
 [-1.05348722e-02  1.39426285e-04  9.99944497e-01 -2.27409672e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.747702638
Centerline is valid?  [True, True]
Translation: X:215.71, Y:6.61, Z:-2.27
[[ 9.99724465e-01 -2.09762092e-02  1.05353298e-02  2.15707610e+02]
 [ 2.09763307e-02  9.99779968e-01  9.89826983e-05  6.61492832e+00]
 [-1.05350879e-02  1.22037136e-04  9.99944497e-01 -2.27473595e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.807702638
Centerline is valid?  [True, True]
Translation: X:215.77, Y:6.61, Z:-2.28
[[ 9.99767183e-01 -1.88304893e-02  1.05353413e-02  2.15768511e+02]
 [ 1.88305047e-02  9.99822686e-01  9.77413014e-05  6.61350622e+00]
 [-1.05353137e-02  1.00667248e-04  9.99944497e-01 -2.27537663e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.867702638
Centerline is valid?  [True, True]
Translation: X:215.83, Y:6.61, Z:-2.28
[[ 9.99815841e-01 -1.60402676e-02  1.05353423e-02  2.15831014e+02]
 [ 1.60401294e-02  9.99871344e-01  9.76259395e-05  6.61420689e+00]
 [-1.05355529e-02  7.13802931e-05  9.99944497e-01 -2.27603515e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.927702638
Centerline is valid?  [True, True]
Translation: X:215.89, Y:6.62, Z:-2.28
[[ 9.99878522e-01 -1.14868820e-02  1.05353580e-02  2.15893157e+02]
 [ 1.14865092e-02  9.99934023e-01  9.59040245e-05  6.61539592e+00]
 [-1.05357646e-02  2.51221120e-05  9.99944497e-01 -2.27668885e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 213.98770263799997
Centerline is valid?  [True, True]
Translation: X:215.96, Y:6.62, Z:-2.28
[[ 9.99929181e-01 -5.53528033e-03  1.05353621e-02  2.15955138e+02]
 [ 5.53458187e-03  9.99984680e-01  9.54510909e-05  6.61562456e+00]
 [-1.05357291e-02 -3.71355069e-05  9.99944497e-01 -2.27734160e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.04770263799998
Centerline is valid?  [True, True]
Translation: X:216.02, Y:6.62, Z:-2.28
[[ 9.99942861e-01 -1.81134486e-03  1.05353673e-02  2.16016755e+02]
 [ 1.81044573e-03  9.99998357e-01  9.48801007e-05  6.61659674e+00]
 [-1.05355218e-02 -7.58009686e-05  9.99944497e-01 -2.27799051e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.10770263799998
Centerline is valid?  [True, True]
Translation: X:216.08, Y:6.62, Z:-2.28
[[ 9.99943266e-01  1.57187903e-03  1.05353705e-02  2.16077242e+02]
 [-1.57296209e-03  9.99998758e-01  9.45173576e-05  6.61938148e+00]
 [-1.05352089e-02 -1.11083734e-04  9.99944497e-01 -2.27862781e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.16770263799998
Centerline is valid?  [True, True]
Translation: X:216.14, Y:6.62, Z:-2.28
[[ 9.99922926e-01  6.56865317e-03  1.05353716e-02  2.16135598e+02]
 [-6.57001226e-03  9.99978413e-01  9.43979108e-05  6.62129940e+00]
 [-1.05345241e-02 -1.63608156e-04  9.99944497e-01 -2.27924275e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.22770263799998
Centerline is valid?  [True, True]
Translation: X:216.20, Y:6.62, Z:-2.28
[[ 9.99880154e-01  1.13438611e-02  1.05353575e-02  2.16195929e+02]
 [-1.13455015e-02  9.99935633e-01  9.59461381e-05  6.62336058e+00]
 [-1.05335910e-02 -2.15463553e-04  9.99944497e-01 -2.27987963e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.28770263799998
Centerline is valid?  [True, True]
Translation: X:216.25, Y:6.63, Z:-2.28
[[ 9.99838928e-01  1.45300907e-02  1.05353564e-02  2.16254260e+02]
 [-1.45319092e-02  9.99894402e-01  9.60681014e-05  6.62564012e+00]
 [-1.05328480e-02 -2.49151469e-04  9.99944497e-01 -2.28049450e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.347702638
Centerline is valid?  [True, True]
Translation: X:216.31, Y:6.63, Z:-2.28
[[ 9.99795516e-01  1.72607388e-02  1.05353479e-02  2.16312658e+02]
 [-1.72627184e-02  9.99850983e-01  9.69912576e-05  6.62759729e+00]
 [-1.05321038e-02 -2.78840168e-04  9.99944497e-01 -2.28111059e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.407702638
Centerline is valid?  [True, True]
Translation: X:216.37, Y:6.63, Z:-2.28
[[ 9.99758957e-01  1.92622511e-02  1.05353446e-02  2.16372624e+02]
 [-1.92643456e-02  9.99814421e-01  9.73458562e-05  6.62793077e+00]
 [-1.05315144e-02 -3.00278911e-04  9.99944497e-01 -2.28174266e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.467702638
Centerline is valid?  [True, True]
Translation: X:216.43, Y:6.63, Z:-2.28
[[ 9.99765628e-01  1.89128414e-02  1.05353446e-02  2.16431289e+02]
 [-1.89149164e-02  9.99821092e-01  9.73458562e-05  6.62852683e+00]
 [-1.05316187e-02 -2.96598203e-04  9.99944497e-01 -2.28236081e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.527702638
Centerline is valid?  [True, True]
Translation: X:216.49, Y:6.63, Z:-2.28
[[ 9.99772159e-01  1.85643874e-02  1.05353429e-02  2.16490003e+02]
 [-1.85664450e-02  9.99827624e-01  9.75263503e-05  6.62934821e+00]
 [-1.05317164e-02 -2.93107995e-04  9.99944497e-01 -2.28297962e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.587702638
Centerline is valid?  [True, True]
Translation: X:216.55, Y:6.63, Z:-2.28
[[ 9.99793684e-01  1.73665309e-02  1.05353266e-02  2.16548384e+02]
 [-1.73685403e-02  9.99849151e-01  9.92580944e-05  6.63038287e+00]
 [-1.05320136e-02 -2.82220861e-04  9.99944497e-01 -2.28359599e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.647702638
Centerline is valid?  [True, True]
Translation: X:216.61, Y:6.63, Z:-2.28
[[ 9.99818946e-01  1.58455587e-02  1.05353244e-02  2.16608603e+02]
 [-1.58474862e-02  9.99874416e-01  9.94933948e-05  6.63039047e+00]
 [-1.05324248e-02 -2.66433789e-04  9.99944497e-01 -2.28423061e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.70770263799997
Centerline is valid?  [True, True]
Translation: X:216.67, Y:6.63, Z:-2.28
[[ 9.99862927e-01  1.27724039e-02  1.05353233e-02  2.16668362e+02]
 [-1.27741621e-02  9.99918402e-01  9.96116957e-05  6.63080579e+00]
 [-1.05331913e-02 -2.34177969e-04  9.99944497e-01 -2.28486035e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.76770263799997
Centerline is valid?  [True, True]
Translation: X:216.73, Y:6.63, Z:-2.29
[[ 9.99883724e-01  1.10248016e-02  1.05353219e-02  2.16727746e+02]
 [-1.10264644e-02  9.99939202e-01  9.97561124e-05  6.63237362e+00]
 [-1.05335816e-02 -2.15911865e-04  9.99944497e-01 -2.28548627e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 214.82770263799998
Centerline is valid?  [True, True]
Translation: X:216.79, Y:6.63, Z:-2.29
[[ 9.99909878e-01  8.32128030e-03  1.05353197e-02  2.16786860e+02]
 [-8.32279558e-03  9.99965360e-01  9.99929914e-05  6.63344007e+00]
 [-1.05341226e-02 -1.87667292e-04  9.99944497e-01 -2.28610935e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.88770263799998
Centerline is valid?  [True, True]
Translation: X:216.85, Y:6.64, Z:-2.29
[[ 9.99928499e-01  5.65724321e-03  1.05353151e-02  2.16847084e+02]
 [-5.65861568e-03  9.99983985e-01  1.00469293e-04  6.63576101e+00]
 [-1.05345780e-02 -1.60077409e-04  9.99944497e-01 -2.28674443e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 214.94770263799998
Centerline is valid?  [True, True]
Translation: X:216.91, Y:6.64, Z:-2.29
[[ 9.99939091e-01  3.28966660e-03  1.05353151e-02  2.16907095e+02]
 [-3.29090769e-03  9.99994580e-01  1.00469293e-04  6.63744268e+00]
 [-1.05349275e-02 -1.35133923e-04  9.99944497e-01 -2.28737686e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.00770263799998
Centerline is valid?  [True, True]
Translation: X:216.97, Y:6.64, Z:-2.29
[[ 9.99943441e-01  1.45694412e-03  1.05353151e-02  2.16965198e+02]
 [-1.45808351e-03  9.99998932e-01  1.00469293e-04  6.63827545e+00]
 [-1.05351575e-02 -1.15824980e-04  9.99944497e-01 -2.28798911e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.067702638
Centerline is valid?  [True, True]
Translation: X:217.03, Y:6.64, Z:-2.29
[[ 9.99944341e-01  5.67858195e-04  1.05353094e-02  2.17026020e+02]
 [-5.68954523e-04  9.99999833e-01  1.01065411e-04  6.63943494e+00]
 [-1.05352502e-02 -1.07053897e-04  9.99944497e-01 -2.28863045e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.127702638
Centerline is valid?  [True, True]
Translation: X:217.09, Y:6.64, Z:-2.29
[[ 9.99944483e-01 -1.95598310e-04  1.05353092e-02  2.17085425e+02]
 [ 1.94544098e-04  9.99999976e-01  1.01089424e-04  6.64043175e+00]
 [-1.05353287e-02 -9.90342293e-05  9.99944497e-01 -2.28925645e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.187702638
Centerline is valid?  [True, True]
Translation: X:217.15, Y:6.64, Z:-2.29
[[ 9.99944501e-01  4.41679569e-05  1.05353081e-02  2.17145838e+02]
 [-4.52366646e-05  9.99999994e-01  1.01202302e-04  6.64232446e+00]
 [-1.05353035e-02 -1.01673267e-04  9.99944497e-01 -2.28989322e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.247702638
Centerline is valid?  [True, True]
Translation: X:217.20, Y:6.64, Z:-2.29
[[ 9.99943639e-01 -1.31350745e-03  1.05353081e-02  2.17204943e+02]
 [ 1.31251408e-03  9.99999134e-01  1.01202302e-04  6.64293102e+00]
 [-1.05354319e-02 -8.73688578e-05  9.99944497e-01 -2.29051601e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.307702638
Centerline is valid?  [True, True]
Translation: X:217.27, Y:6.64, Z:-2.29
[[ 9.99941149e-01 -2.58961913e-03  1.05353081e-02  2.17265349e+02]
 [ 2.58869659e-03  9.99996644e-01  1.01202302e-04  6.64428518e+00]
 [-1.05355348e-02 -7.39236298e-05  9.99944497e-01 -2.29115257e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.367702638
Centerline is valid?  [True, True]
Translation: X:217.33, Y:6.64, Z:-2.29
[[ 9.99935328e-01 -4.28339267e-03  1.05353092e-02  2.17326989e+02]
 [ 4.28256537e-03  9.99990825e-01  1.01085245e-04  6.64350783e+00]
 [-1.05356455e-02 -5.59605578e-05  9.99944497e-01 -2.29180185e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.427702638
Centerline is valid?  [True, True]
Translation: X:217.39, Y:6.65, Z:-2.29
[[ 9.99923998e-01 -6.40352937e-03  1.05353236e-02  2.17387800e+02]
 [ 6.40283578e-03  9.99979497e-01  9.95625923e-05  6.64548058e+00]
 [-1.05357451e-02 -3.20990785e-05  9.99944497e-01 -2.29244171e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.48770263799997
Centerline is valid?  [True, True]
Translation: X:217.45, Y:6.64, Z:-2.29
[[ 9.99920262e-01 -6.96245545e-03  1.05353247e-02  2.17449980e+02]
 [ 6.96179407e-03  9.99975761e-01  9.94499389e-05  6.64387638e+00]
 [-1.05357617e-02 -2.60972483e-05  9.99944497e-01 -2.29309660e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.54770263799998
Centerline is valid?  [True, True]
Translation: X:217.51, Y:6.64, Z:-2.29
[[ 9.99911536e-01 -8.11954986e-03  1.05353402e-02  2.17511185e+02]
 [ 8.11897034e-03  9.99967036e-01  9.77756565e-05  6.64278076e+00]
 [-1.05357868e-02 -1.22308923e-05  9.99944497e-01 -2.29374020e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.60770263799998
Centerline is valid?  [True, True]
Translation: X:217.57, Y:6.64, Z:-2.29
[[ 9.99889344e-01 -1.05026765e-02  1.05353412e-02  2.17573268e+02]
 [ 1.05022305e-02  9.99944845e-01  9.76625010e-05  6.64300597e+00]
 [-1.05357859e-02  1.29928877e-05  9.99944497e-01 -2.29439425e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.66770263799998
Centerline is valid?  [True, True]
Translation: X:217.63, Y:6.64, Z:-2.30
[[ 9.99874504e-01 -1.18314159e-02  1.05353562e-02  2.17632821e+02]
 [ 1.18310609e-02  9.99930006e-01  9.60260225e-05  6.64148811e+00]
 [-1.05357549e-02  2.86304686e-05  9.99944497e-01 -2.29502043e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.72770263799998
Centerline is valid?  [True, True]
Translation: X:217.69, Y:6.64, Z:-2.30
[[ 9.99851061e-01 -1.36697204e-02  1.05353599e-02  2.17693749e+02]
 [ 1.36694717e-02  9.99906564e-01  9.56148349e-05  6.64121721e+00]
 [-1.05356825e-02  4.84122103e-05  9.99944497e-01 -2.29566207e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.78770263799998
Centerline is valid?  [True, True]
Translation: X:217.75, Y:6.64, Z:-2.30
[[ 9.99812487e-01 -1.62479795e-02  1.05353609e-02  2.17754005e+02]
 [ 1.62478752e-02  9.99867990e-01  9.54988909e-05  6.64201354e+00]
 [-1.05355218e-02  7.56962457e-05  9.99944497e-01 -2.29629692e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.847702638
Centerline is valid?  [True, True]
Translation: X:217.82, Y:6.64, Z:-2.30
[[ 9.99804848e-01 -1.67114100e-02  1.05353611e-02  2.17817136e+02]
 [ 1.67113316e-02  9.99860351e-01  9.54763884e-05  6.64100398e+00]
 [-1.05354854e-02  8.06021581e-05  9.99944497e-01 -2.29696196e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.907702638
Centerline is valid?  [True, True]
Translation: X:217.88, Y:6.64, Z:-2.30
[[ 9.99769646e-01 -1.86992256e-02  1.05353775e-02  2.17878153e+02]
 [ 1.86992770e-02  9.99825149e-01  9.36361093e-05  6.64065418e+00]
 [-1.05352863e-02  1.03389403e-04  9.99944497e-01 -2.29760355e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 215.967702638
Centerline is valid?  [True, True]
Translation: X:217.94, Y:6.64, Z:-2.30
[[ 9.99781773e-01 -1.80391847e-02  1.05353915e-02  2.17940791e+02]
 [ 1.80392163e-02  9.99837276e-01  9.20353531e-05  6.63898155e+00]
 [-1.05353374e-02  9.80349374e-05  9.99944497e-01 -2.29826227e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 216.027702638
Centerline is valid?  [True, True]
Translation: X:218.00, Y:6.64, Z:-2.30
[[ 9.99848725e-01 -1.38395153e-02  1.05354064e-02  2.18001091e+02]
 [ 1.38393321e-02  9.99904228e-01  9.02911516e-05  6.63863801e+00]
 [-1.05356470e-02  5.55254961e-05  9.99944497e-01 -2.29889639e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.087702638
Centerline is valid?  [True, True]
Translation: X:218.06, Y:6.64, Z:-2.30
[[ 9.99915886e-01 -7.56484222e-03  1.05354064e-02  2.18063568e+02]
 [ 7.56431078e-03  9.99971386e-01  9.02911516e-05  6.63824610e+00]
 [-1.05357880e-02 -1.05904684e-05  9.99944497e-01 -2.29955461e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.147702638
Centerline is valid?  [True, True]
Translation: X:218.13, Y:6.64, Z:-2.30
[[ 9.99944500e-01 -4.21586479e-05  1.05354113e-02  2.18125931e+02]
 [ 4.12156765e-05  9.99999995e-01  8.97220441e-05  6.64348451e+00]
 [-1.05354150e-02 -8.92828405e-05  9.99944497e-01 -2.30021176e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.20770263799997
Centerline is valid?  [True, True]
Translation: X:218.19, Y:6.64, Z:-2.30
[[ 9.99897344e-01  9.71119986e-03  1.05354153e-02  2.18185595e+02]
 [-9.71267906e-03  9.99952827e-01  8.92461681e-05  6.64334954e+00]
 [-1.05340516e-02 -1.91564114e-04  9.99944497e-01 -2.30084004e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.26770263799997
Centerline is valid?  [True, True]
Translation: X:218.25, Y:6.65, Z:-2.30
[[ 9.99748580e-01  1.97934622e-02  1.05354153e-02  2.18245483e+02]
 [-1.97955009e-02  9.99804046e-01  8.92523588e-05  6.64559644e+00]
 [-1.05315842e-02 -2.97783741e-04  9.99944497e-01 -2.30147123e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.32770263799998
Centerline is valid?  [True, True]
Translation: X:218.31, Y:6.65, Z:-2.30
[[ 9.99570604e-01  2.73425225e-02  1.05354143e-02  2.18305375e+02]
 [-2.73449811e-02  9.99626052e-01  8.93605442e-05  6.64747898e+00]
 [-1.05290313e-02 -3.77412879e-04  9.99944497e-01 -2.30210249e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.38770263799998
Centerline is valid?  [True, True]
Translation: X:218.37, Y:6.65, Z:-2.30
[[ 9.99383595e-01  3.34878498e-02  1.05354135e-02  2.18366026e+02]
 [-3.34906504e-02  9.99439027e-01  8.94653244e-05  6.64837729e+00]
 [-1.05265074e-02 -4.42248026e-04  9.99944497e-01 -2.30274167e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.44770263799998
Centerline is valid?  [True, True]
Translation: X:218.43, Y:6.65, Z:-2.30
[[ 9.99248069e-01  3.73135719e-02  1.05354132e-02  2.18426895e+02]
 [-3.73165850e-02  9.99303490e-01  8.94998317e-05  6.64797526e+00]
 [-1.05247356e-02 -4.82578175e-04  9.99944497e-01 -2.30338297e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.50770263799998
Centerline is valid?  [True, True]
Translation: X:218.49, Y:6.65, Z:-2.30
[[ 9.99190618e-01  3.88215778e-02  1.05354139e-02  2.18486103e+02]
 [-3.88246736e-02  9.99246034e-01  8.94127952e-05  6.64832996e+00]
 [-1.05239994e-02 -4.98374432e-04  9.99944497e-01 -2.30400675e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.567702638
Centerline is valid?  [True, True]
Translation: X:218.54, Y:6.65, Z:-2.30
[[ 9.99153641e-01  3.97618710e-02  1.05354095e-02  2.18544568e+02]
 [-3.97650243e-02  9.99209055e-01  8.99228323e-05  6.64926217e+00]
 [-1.05235011e-02 -5.08787542e-04  9.99944497e-01 -2.30462317e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.627702638
Centerline is valid?  [True, True]
Translation: X:218.60, Y:6.65, Z:-2.31
[[ 9.99208424e-01  3.83605361e-02  1.05353954e-02  2.18602999e+02]
 [-3.83636288e-02  9.99263841e-01  9.15452054e-05  6.65011832e+00]
 [-1.05241280e-02 -4.95648741e-04  9.99944497e-01 -2.30523997e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.687702638
Centerline is valid?  [True, True]
Translation: X:218.66, Y:6.65, Z:-2.31
[[ 9.99288793e-01  3.62065550e-02  1.05353819e-02  2.18663247e+02]
 [-3.62095444e-02  9.99344215e-01  9.30764502e-05  6.64842793e+00]
 [-1.05251030e-02 -4.74491633e-04  9.99944497e-01 -2.30587562e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.747702638
Centerline is valid?  [True, True]
Translation: X:218.72, Y:6.65, Z:-2.31
[[ 9.99331339e-01  3.50125651e-02  1.05353799e-02  2.18723016e+02]
 [-3.50154907e-02  9.99386765e-01  9.33012275e-05  6.64820068e+00]
 [-1.05256526e-02 -4.62140338e-04  9.99944497e-01 -2.30650548e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.807702638
Centerline is valid?  [True, True]
Translation: X:218.78, Y:6.65, Z:-2.31
[[ 9.99425172e-01  3.22231535e-02  1.05353779e-02  2.18781474e+02]
 [-3.22259267e-02  9.99480606e-01  9.35295316e-05  6.64828345e+00]
 [-1.05268921e-02 -4.32988084e-04  9.99944497e-01 -2.30712155e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.867702638
Centerline is valid?  [True, True]
Translation: X:218.84, Y:6.65, Z:-2.31
[[ 9.99441428e-01  3.17149403e-02  1.05353759e-02  2.18841658e+02]
 [-3.17176877e-02  9.99496863e-01  9.37585214e-05  6.64748282e+00]
 [-1.05271016e-02 -4.27863912e-04  9.99944497e-01 -2.30775572e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.927702638
Centerline is valid?  [True, True]
Translation: X:218.90, Y:6.65, Z:-2.31
[[ 9.99495704e-01  2.99557020e-02  1.05353750e-02  2.18900758e+02]
 [-2.99583529e-02  9.99551143e-01  9.38530052e-05  6.64695472e+00]
 [-1.05278347e-02 -4.09428158e-04  9.99944497e-01 -2.30837841e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 216.98770263799997
Centerline is valid?  [True, True]
Translation: X:218.96, Y:6.65, Z:-2.31
[[ 9.99617118e-01  2.55856218e-02  1.05353612e-02  2.18959907e+02]
 [-2.55880463e-02  9.99672568e-01  9.53790333e-05  6.64657517e+00]
 [-1.05294713e-02 -3.64921825e-04  9.99944497e-01 -2.30900259e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.04770263799998
Centerline is valid?  [True, True]
Translation: X:219.02, Y:6.65, Z:-2.31
[[ 9.99705308e-01  2.18701318e-02  1.05353599e-02  2.19019892e+02]
 [-2.18723517e-02  9.99760767e-01  9.55266731e-05  6.64667009e+00]
 [-1.05307503e-02 -3.25931619e-04  9.99944497e-01 -2.30963470e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.10770263799998
Centerline is valid?  [True, True]
Translation: X:219.08, Y:6.65, Z:-2.31
[[ 9.99783650e-01  1.79348557e-02  1.05353592e-02  2.19078404e+02]
 [-1.79368581e-02  9.99839117e-01  9.56019541e-05  6.64614647e+00]
 [-1.05319496e-02 -2.84552514e-04  9.99944497e-01 -2.31025118e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.16770263799998
Centerline is valid?  [True, True]
Translation: X:219.14, Y:6.64, Z:-2.31
[[ 9.99859668e-01  1.30249961e-02  1.05353560e-02  2.19136825e+02]
 [-1.30267298e-02  9.99915144e-01  9.59546459e-05  6.64406018e+00]
 [-1.05332122e-02 -2.33182416e-04  9.99944497e-01 -2.31086674e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 217.22770263799998
Centerline is valid?  [True, True]
Translation: X:219.20, Y:6.64, Z:-2.31
[[ 9.99903033e-01  9.10662161e-03  1.05353518e-02  2.19197561e+02]
 [-9.10814279e-03  9.99958515e-01  9.64153419e-05  6.64411936e+00]
 [-1.05340367e-02 -1.92363481e-04  9.99944497e-01 -2.31150696e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.28770263799998
Centerline is valid?  [True, True]
Translation: X:219.26, Y:6.64, Z:-2.31
[[ 9.99912080e-01  8.05229963e-03  1.05353515e-02  2.19256609e+02]
 [-8.05376261e-03  9.99967563e-01  9.64447999e-05  6.64386904e+00]
 [-1.05342332e-02 -1.81285540e-04  9.99944497e-01 -2.31212909e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.347702638
Centerline is valid?  [True, True]
Translation: X:219.32, Y:6.65, Z:-2.31
[[ 9.99915592e-01  7.60364017e-03  1.05353483e-02  2.19315270e+02]
 [-7.60508188e-03  9.99971076e-01  9.67898436e-05  6.64537203e+00]
 [-1.05343076e-02 -1.76903860e-04  9.99944497e-01 -2.31274750e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.407702638
Centerline is valid?  [True, True]
Translation: X:219.37, Y:6.65, Z:-2.31
[[ 9.99937332e-01  3.78675496e-03  1.05353440e-02  2.19372937e+02]
 [-3.78798980e-03  9.99992821e-01  9.72578157e-05  6.64548612e+00]
 [-1.05349001e-02 -1.37159496e-04  9.99944497e-01 -2.31335540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.467702638
Centerline is valid?  [True, True]
Translation: X:219.43, Y:6.65, Z:-2.31
[[ 9.99942359e-01  2.07027863e-03  1.05353396e-02  2.19431233e+02]
 [-2.07142326e-03  9.99997850e-01  9.77357999e-05  6.64776752e+00]
 [-1.05351146e-02 -1.19553314e-04  9.99944497e-01 -2.31397014e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.527702638
Centerline is valid?  [True, True]
Translation: X:219.49, Y:6.65, Z:-2.31
[[ 9.99944078e-01 -9.20332999e-04  1.05353331e-02  2.19490264e+02]
 [ 9.19347034e-04  9.99999573e-01  9.84290934e-05  6.64815256e+00]
 [-1.05354192e-02 -8.87379618e-05  9.99944497e-01 -2.31459259e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.587702638
Centerline is valid?  [True, True]
Translation: X:219.55, Y:6.65, Z:-2.32
[[ 9.99936688e-01 -3.95313109e-03  1.05353309e-02  2.19551932e+02]
 [ 3.95231094e-03  9.99992185e-01  9.86665598e-05  6.64930259e+00]
 [-1.05356386e-02 -5.70214096e-05  9.99944497e-01 -2.31524259e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.647702638
Centerline is valid?  [True, True]
Translation: X:219.61, Y:6.65, Z:-2.32
[[ 9.99903378e-01 -9.06873640e-03  1.05353331e-02  2.19613606e+02]
 [ 9.06820273e-03  9.99958878e-01  9.84248051e-05  6.64960254e+00]
 [-1.05357925e-02 -2.87875856e-06  9.99944497e-01 -2.31589225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.70770263799997
Centerline is valid?  [True, True]
Translation: X:219.68, Y:6.65, Z:-2.32
[[ 9.99832248e-01 -1.49827178e-02  1.05353473e-02  2.19675307e+02]
 [ 1.49825287e-02  9.99887751e-01  9.68775876e-05  6.65087772e+00]
 [-1.05356163e-02  6.09848080e-05  9.99944497e-01 -2.31654142e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.76770263799997
Centerline is valid?  [True, True]
Translation: X:219.74, Y:6.65, Z:-2.32
[[ 9.99827170e-01 -1.53178474e-02  1.05353517e-02  2.19737935e+02]
 [ 1.53176819e-02  9.99882673e-01  9.64073197e-05  6.65127721e+00]
 [-1.05355923e-02  6.49865077e-05  9.99944497e-01 -2.31720099e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.82770263799998
Centerline is valid?  [True, True]
Translation: X:219.80, Y:6.65, Z:-2.32
[[ 9.99796538e-01 -1.72014072e-02  1.05353666e-02  2.19799749e+02]
 [ 1.72013637e-02  9.99852041e-01  9.47485771e-05  6.65360110e+00]
 [-1.05354376e-02  8.64933731e-05  9.99944497e-01 -2.31785137e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.88770263799998
Centerline is valid?  [True, True]
Translation: X:219.86, Y:6.65, Z:-2.32
[[ 9.99783893e-01 -1.79212931e-02  1.05353810e-02  2.19862182e+02]
 [ 1.79213068e-02  9.99839396e-01  9.31109369e-05  6.65429345e+00]
 [-1.05353577e-02  9.57169815e-05  9.99944497e-01 -2.31850813e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 217.94770263799998
Centerline is valid?  [True, True]
Translation: X:219.93, Y:6.65, Z:-2.32
[[ 9.99773898e-01 -1.84704637e-02  1.05353952e-02  2.19925023e+02]
 [ 1.84705251e-02  9.99829401e-01  9.14760679e-05  6.65418496e+00]
 [-1.05352875e-02  1.03138897e-04  9.99944497e-01 -2.31916912e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.00770263799998
Centerline is valid?  [True, True]
Translation: X:219.99, Y:6.65, Z:-2.32
[[ 9.99766999e-01 -1.88401901e-02  1.05354115e-02  2.19985204e+02]
 [ 1.88402922e-02  9.99822502e-01  8.95650696e-05  6.65403503e+00]
 [-1.05352289e-02  1.08946030e-04  9.99944497e-01 -2.31980190e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.067702638
Centerline is valid?  [True, True]
Translation: X:220.05, Y:6.66, Z:-2.32
[[ 9.99649002e-01 -2.43079730e-02  1.05354125e-02  2.20047781e+02]
 [ 2.43083799e-02  9.99704504e-01  8.94482225e-05  6.65778064e+00]
 [-1.05344736e-02  1.66681983e-04  9.99944497e-01 -2.32046146e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.127702638
Centerline is valid?  [True, True]
Translation: X:220.11, Y:6.66, Z:-2.32
[[ 9.99633038e-01 -2.49558276e-02  1.05354174e-02  2.20109330e+02]
 [ 2.49562765e-02  9.99688540e-01  8.88676137e-05  6.65506726e+00]
 [-1.05343538e-02  1.74089787e-04  9.99944497e-01 -2.32110931e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.187702638
Centerline is valid?  [True, True]
Translation: X:220.17, Y:6.66, Z:-2.32
[[ 9.99488853e-01 -3.01833965e-02  1.05354299e-02  2.20169682e+02]
 [ 3.01841516e-02  9.99544351e-01  8.73592359e-05  6.65539229e+00]
 [-1.05332662e-02  2.30688430e-04  9.99944497e-01 -2.32174421e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.247702638
Centerline is valid?  [True, True]
Translation: X:220.23, Y:6.65, Z:-2.32
[[ 9.99386116e-01 -3.34124997e-02  1.05354301e-02  2.20230405e+02]
 [ 3.34134344e-02  9.99441611e-01  8.73383056e-05  6.65486563e+00]
 [-1.05324654e-02  2.64740211e-04  9.99944497e-01 -2.32238392e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.307702638
Centerline is valid?  [True, True]
Translation: X:220.29, Y:6.66, Z:-2.32
[[ 9.99323910e-01 -3.52239742e-02  1.05354320e-02  2.20292481e+02]
 [ 3.52250119e-02  9.99379403e-01  8.71080121e-05  6.65547777e+00]
 [-1.05319620e-02  2.84061597e-04  9.99944497e-01 -2.32303786e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.367702638
Centerline is valid?  [True, True]
Translation: X:220.35, Y:6.66, Z:-2.32
[[ 9.99259500e-01 -3.70061669e-02  1.05354452e-02  2.20354095e+02]
 [ 3.70073208e-02  9.99314991e-01  8.54731354e-05  6.65505663e+00]
 [-1.05313914e-02  3.04478758e-04  9.99944497e-01 -2.32368590e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 218.427702638
Centerline is valid?  [True, True]
Translation: X:220.42, Y:6.66, Z:-2.32
[[ 9.99272992e-01 -3.66400256e-02  1.05354567e-02  2.20416782e+02]
 [ 3.66411743e-02  9.99328483e-01  8.40281609e-05  6.65532139e+00]
 [-1.05314608e-02  3.02064436e-04  9.99944497e-01 -2.32434543e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.48770263799997
Centerline is valid?  [True, True]
Translation: X:220.48, Y:6.66, Z:-2.32
[[ 9.99242728e-01 -3.74562921e-02  1.05354707e-02  2.20478804e+02]
 [ 3.74575050e-02  9.99298218e-01  8.22436044e-05  6.65606157e+00]
 [-1.05311576e-02  3.12451122e-04  9.99944497e-01 -2.32499777e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.54770263799998
Centerline is valid?  [True, True]
Translation: X:220.54, Y:6.65, Z:-2.33
[[ 9.99211840e-01 -3.82714261e-02  1.05354743e-02  2.20540857e+02]
 [ 3.82726891e-02  9.99267329e-01  8.17831339e-05  6.65489758e+00]
 [-1.05308852e-02  3.21502255e-04  9.99944497e-01 -2.32565116e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.60770263799998
Centerline is valid?  [True, True]
Translation: X:220.60, Y:6.66, Z:-2.33
[[ 9.99206705e-01 -3.84052618e-02  1.05354769e-02  2.20602637e+02]
 [ 3.84065359e-02  9.99262194e-01  8.14363694e-05  6.65503421e+00]
 [-1.05308314e-02  3.23259407e-04  9.99944497e-01 -2.32630187e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.66770263799998
Centerline is valid?  [True, True]
Translation: X:220.66, Y:6.65, Z:-2.33
[[ 9.99268773e-01 -3.67549141e-02  1.05354883e-02  2.20664335e+02]
 [ 3.67561123e-02  9.99324263e-01  7.99380682e-05  6.65179145e+00]
 [-1.05313072e-02  3.07363976e-04  9.99944497e-01 -2.32695067e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.72770263799998
Centerline is valid?  [True, True]
Translation: X:220.73, Y:6.65, Z:-2.33
[[ 9.99267353e-01 -3.67934774e-02  1.05354926e-02  2.20725881e+02]
 [ 3.67946838e-02  9.99322843e-01  7.93672168e-05  6.65064058e+00]
 [-1.05312786e-02  3.08341051e-04  9.99944497e-01 -2.32759865e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.78770263799998
Centerline is valid?  [True, True]
Translation: X:220.79, Y:6.65, Z:-2.33
[[ 9.99151525e-01 -3.98149827e-02  1.05354943e-02  2.20786851e+02]
 [ 3.98163593e-02  9.99207011e-01  7.91386059e-05  6.65436675e+00]
 [-1.05302907e-02  3.40413568e-04  9.99944497e-01 -2.32824118e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.847702638
Centerline is valid?  [True, True]
Translation: X:220.85, Y:6.65, Z:-2.33
[[ 9.99154641e-01 -3.97367234e-02  1.05354952e-02  2.20848023e+02]
 [ 3.97380968e-02  9.99210127e-01  7.90235725e-05  6.65468155e+00]
 [-1.05303136e-02  3.39703758e-04  9.99944497e-01 -2.32888564e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.907702638
Centerline is valid?  [True, True]
Translation: X:220.91, Y:6.65, Z:-2.33
[[ 9.99231606e-01 -3.77518349e-02  1.05354960e-02  2.20908891e+02]
 [ 3.77530993e-02  9.99287095e-01  7.89125479e-05  6.65196993e+00]
 [-1.05309643e-02  3.18895715e-04  9.99944497e-01 -2.32952666e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 218.967702638
Centerline is valid?  [True, True]
Translation: X:220.97, Y:6.65, Z:-2.33
[[ 9.99238298e-01 -3.75742744e-02  1.05354985e-02  2.20970060e+02]
 [ 3.75755324e-02  9.99293787e-01  7.85772196e-05  6.65251692e+00]
 [-1.05310107e-02  3.17359599e-04  9.99944497e-01 -2.33017096e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.027702638
Centerline is valid?  [True, True]
Translation: X:221.03, Y:6.66, Z:-2.33
[[ 9.99251556e-01 -3.72200363e-02  1.05354996e-02  2.21030975e+02]
 [ 3.72212761e-02  9.99307045e-01  7.84364853e-05  6.65683319e+00]
 [-1.05311183e-02  3.13766959e-04  9.99944497e-01 -2.33081302e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.087702638
Centerline is valid?  [True, True]
Translation: X:221.09, Y:6.66, Z:-2.33
[[ 9.99232862e-01 -3.77185780e-02  1.05355012e-02  2.21091958e+02]
 [ 3.77198479e-02  9.99288350e-01  7.82143644e-05  6.65621833e+00]
 [-1.05309538e-02  3.19243140e-04  9.99944497e-01 -2.33145535e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.147702638
Centerline is valid?  [True, True]
Translation: X:221.15, Y:6.65, Z:-2.33
[[ 9.99386801e-01 -3.33919957e-02  1.05355029e-02  2.21154713e+02]
 [ 3.33930277e-02  9.99442294e-01  7.79913143e-05  6.65316100e+00]
 [-1.05322314e-02  2.73868849e-04  9.99944497e-01 -2.33211615e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.20770263799997
Centerline is valid?  [True, True]
Translation: X:221.22, Y:6.66, Z:-2.33
[[ 9.99380495e-01 -3.35801926e-02  1.05355079e-02  2.21216711e+02]
 [ 3.35812422e-02  9.99435988e-01  7.73114881e-05  6.65720363e+00]
 [-1.05321618e-02  2.76531847e-04  9.99944497e-01 -2.33276924e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.26770263799997
Centerline is valid?  [True, True]
Translation: X:221.28, Y:6.66, Z:-2.33
[[ 9.99343139e-01 -3.46741021e-02  1.05355196e-02  2.21279322e+02]
 [ 3.46752296e-02  9.99398631e-01  7.56795928e-05  6.66295091e+00]
 [-1.05318080e-02  2.89691678e-04  9.99944497e-01 -2.33342827e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.32770263799998
Centerline is valid?  [True, True]
Translation: X:221.34, Y:6.66, Z:-2.33
[[ 9.99406629e-01 -3.27931827e-02  1.05355245e-02  2.21341012e+02]
 [ 3.27942131e-02  9.99462122e-01  7.49876519e-05  6.66495959e+00]
 [-1.05323168e-02  2.70561079e-04  9.99944497e-01 -2.33407793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.38770263799998
Centerline is valid?  [True, True]
Translation: X:221.40, Y:6.67, Z:-2.33
[[ 9.99484128e-01 -3.03394039e-02  1.05355365e-02  2.21402217e+02]
 [ 3.03403163e-02  9.99539624e-01  7.32568108e-05  6.66871153e+00]
 [-1.05329088e-02  2.46432491e-04  9.99944497e-01 -2.33472192e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.44770263799998
Centerline is valid?  [True, True]
Translation: X:221.46, Y:6.67, Z:-2.34
[[ 9.99642569e-01 -2.45710593e-02  1.05355373e-02  2.21463608e+02]
 [ 2.45716526e-02  9.99698069e-01  7.31461946e-05  6.67386835e+00]
 [-1.05341536e-02  1.85755513e-04  9.99944497e-01 -2.33536904e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.50770263799998
Centerline is valid?  [True, True]
Translation: X:221.52, Y:6.68, Z:-2.34
[[ 9.99782971e-01 -1.79725507e-02  1.05355397e-02  2.21524754e+02]
 [ 1.79727813e-02  9.99838474e-01  7.27998077e-05  6.67672524e+00]
 [-1.05351463e-02  1.16568943e-04  9.99944497e-01 -2.33601325e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.567702638
Centerline is valid?  [True, True]
Translation: X:221.59, Y:6.68, Z:-2.34
[[ 9.99843748e-01 -1.41944691e-02  1.05355414e-02  2.21586147e+02]
 [ 1.41944925e-02  9.99899250e-01  7.25574108e-05  6.67954170e+00]
 [-1.05355098e-02  7.70005895e-05  9.99944497e-01 -2.33666013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 219.627702638
Centerline is valid?  [True, True]
Translation: X:221.65, Y:6.69, Z:-2.34
[[ 9.99926836e-01 -5.94349743e-03  1.05355445e-02  2.21646581e+02]
 [ 5.94306760e-03  9.99982337e-01  7.21056108e-05  6.68548069e+00]
 [-1.05357869e-02 -9.48688231e-06  9.99944497e-01 -2.33729700e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.687702638
Centerline is valid?  [True, True]
Translation: X:221.71, Y:6.69, Z:-2.34
[[ 9.99942473e-01  2.01328696e-03  1.05355452e-02  2.21707280e+02]
 [-2.01415722e-03  9.99997969e-01  7.19924725e-05  6.68994348e+00]
 [-1.05353789e-02 -9.32085755e-05  9.99944497e-01 -2.33793677e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.747702638
Centerline is valid?  [True, True]
Translation: X:221.77, Y:6.69, Z:-2.34
[[ 9.99884145e-01  1.09862633e-02  1.05355471e-02  2.21767598e+02]
 [-1.09876286e-02  9.99939632e-01  7.17170871e-05  6.69454417e+00]
 [-1.05341232e-02 -1.87469457e-04  9.99944497e-01 -2.33857243e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.807702638
Centerline is valid?  [True, True]
Translation: X:221.83, Y:6.70, Z:-2.34
[[ 9.99777350e-01  1.82825957e-02  1.05355463e-02  2.21827906e+02]
 [-1.82843671e-02  9.99832824e-01  7.18321337e-05  6.69997730e+00]
 [-1.05324718e-02 -2.64451937e-04  9.99944497e-01 -2.33920832e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.867702638
Centerline is valid?  [True, True]
Translation: X:221.89, Y:6.70, Z:-2.34
[[ 9.99701460e-01  2.20452580e-02  1.05355455e-02  2.21887656e+02]
 [-2.20472394e-02  9.99756927e-01  7.19483062e-05  6.70291299e+00]
 [-1.05313985e-02 -3.04206521e-04  9.99944497e-01 -2.33983814e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.927702638
Centerline is valid?  [True, True]
Translation: X:221.95, Y:6.71, Z:-2.34
[[ 9.99653323e-01  2.41295633e-02  1.05355455e-02  2.21945790e+02]
 [-2.41316603e-02  9.99708786e-01  7.19483062e-05  6.70502853e+00]
 [-1.05307414e-02 -3.26163570e-04  9.99944497e-01 -2.34045080e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 219.98770263799997
Centerline is valid?  [True, True]
Translation: X:222.01, Y:6.71, Z:-2.34
[[ 9.99572039e-01  2.72899592e-02  1.05355415e-02  2.22006406e+02]
 [-2.72922378e-02  9.99627495e-01  7.25353022e-05  6.70887305e+00]
 [-1.05296375e-02 -3.60042763e-04  9.99944497e-01 -2.34109015e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.04770263799998
Centerline is valid?  [True, True]
Translation: X:222.07, Y:6.71, Z:-2.34
[[ 9.99554420e-01  2.79278159e-02  1.05355385e-02  2.22065368e+02]
 [-2.79301344e-02  9.99609875e-01  7.29662981e-05  6.71021753e+00]
 [-1.05293905e-02 -3.67192792e-04  9.99944497e-01 -2.34171178e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.10770263799998
Centerline is valid?  [True, True]
Translation: X:222.13, Y:6.71, Z:-2.34
[[ 9.99614012e-01  2.57065892e-02  1.05355361e-02  2.22125124e+02]
 [-2.57087881e-02  9.99669472e-01  7.33180963e-05  6.71304779e+00]
 [-1.05301690e-02 -3.44145661e-04  9.99944497e-01 -2.34234184e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.16770263799998
Centerline is valid?  [True, True]
Translation: X:222.18, Y:6.71, Z:-2.34
[[ 9.99661466e-01  2.37898081e-02  1.05355338e-02  2.22184187e+02]
 [-2.37919040e-02  9.99716930e-01  7.36368182e-05  6.71218448e+00]
 [-1.05307997e-02 -3.24272299e-04  9.99944497e-01 -2.34296429e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.22770263799998
Centerline is valid?  [True, True]
Translation: X:222.24, Y:6.71, Z:-2.34
[[ 9.99723914e-01  2.10023664e-02  1.05355232e-02  2.22243994e+02]
 [-2.10043233e-02  9.99779382e-01  7.51232545e-05  6.71278434e+00]
 [-1.05316211e-02 -2.96394050e-04  9.99944497e-01 -2.34359553e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.28770263799998
Centerline is valid?  [True, True]
Translation: X:222.30, Y:6.71, Z:-2.34
[[ 9.99798007e-01  1.71157302e-02  1.05355220e-02  2.22301640e+02]
 [-1.71174734e-02  9.99853482e-01  7.52955119e-05  6.71163891e+00]
 [-1.05326896e-02 -2.55621820e-04  9.99944497e-01 -2.34420293e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.347702638
Centerline is valid?  [True, True]
Translation: X:222.36, Y:6.71, Z:-2.34
[[ 9.99852379e-01  1.35729162e-02  1.05355179e-02  2.22360860e+02]
 [-1.35744687e-02  9.99907860e-01  7.58628539e-05  6.71328689e+00]
 [-1.05335175e-02 -2.18865713e-04  9.99944497e-01 -2.34482740e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.407702638
Centerline is valid?  [True, True]
Translation: X:222.42, Y:6.71, Z:-2.35
[[ 9.99923746e-01  6.44243773e-03  1.05355155e-02  2.22421822e+02]
 [-6.44359814e-03  9.99979237e-01  7.62015444e-05  6.71206273e+00]
 [-1.05348058e-02 -1.44082362e-04  9.99944497e-01 -2.34546986e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.467702638
Centerline is valid?  [True, True]
Translation: X:222.48, Y:6.71, Z:-2.35
[[ 9.99941701e-01  2.36606360e-03  1.05355170e-02  2.22479525e+02]
 [-2.36699557e-03  9.99997196e-01  7.59918836e-05  6.71360051e+00]
 [-1.05353076e-02 -1.00924975e-04  9.99944497e-01 -2.34607779e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.527702638
Centerline is valid?  [True, True]
Translation: X:222.54, Y:6.71, Z:-2.35
[[ 9.99935546e-01 -4.23167762e-03  1.05355128e-02  2.22539449e+02]
 [ 4.23110583e-03  9.99991046e-01  7.65608086e-05  6.71033512e+00]
 [-1.05357425e-02 -3.19790042e-05  9.99944497e-01 -2.34670931e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.587702638
Centerline is valid?  [True, True]
Translation: X:222.60, Y:6.71, Z:-2.35
[[ 9.99914163e-01 -7.78909260e-03  1.05355120e-02  2.22601445e+02]
 [ 7.78871709e-03  9.99969665e-01  7.66730459e-05  6.71089671e+00]
 [-1.05357896e-02  5.39165802e-06  9.99944497e-01 -2.34736262e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.647702638
Centerline is valid?  [True, True]
Translation: X:222.66, Y:6.71, Z:-2.35
[[ 9.99877965e-01 -1.15350634e-02  1.05355234e-02  2.22663969e+02]
 [ 1.15349126e-02  9.99933468e-01  7.50755841e-05  6.71128774e+00]
 [-1.05356885e-02  4.64599195e-05  9.99944497e-01 -2.34802029e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.70770263799997
Centerline is valid?  [True, True]
Translation: X:222.73, Y:6.71, Z:-2.35
[[ 9.99797350e-01 -1.71540396e-02  1.05355275e-02  2.22726214e+02]
 [ 1.71542068e-02  9.99852853e-01  7.45006297e-05  6.71092409e+00]
 [-1.05352552e-02  1.06243085e-04  9.99944497e-01 -2.34867567e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.76770263799997
Centerline is valid?  [True, True]
Translation: X:222.79, Y:6.71, Z:-2.35
[[ 9.99763316e-01 -1.90345462e-02  1.05355338e-02  2.22787164e+02]
 [ 1.90348273e-02  9.99818819e-01  7.35969541e-05  6.70848989e+00]
 [-1.05350258e-02  1.26962532e-04  9.99944497e-01 -2.34931703e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 220.82770263799998
Centerline is valid?  [True, True]
Translation: X:222.85, Y:6.71, Z:-2.35
[[ 9.99696912e-01 -2.22505572e-02  1.05355399e-02  2.22848439e+02]
 [ 2.22510262e-02  9.99752413e-01  7.27178534e-05  6.71072723e+00]
 [-1.05345494e-02  1.61730760e-04  9.99944497e-01 -2.34996218e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.88770263799998
Centerline is valid?  [True, True]
Translation: X:222.91, Y:6.71, Z:-2.35
[[ 9.99584727e-01 -2.68211933e-02  1.05355414e-02  2.22911175e+02]
 [ 2.68219184e-02  9.99640225e-01  7.24873651e-05  6.70756257e+00]
 [-1.05336952e-02  2.10126170e-04  9.99944497e-01 -2.35062278e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 220.94770263799998
Centerline is valid?  [True, True]
Translation: X:222.97, Y:6.71, Z:-2.35
[[ 9.99487332e-01 -3.02336769e-02  1.05355537e-02  2.22971870e+02]
 [ 3.02346108e-02  9.99542827e-01  7.06559398e-05  6.70578373e+00]
 [-1.05328733e-02  2.47918649e-04  9.99944497e-01 -2.35126087e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.00770263799998
Centerline is valid?  [True, True]
Translation: X:223.03, Y:6.70, Z:-2.35
[[ 9.99407319e-01 -3.27721236e-02  1.05355541e-02  2.23032967e+02]
 [ 3.27731991e-02  9.99462812e-01  7.05986777e-05  6.70212354e+00]
 [-1.05322082e-02  2.74726976e-04  9.99944497e-01 -2.35190430e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.067702638
Centerline is valid?  [True, True]
Translation: X:223.10, Y:6.70, Z:-2.35
[[ 9.99438537e-01 -3.18058509e-02  1.05355556e-02  2.23095285e+02]
 [ 3.18068751e-02  9.99494031e-01  7.03707783e-05  6.69985233e+00]
 [-1.05324632e-02  2.64771834e-04  9.99944497e-01 -2.35256057e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.127702638
Centerline is valid?  [True, True]
Translation: X:223.16, Y:6.70, Z:-2.35
[[ 9.99424803e-01 -3.22345238e-02  1.05355662e-02  2.23156334e+02]
 [ 3.22355889e-02  9.99480296e-01  6.87498364e-05  6.69798460e+00]
 [-1.05323069e-02  2.70909889e-04  9.99944497e-01 -2.35320254e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.187702638
Centerline is valid?  [True, True]
Translation: X:223.22, Y:6.69, Z:-2.35
[[ 9.99451669e-01 -3.13905007e-02  1.05355757e-02  2.23217110e+02]
 [ 3.13915346e-02  9.99507162e-01  6.72591904e-05  6.69490414e+00]
 [-1.05324947e-02  2.63505580e-04  9.99944497e-01 -2.35384165e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.247702638
Centerline is valid?  [True, True]
Translation: X:223.28, Y:6.70, Z:-2.35
[[ 9.99446448e-01 -3.15562723e-02  1.05355764e-02  2.23277822e+02]
 [ 3.15573166e-02  9.99501942e-01  6.71498622e-05  6.69604692e+00]
 [-1.05324481e-02  2.65361829e-04  9.99944497e-01 -2.35448133e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.307702638
Centerline is valid?  [True, True]
Translation: X:223.34, Y:6.69, Z:-2.36
[[ 9.99429992e-01 -3.20732441e-02  1.05355778e-02  2.23339228e+02]
 [ 3.20743194e-02  9.99485484e-01  6.69251932e-05  6.69337495e+00]
 [-1.05323036e-02  2.71034444e-04  9.99944497e-01 -2.35512798e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.367702638
Centerline is valid?  [True, True]
Translation: X:223.40, Y:6.69, Z:-2.36
[[ 9.99440884e-01 -3.17320229e-02  1.05355807e-02  2.23401572e+02]
 [ 3.17330841e-02  9.99496377e-01  6.64742156e-05  6.69497068e+00]
 [-1.05323841e-02  2.67889419e-04  9.99944497e-01 -2.35578464e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.427702638
Centerline is valid?  [True, True]
Translation: X:223.46, Y:6.69, Z:-2.36
[[ 9.99448266e-01 -3.14986392e-02  1.05355906e-02  2.23462809e+02]
 [ 3.14997044e-02  9.99503759e-01  6.48604998e-05  6.69364068e+00]
 [-1.05324054e-02  2.67043276e-04  9.99944497e-01 -2.35642867e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.48770263799997
Centerline is valid?  [True, True]
Translation: X:223.52, Y:6.69, Z:-2.36
[[ 9.99412343e-01 -3.26185380e-02  1.05355920e-02  2.23524089e+02]
 [ 3.26196678e-02  9.99467835e-01  6.46295309e-05  6.68911260e+00]
 [-1.05320935e-02  2.79075962e-04  9.99944497e-01 -2.35707387e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.54770263799998
Centerline is valid?  [True, True]
Translation: X:223.58, Y:6.69, Z:-2.36
[[ 9.99427463e-01 -3.21519316e-02  1.05356008e-02  2.23584511e+02]
 [ 3.21530509e-02  9.99482955e-01  6.31698722e-05  6.68502983e+00]
 [-1.05321844e-02  2.75618004e-04  9.99944497e-01 -2.35770924e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.60770263799998
Centerline is valid?  [True, True]
Translation: X:223.65, Y:6.68, Z:-2.36
[[ 9.99456663e-01 -3.12310709e-02  1.05356021e-02  2.23646405e+02]
 [ 3.12321414e-02  9.99512156e-01  6.29433577e-05  6.68221454e+00]
 [-1.05324282e-02  2.66140258e-04  9.99944497e-01 -2.35836104e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.66770263799998
Centerline is valid?  [True, True]
Translation: X:223.71, Y:6.68, Z:-2.36
[[ 9.99432881e-01 -3.19830685e-02  1.05356114e-02  2.23707963e+02]
 [ 3.19841975e-02  9.99488373e-01  6.13555148e-05  6.68064194e+00]
 [-1.05321834e-02  2.75652357e-04  9.99944497e-01 -2.35900846e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.72770263799998
Centerline is valid?  [True, True]
Translation: X:223.77, Y:6.68, Z:-2.36
[[ 9.99396888e-01 -3.30886994e-02  1.05356133e-02  2.23769882e+02]
 [ 3.30898933e-02  9.99452378e-01  6.10195334e-05  6.67840342e+00]
 [-1.05318629e-02  2.87639590e-04  9.99944497e-01 -2.35966050e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.78770263799998
Centerline is valid?  [True, True]
Translation: X:223.83, Y:6.67, Z:-2.36
[[ 9.99410623e-01 -3.26712110e-02  1.05356219e-02  2.23831281e+02]
 [ 3.26723977e-02  9.99466113e-01  5.95023906e-05  6.67349113e+00]
 [-1.05319411e-02  2.84756708e-04  9.99944497e-01 -2.36030610e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.847702638
Centerline is valid?  [True, True]
Translation: X:223.89, Y:6.67, Z:-2.36
[[ 9.99368510e-01 -3.39349543e-02  1.05356232e-02  2.23892070e+02]
 [ 3.39362137e-02  9.99423999e-01  5.92686970e-05  6.67295479e+00]
 [-1.05315660e-02  2.98307892e-04  9.99944497e-01 -2.36094641e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.907702638
Centerline is valid?  [True, True]
Translation: X:223.95, Y:6.67, Z:-2.36
[[ 9.99350150e-01 -3.44714222e-02  1.05356251e-02  2.23952732e+02]
 [ 3.44727148e-02  9.99405638e-01  5.89382509e-05  6.67228615e+00]
 [-1.05313948e-02  3.04291649e-04  9.99944497e-01 -2.36158530e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 221.967702638
Centerline is valid?  [True, True]
Translation: X:224.01, Y:6.67, Z:-2.36
[[ 9.99402191e-01 -3.29281228e-02  1.05356257e-02  2.24013807e+02]
 [ 3.29293309e-02  9.99457681e-01  5.88228010e-05  6.66810268e+00]
 [-1.05318490e-02  2.88143469e-04  9.99944497e-01 -2.36222848e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 222.027702638
Centerline is valid?  [True, True]
Translation: X:224.08, Y:6.67, Z:-2.36
[[ 9.99427215e-01 -3.21596333e-02  1.05356270e-02  2.24076030e+02]
 [ 3.21608012e-02  9.99482706e-01  5.85920993e-05  6.66679203e+00]
 [-1.05320613e-02  2.80275667e-04  9.99944497e-01 -2.36288384e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.087702638
Centerline is valid?  [True, True]
Translation: X:224.14, Y:6.66, Z:-2.36
[[ 9.99428678e-01 -3.21141319e-02  1.05356301e-02  2.24139232e+02]
 [ 3.21153033e-02  9.99484169e-01  5.80201476e-05  6.66343353e+00]
 [-1.05320588e-02  2.80367959e-04  9.99944497e-01 -2.36354918e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.147702638
Centerline is valid?  [True, True]
Translation: X:224.20, Y:6.66, Z:-2.36
[[ 9.99432287e-01 -3.20016394e-02  1.05356400e-02  2.24201725e+02]
 [ 3.20028240e-02  9.99487777e-01  5.61721160e-05  6.66483576e+00]
 [-1.05320410e-02  2.81030007e-04  9.99944497e-01 -2.36420651e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.20770263799997
Centerline is valid?  [True, True]
Translation: X:224.26, Y:6.66, Z:-2.36
[[ 9.99461789e-01 -3.10665679e-02  1.05356431e-02  2.24261395e+02]
 [ 3.10677068e-02  9.99517281e-01  5.55802232e-05  6.66352137e+00]
 [-1.05322841e-02  2.71767962e-04  9.99944497e-01 -2.36483475e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.26770263799997
Centerline is valid?  [True, True]
Translation: X:224.32, Y:6.66, Z:-2.37
[[ 9.99474569e-01 -3.06526638e-02  1.05356431e-02  2.24323961e+02]
 [ 3.06537798e-02  9.99530061e-01  5.55802232e-05  6.66207982e+00]
 [-1.05323957e-02  2.67406264e-04  9.99944497e-01 -2.36549387e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.32770263799998
Centerline is valid?  [True, True]
Translation: X:224.39, Y:6.66, Z:-2.37
[[ 9.99562963e-01 -2.76203272e-02  1.05356514e-02  2.24386227e+02]
 [ 2.76212920e-02  9.99618458e-01  5.39558620e-05  6.66356764e+00]
 [-1.05331219e-02  2.37076023e-04  9.99944497e-01 -2.36614896e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.38770263799998
Centerline is valid?  [True, True]
Translation: X:224.45, Y:6.66, Z:-2.37
[[ 9.99676225e-01 -2.31612732e-02  1.05356595e-02  2.24447106e+02]
 [ 2.31620075e-02  9.99731723e-01  5.23266991e-05  6.66383272e+00]
 [-1.05340450e-02  1.91717268e-04  9.99944497e-01 -2.36678936e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.44770263799998
Centerline is valid?  [True, True]
Translation: X:224.51, Y:6.67, Z:-2.37
[[ 9.99721398e-01 -2.11217221e-02  1.05356596e-02  2.24507521e+02]
 [ 2.11223433e-02  9.99776897e-01  5.23157707e-05  6.66694358e+00]
 [-1.05344140e-02  1.70236624e-04  9.99944497e-01 -2.36742606e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.50770263799998
Centerline is valid?  [True, True]
Translation: X:224.57, Y:6.67, Z:-2.37
[[ 9.99786129e-01 -1.77959473e-02  1.05356607e-02  2.24570241e+02]
 [ 1.77963864e-02  9.99841630e-01  5.20863119e-05  6.66952733e+00]
 [-1.05349191e-02  1.35421517e-04  9.99944497e-01 -2.36808688e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.567702638
Centerline is valid?  [True, True]
Translation: X:224.63, Y:6.67, Z:-2.37
[[ 9.99891723e-01 -1.02733427e-02  1.05356636e-02  2.24631192e+02]
 [ 1.02733703e-02  9.99947226e-01  5.15001079e-05  6.67303700e+00]
 [-1.05356367e-02  5.67422421e-05  9.99944497e-01 -2.36872887e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.627702638
Centerline is valid?  [True, True]
Translation: X:224.69, Y:6.68, Z:-2.37
[[ 9.99928270e-01 -5.69695331e-03  1.05356642e-02  2.24693021e+02]
 [ 5.69672823e-03  9.99983772e-01  5.13733254e-05  6.67696733e+00]
 [-1.05357859e-02  8.64917537e-06  9.99944497e-01 -2.36938044e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.687702638
Centerline is valid?  [True, True]
Translation: X:224.75, Y:6.68, Z:-2.37
[[ 9.99944354e-01 -5.37492789e-04  1.05356665e-02  2.24754179e+02]
 [ 5.36986235e-04  9.99999855e-01  5.09086688e-05  6.68012510e+00]
 [-1.05356923e-02 -4.52483280e-05  9.99944497e-01 -2.37002467e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.747702638
Centerline is valid?  [True, True]
Translation: X:224.81, Y:6.68, Z:-2.37
[[ 9.99940737e-01  2.74267575e-03  1.05356681e-02  2.24814879e+02]
 [-2.74336073e-03  9.99996236e-01  5.05635809e-05  6.68467361e+00]
 [-1.05354898e-02 -7.94637225e-05  9.99944497e-01 -2.37066423e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.807702638
Centerline is valid?  [True, True]
Translation: X:224.88, Y:6.69, Z:-2.37
[[ 9.99930603e-01  5.27154738e-03  1.05356681e-02  2.24875108e+02]
 [-5.27237271e-03  9.99986100e-01  5.05635809e-05  6.68863597e+00]
 [-1.05352551e-02 -1.06108041e-04  9.99944497e-01 -2.37129901e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.867702638
Centerline is valid?  [True, True]
Translation: X:224.93, Y:6.69, Z:-2.37
[[ 9.99901906e-01  9.22923589e-03  1.05356674e-02  2.24932944e+02]
 [-9.23028235e-03  9.99957399e-01  5.07036921e-05  6.69157321e+00]
 [-1.05347506e-02 -1.47945903e-04  9.99944497e-01 -2.37190863e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.927702638
Centerline is valid?  [True, True]
Translation: X:224.99, Y:6.70, Z:-2.37
[[ 9.99830467e-01  1.51009191e-02  1.05356646e-02  2.24993699e+02]
 [-1.51022975e-02  9.99885952e-01  5.12766995e-05  6.69826003e+00]
 [-1.05336888e-02 -2.10380748e-04  9.99944497e-01 -2.37254949e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 222.98770263799997
Centerline is valid?  [True, True]
Translation: X:225.05, Y:6.70, Z:-2.37
[[ 9.99741482e-01  2.01486466e-02  1.05356646e-02  2.25052171e+02]
 [-2.01503052e-02  9.99796961e-01  5.12816330e-05  6.70221654e+00]
 [-1.05324922e-02 -2.63565233e-04  9.99944497e-01 -2.37316576e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.04770263799998
Centerline is valid?  [True, True]
Translation: X:225.11, Y:6.71, Z:-2.37
[[ 9.99549209e-01  2.81136577e-02  1.05356635e-02  2.25112281e+02]
 [-2.81157606e-02  9.99604673e-01  5.15110099e-05  6.70573216e+00]
 [-1.05300503e-02 -3.47705982e-04  9.99944497e-01 -2.37379944e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.10770263799998
Centerline is valid?  [True, True]
Translation: X:225.17, Y:6.71, Z:-2.37
[[ 9.99301876e-01  3.58435570e-02  1.05356630e-02  2.25173021e+02]
 [-3.58460900e-02  9.99357321e-01  5.16201862e-05  6.71349046e+00]
 [-1.05270417e-02 -4.29246471e-04  9.99944497e-01 -2.37443989e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.16770263799998
Centerline is valid?  [True, True]
Translation: X:225.23, Y:6.72, Z:-2.38
[[ 9.99057117e-01  4.21174148e-02  1.05356627e-02  2.25233497e+02]
 [-4.21202963e-02  9.99112545e-01  5.16680831e-05  6.71953001e+00]
 [-1.05241367e-02 -4.95384602e-04  9.99944497e-01 -2.37507742e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 223.22770263799998
Centerline is valid?  [True, True]
Translation: X:225.29, Y:6.72, Z:-2.38
[[ 9.98947435e-01  4.46432669e-02  1.05356628e-02  2.25292331e+02]
 [-4.46462885e-02  9.99002856e-01  5.16561740e-05  6.72151446e+00]
 [-1.05228511e-02 -5.21980043e-04  9.99944497e-01 -2.37569741e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.28770263799998
Centerline is valid?  [True, True]
Translation: X:225.35, Y:6.73, Z:-2.38
[[ 9.98932439e-01  4.49775713e-02  1.05356551e-02  2.25349909e+02]
 [-4.49806274e-02  9.98987858e-01  5.31798515e-05  6.72659424e+00]
 [-1.05225996e-02 -5.27023456e-04  9.99944497e-01 -2.37630540e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.347702638
Centerline is valid?  [True, True]
Translation: X:225.41, Y:6.73, Z:-2.38
[[ 9.99037397e-01  4.25826179e-02  1.05356465e-02  2.25408626e+02]
 [-4.25855585e-02  9.99092822e-01  5.48260085e-05  6.72897050e+00]
 [-1.05237542e-02 -5.03439624e-04  9.99944497e-01 -2.37692535e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.407702638
Centerline is valid?  [True, True]
Translation: X:225.47, Y:6.73, Z:-2.38
[[ 9.99145466e-01  3.99667067e-02  1.05356378e-02  2.25468929e+02]
 [-3.99695194e-02  9.99200898e-01  5.64617009e-05  6.73272469e+00]
 [-1.05249621e-02 -4.77517830e-04  9.99944497e-01 -2.37756208e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.467702638
Centerline is valid?  [True, True]
Translation: X:225.53, Y:6.74, Z:-2.38
[[ 9.99339204e-01  3.47872986e-02  1.05356374e-02  2.25529484e+02]
 [-3.47898246e-02  9.99394649e-01  5.65208136e-05  6.73714375e+00]
 [-1.05272935e-02 -4.23016443e-04  9.99944497e-01 -2.37820039e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.527702638
Centerline is valid?  [True, True]
Translation: X:225.59, Y:6.74, Z:-2.38
[[ 9.99513518e-01  2.93552061e-02  1.05356372e-02  2.25588133e+02]
 [-2.93574311e-02  9.99568976e-01  5.65625514e-05  6.73944212e+00]
 [-1.05294357e-02 -3.65834279e-04  9.99944497e-01 -2.37881849e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.587702638
Centerline is valid?  [True, True]
Translation: X:225.65, Y:6.74, Z:-2.38
[[ 9.99662339e-01  2.37530778e-02  1.05356354e-02  2.25647404e+02]
 [-2.37549955e-02  9.99717809e-01  5.69023944e-05  6.74265316e+00]
 [-1.05313107e-02 -3.07157152e-04  9.99944497e-01 -2.37944341e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.647702638
Centerline is valid?  [True, True]
Translation: X:225.71, Y:6.74, Z:-2.38
[[ 9.99760376e-01  1.91883160e-02  1.05356342e-02  2.25707291e+02]
 [-1.91899828e-02  9.99815854e-01  5.71246744e-05  6.74303156e+00]
 [-1.05325980e-02 -2.59289624e-04  9.99944497e-01 -2.38007457e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.70770263799997
Centerline is valid?  [True, True]
Translation: X:225.77, Y:6.74, Z:-2.38
[[ 9.99822383e-01  1.56269994e-02  1.05356336e-02  2.25767328e+02]
 [-1.56284697e-02  9.99877866e-01  5.72337221e-05  6.74320539e+00]
 [-1.05334524e-02 -2.21879387e-04  9.99944497e-01 -2.38070722e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.76770263799997
Centerline is valid?  [True, True]
Translation: X:225.83, Y:6.75, Z:-2.38
[[ 9.99894244e-01  1.00249953e-02  1.05356335e-02  2.25825096e+02]
 [-1.00261549e-02  9.99949735e-01  5.72527316e-05  6.74507940e+00]
 [-1.05345300e-02 -1.62878570e-04  9.99944497e-01 -2.38131600e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.82770263799998
Centerline is valid?  [True, True]
Translation: X:225.89, Y:6.75, Z:-2.38
[[ 9.99935284e-01  4.29285480e-03  1.05356312e-02  2.25885384e+02]
 [-4.29370078e-03  9.99990780e-01  5.76791176e-05  6.75026695e+00]
 [-1.05352864e-02 -1.02912233e-04  9.99944497e-01 -2.38195181e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.88770263799998
Centerline is valid?  [True, True]
Translation: X:225.94, Y:6.75, Z:-2.38
[[ 9.99944416e-01 -4.07284939e-04  1.05356305e-02  2.25944641e+02]
 [ 4.06698637e-04  9.99999916e-01  5.77918191e-05  6.75245008e+00]
 [-1.05356532e-02 -5.35037802e-05  9.99944497e-01 -2.38257637e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 223.94770263799998
Centerline is valid?  [True, True]
Translation: X:226.01, Y:6.76, Z:-2.38
[[ 9.99943081e-01 -1.68382403e-03  1.05356261e-02  2.26005295e+02]
 [ 1.68330023e-03  9.99998582e-01  5.85849494e-05  6.75787766e+00]
 [-1.05357098e-02 -4.08469930e-05  9.99944497e-01 -2.38321632e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.00770263799998
Centerline is valid?  [True, True]
Translation: X:226.07, Y:6.76, Z:-2.38
[[ 9.99940922e-01 -2.67442514e-03  1.05356261e-02  2.26066264e+02]
 [ 2.67395632e-03  9.99996423e-01  5.85849494e-05  6.75911617e+00]
 [-1.05357451e-02 -3.04096843e-05  9.99944497e-01 -2.38385878e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.067702638
Centerline is valid?  [True, True]
Translation: X:226.13, Y:6.76, Z:-2.38
[[ 9.99931295e-01 -5.13858512e-03  1.05356274e-02  2.26127657e+02]
 [ 5.13825543e-03  9.99986797e-01  5.83606449e-05  6.76170776e+00]
 [-1.05357882e-02 -4.22189065e-06  9.99944497e-01 -2.38450561e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.127702638
Centerline is valid?  [True, True]
Translation: X:226.19, Y:6.76, Z:-2.39
[[ 9.99932317e-01 -4.93583805e-03  1.05356352e-02  2.26188446e+02]
 [ 4.93551248e-03  9.99987819e-01  5.69015335e-05  6.76272000e+00]
 [-1.05357878e-02 -4.89892290e-06  9.99944497e-01 -2.38514509e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.187702638
Centerline is valid?  [True, True]
Translation: X:226.25, Y:6.77, Z:-2.39
[[ 9.99934648e-01 -4.43843282e-03  1.05356360e-02  2.26249827e+02]
 [ 4.43808120e-03  9.99990150e-01  5.67541808e-05  6.76544666e+00]
 [-1.05357842e-02 -9.99246366e-06  9.99944497e-01 -2.38579186e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.247702638
Centerline is valid?  [True, True]
Translation: X:226.31, Y:6.77, Z:-2.39
[[ 9.99935095e-01 -4.33657458e-03  1.05356383e-02  2.26311536e+02]
 [ 4.33622176e-03  9.99990597e-01  5.63314591e-05  6.76963915e+00]
 [-1.05357835e-02 -1.06429389e-05  9.99944497e-01 -2.38644196e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.307702638
Centerline is valid?  [True, True]
Translation: X:226.37, Y:6.77, Z:-2.39
[[ 9.99934266e-01 -4.52372739e-03  1.05356406e-02  2.26372878e+02]
 [ 4.52338952e-03  9.99989768e-01  5.58982155e-05  6.77082073e+00]
 [-1.05357857e-02 -8.23773487e-06  9.99944497e-01 -2.38708801e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.367702638
Centerline is valid?  [True, True]
Translation: X:226.43, Y:6.77, Z:-2.39
[[ 9.99931065e-01 -5.18318025e-03  1.05356429e-02  2.26434040e+02]
 [ 5.18288356e-03  9.99986567e-01  5.54639487e-05  6.77333720e+00]
 [-1.05357888e-02 -8.55114993e-07  9.99944497e-01 -2.38773225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 224.427702638
Centerline is valid?  [True, True]
Translation: X:226.50, Y:6.77, Z:-2.39
[[ 9.99927190e-01 -5.88340250e-03  1.05356501e-02  2.26496128e+02]
 [ 5.88315950e-03  9.99982693e-01  5.40571481e-05  6.77402326e+00]
 [-1.05357858e-02  7.92969782e-06  9.99944497e-01 -2.38838541e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.48770263799997
Centerline is valid?  [True, True]
Translation: X:226.56, Y:6.78, Z:-2.39
[[ 9.99928013e-01 -5.74191814e-03  1.05356577e-02  2.26557573e+02]
 [ 5.74168336e-03  9.99983515e-01  5.25314128e-05  6.77589639e+00]
 [-1.05357857e-02  7.96477935e-06  9.99944497e-01 -2.38903178e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.54770263799998
Centerline is valid?  [True, True]
Translation: X:226.62, Y:6.78, Z:-2.39
[[ 9.99920135e-01 -6.98018419e-03  1.05356593e-02  2.26619930e+02]
 [ 6.98002154e-03  9.99975638e-01  5.22085786e-05  6.77738071e+00]
 [-1.05357671e-02  2.13347200e-05  9.99944497e-01 -2.38968862e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.60770263799998
Centerline is valid?  [True, True]
Translation: X:226.68, Y:6.78, Z:-2.39
[[ 9.99913388e-01 -7.88768911e-03  1.05356620e-02  2.26682603e+02]
 [ 7.88758257e-03  9.99968891e-01  5.16644680e-05  6.77915575e+00]
 [-1.05357417e-02  3.14409105e-05  9.99944497e-01 -2.39034864e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.66770263799998
Centerline is valid?  [True, True]
Translation: X:226.74, Y:6.78, Z:-2.39
[[ 9.99922614e-01 -6.61550816e-03  1.05356694e-02  2.26742616e+02]
 [ 6.61534739e-03  9.99978117e-01  5.01096504e-05  6.78184729e+00]
 [-1.05357703e-02  1.95913402e-05  9.99944497e-01 -2.39097992e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.72770263799998
Centerline is valid?  [True, True]
Translation: X:226.80, Y:6.79, Z:-2.39
[[ 9.99941468e-01 -2.46176852e-03  1.05356699e-02  2.26803365e+02]
 [ 2.46137831e-03  9.99996970e-01  5.00039812e-05  6.78603141e+00]
 [-1.05357610e-02 -2.40687851e-05  9.99944497e-01 -2.39162012e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.78770263799998
Centerline is valid?  [True, True]
Translation: X:226.86, Y:6.79, Z:-2.39
[[ 9.99936383e-01  4.02859348e-03  1.05356709e-02  2.26864296e+02]
 [-4.02934172e-03  9.99991881e-01  4.97939693e-05  6.78743077e+00]
 [-1.05353847e-02 -9.22426197e-05  9.99944497e-01 -2.39226202e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.847702638
Centerline is valid?  [True, True]
Translation: X:226.92, Y:6.79, Z:-2.39
[[ 9.99899341e-01  9.50298829e-03  1.05356719e-02  2.26921658e+02]
 [-9.50403811e-03  9.99954834e-01  4.95810898e-05  6.79219299e+00]
 [-1.05347249e-02 -1.49707526e-04  9.99944497e-01 -2.39286647e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.907702638
Centerline is valid?  [True, True]
Translation: X:226.98, Y:6.79, Z:-2.39
[[ 9.99787175e-01  1.77370817e-02  1.05356688e-02  2.26982320e+02]
 [-1.77385952e-02  9.99842657e-01  5.02187452e-05  6.79392465e+00]
 [-1.05331204e-02 -2.37096022e-04  9.99944497e-01 -2.39350619e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 224.967702638
Centerline is valid?  [True, True]
Translation: X:227.04, Y:6.80, Z:-2.39
[[ 9.99708106e-01  2.17417074e-02  1.05356689e-02  2.27042305e+02]
 [-2.17434430e-02  9.99763582e-01  5.02092974e-05  6.79643309e+00]
 [-1.05320864e-02 -2.79276357e-04  9.99944497e-01 -2.39413833e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.027702638
Centerline is valid?  [True, True]
Translation: X:227.10, Y:6.80, Z:-2.39
[[ 9.99645028e-01  2.44707493e-02  1.05356683e-02  2.27100331e+02]
 [-2.44726376e-02  9.99700499e-01  5.03194468e-05  6.79831328e+00]
 [-1.05312815e-02 -3.08137178e-04  9.99944497e-01 -2.39474989e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.087702638
Centerline is valid?  [True, True]
Translation: X:227.16, Y:6.80, Z:-2.40
[[ 9.99289330e-01  3.61916388e-02  1.05356662e-02  2.27160586e+02]
 [-3.61941820e-02  9.99344775e-01  5.07580250e-05  6.80135223e+00]
 [-1.05269260e-02 -4.32051774e-04  9.99944497e-01 -2.39538524e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.147702638
Centerline is valid?  [True, True]
Translation: X:227.22, Y:6.80, Z:-2.40
[[ 9.99152009e-01  3.98028092e-02  1.05356658e-02  2.27219684e+02]
 [-3.98055538e-02  9.99207444e-01  5.08548087e-05  6.80275302e+00]
 [-1.05252915e-02 -4.70189695e-04  9.99944497e-01 -2.39600805e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.20770263799997
Centerline is valid?  [True, True]
Translation: X:227.28, Y:6.80, Z:-2.40
[[ 9.98995623e-01  4.35516289e-02  1.05356658e-02  2.27280536e+02]
 [-4.35545814e-02  9.99051048e-01  5.08537208e-05  6.80447950e+00]
 [-1.05234532e-02 -5.09679158e-04  9.99944497e-01 -2.39664930e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.26770263799997
Centerline is valid?  [True, True]
Translation: X:227.34, Y:6.81, Z:-2.40
[[ 9.98945934e-01  4.46768443e-02  1.05356657e-02  2.27338968e+02]
 [-4.46798595e-02  9.99001355e-01  5.08772762e-05  6.80670537e+00]
 [-1.05228712e-02 -5.21555710e-04  9.99944497e-01 -2.39726508e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.32770263799998
Centerline is valid?  [True, True]
Translation: X:227.40, Y:6.81, Z:-2.40
[[ 9.98882028e-01  4.60835621e-02  1.05356582e-02  2.27397783e+02]
 [-4.60866712e-02  9.98937443e-01  5.23721835e-05  6.80845291e+00]
 [-1.05220500e-02 -5.37867049e-04  9.99944497e-01 -2.39788602e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.38770263799998
Centerline is valid?  [True, True]
Translation: X:227.46, Y:6.81, Z:-2.40
[[ 9.98842615e-01  4.69300514e-02  1.05356579e-02  2.27455936e+02]
 [-4.69332080e-02  9.98898028e-01  5.24319645e-05  6.81062426e+00]
 [-1.05215873e-02 -5.46843506e-04  9.99944497e-01 -2.39849889e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.44770263799998
Centerline is valid?  [True, True]
Translation: X:227.51, Y:6.81, Z:-2.40
[[ 9.98888155e-01  4.59505688e-02  1.05356553e-02  2.27514241e+02]
 [-4.59536765e-02  9.98943570e-01  5.29500022e-05  6.81029861e+00]
 [-1.05220921e-02 -5.37043226e-04  9.99944497e-01 -2.39911359e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.50770263799998
Centerline is valid?  [True, True]
Translation: X:227.57, Y:6.81, Z:-2.40
[[ 9.98905896e-01  4.55632697e-02  1.05356482e-02  2.27573170e+02]
 [-4.55663704e-02  9.98961312e-01  5.43344720e-05  6.80974659e+00]
 [-1.05222293e-02 -5.34346273e-04  9.99944497e-01 -2.39973553e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.567702638
Centerline is valid?  [True, True]
Translation: X:227.63, Y:6.81, Z:-2.40
[[ 9.98857158e-01  4.66195046e-02  1.05356400e-02  2.27632061e+02]
 [-4.66226803e-02  9.98912570e-01  5.58866653e-05  6.81051605e+00]
 [-1.05215778e-02 -5.47022569e-04  9.99944497e-01 -2.40035726e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 225.627702638
Centerline is valid?  [True, True]
Translation: X:227.69, Y:6.81, Z:-2.40
[[ 9.98831152e-01  4.71734127e-02  1.05356316e-02  2.27691229e+02]
 [-4.71766353e-02  9.98886561e-01  5.74232084e-05  6.81020349e+00]
 [-1.05211919e-02 -5.54391738e-04  9.99944497e-01 -2.40098185e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.687702638
Centerline is valid?  [True, True]
Translation: X:227.75, Y:6.81, Z:-2.40
[[ 9.98815311e-01  4.75076329e-02  1.05356230e-02  2.27749171e+02]
 [-4.75108901e-02  9.98870718e-01  5.89534590e-05  6.81065347e+00]
 [-1.05209246e-02 -5.59440445e-04  9.99944497e-01 -2.40159355e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.747702638
Centerline is valid?  [True, True]
Translation: X:227.81, Y:6.81, Z:-2.40
[[ 9.98682423e-01  5.02236819e-02  1.05356199e-02  2.27809162e+02]
 [-5.02270956e-02  9.98737821e-01  5.94993844e-05  6.81051226e+00]
 [-1.05193338e-02 -5.88594579e-04  9.99944497e-01 -2.40222604e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.807702638
Centerline is valid?  [True, True]
Translation: X:227.87, Y:6.81, Z:-2.40
[[ 9.98646558e-01  5.09318530e-02  1.05356199e-02  2.27867711e+02]
 [-5.09353061e-02  9.98701953e-01  5.95123749e-05  6.81075550e+00]
 [-1.05189131e-02 -5.96066850e-04  9.99944497e-01 -2.40284295e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.867702638
Centerline is valid?  [True, True]
Translation: X:227.93, Y:6.81, Z:-2.40
[[ 9.98605537e-01  5.17299042e-02  1.05356106e-02  2.27927376e+02]
 [-5.17334184e-02  9.98660928e-01  6.11142643e-05  6.81054194e+00]
 [-1.05183412e-02 -6.06072192e-04  9.99944497e-01 -2.40347283e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.927702638
Centerline is valid?  [True, True]
Translation: X:227.99, Y:6.81, Z:-2.40
[[ 9.98575371e-01  5.23089801e-02  1.05356102e-02  2.27985775e+02]
 [-5.23125271e-02  9.98630760e-01  6.11807554e-05  6.80991791e+00]
 [-1.05179841e-02 -6.12237988e-04  9.99944497e-01 -2.40408814e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 225.98770263799997
Centerline is valid?  [True, True]
Translation: X:228.05, Y:6.81, Z:-2.40
[[ 9.98619920e-01  5.14515055e-02  1.05356010e-02  2.28045830e+02]
 [-5.14550212e-02  9.98675311e-01  6.27248709e-05  6.81037953e+00]
 [-1.05184173e-02 -6.04747877e-04  9.99944497e-01 -2.40472212e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.04770263799998
Centerline is valid?  [True, True]
Translation: X:228.10, Y:6.81, Z:-2.41
[[ 9.98663112e-01  5.06062149e-02  1.05356007e-02  2.28104658e+02]
 [-5.06096843e-02  9.98718507e-01  6.27799570e-05  6.81145013e+00]
 [-1.05189223e-02 -5.95899451e-04  9.99944497e-01 -2.40534205e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.10770263799998
Centerline is valid?  [True, True]
Translation: X:228.16, Y:6.81, Z:-2.41
[[ 9.98722592e-01  4.94184791e-02  1.05355987e-02  2.28164517e+02]
 [-4.94218860e-02  9.98777990e-01  6.31042657e-05  6.81196031e+00]
 [-1.05196056e-02 -5.83712814e-04  9.99944497e-01 -2.40597302e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.16770263799998
Centerline is valid?  [True, True]
Translation: X:228.22, Y:6.81, Z:-2.41
[[ 9.98902179e-01  4.56446980e-02  1.05355972e-02  2.28223618e+02]
 [-4.56478981e-02  9.98957589e-01  6.33493585e-05  6.80999039e+00]
 [-1.05217233e-02 -5.44207682e-04  9.99944497e-01 -2.40659578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.22770263799998
Centerline is valid?  [True, True]
Translation: X:228.28, Y:6.81, Z:-2.41
[[ 9.99085734e-01  4.14330565e-02  1.05355959e-02  2.28284328e+02]
 [-4.14360254e-02  9.99141157e-01  6.35729692e-05  6.80849647e+00]
 [-1.05239135e-02 -5.00068066e-04  9.99944497e-01 -2.40723551e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.28770263799998
Centerline is valid?  [True, True]
Translation: X:228.34, Y:6.81, Z:-2.41
[[ 9.99247974e-01  3.73160441e-02  1.05355954e-02  2.28344771e+02]
 [-3.73187855e-02  9.99303409e-01  6.36609829e-05  6.80708758e+00]
 [-1.05258808e-02 -4.56788732e-04  9.99944497e-01 -2.40787232e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.347702638
Centerline is valid?  [True, True]
Translation: X:228.40, Y:6.81, Z:-2.41
[[ 9.99347617e-01  3.45447675e-02  1.05355948e-02  2.28402921e+02]
 [-3.45473562e-02  9.99403060e-01  6.37601771e-05  6.80649106e+00]
 [-1.05271031e-02 -4.27695526e-04  9.99944497e-01 -2.40848504e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.407702638
Centerline is valid?  [True, True]
Translation: X:228.46, Y:6.81, Z:-2.41
[[ 9.99428799e-01  3.21103949e-02  1.05355862e-02  2.28462455e+02]
 [-3.21128631e-02  9.99484247e-01  6.51460404e-05  6.80570765e+00]
 [-1.05280606e-02 -4.03436666e-04  9.99944497e-01 -2.40911331e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.467702638
Centerline is valid?  [True, True]
Translation: X:228.52, Y:6.80, Z:-2.41
[[ 9.99563376e-01  2.76054153e-02  1.05355855e-02  2.28523052e+02]
 [-2.76076348e-02  9.99618834e-01  6.52578345e-05  6.80441521e+00]
 [-1.05297682e-02 -3.56091938e-04  9.99944497e-01 -2.40975178e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.527702638
Centerline is valid?  [True, True]
Translation: X:228.58, Y:6.80, Z:-2.41
[[ 9.99632116e-01  2.49926619e-02  1.05355851e-02  2.28581429e+02]
 [-2.49947371e-02  9.99687581e-01  6.53237441e-05  6.80313442e+00]
 [-1.05306610e-02 -3.28633892e-04  9.99944497e-01 -2.41036681e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.587702638
Centerline is valid?  [True, True]
Translation: X:228.64, Y:6.80, Z:-2.41
[[ 9.99649802e-01  2.42749954e-02  1.05355755e-02  2.28641870e+02]
 [-2.42770467e-02  9.99705267e-01  6.68360090e-05  6.80264169e+00]
 [-1.05308479e-02 -3.22585262e-04  9.99944497e-01 -2.41100476e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.647702638
Centerline is valid?  [True, True]
Translation: X:228.70, Y:6.80, Z:-2.41
[[ 9.99654456e-01  2.40825569e-02  1.05355755e-02  2.28701052e+02]
 [-2.40845975e-02  9.99709922e-01  6.68360090e-05  6.80144763e+00]
 [-1.05309098e-02 -3.20558009e-04  9.99944497e-01 -2.41162822e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.70770263799997
Centerline is valid?  [True, True]
Translation: X:228.76, Y:6.80, Z:-2.41
[[ 9.99663927e-01  2.36861797e-02  1.05355655e-02  2.28759948e+02]
 [-2.36882145e-02  9.99719393e-01  6.83770413e-05  6.80070730e+00]
 [-1.05309895e-02 -3.17922798e-04  9.99944497e-01 -2.41224989e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.76770263799997
Centerline is valid?  [True, True]
Translation: X:228.82, Y:6.80, Z:-2.41
[[ 9.99696431e-01  2.22721111e-02  1.05355648e-02  2.28820634e+02]
 [-2.22740686e-02  9.99751900e-01  6.84864173e-05  6.79812640e+00]
 [-1.05314256e-02 -3.03135520e-04  9.99944497e-01 -2.41288919e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 226.82770263799998
Centerline is valid?  [True, True]
Translation: X:228.88, Y:6.79, Z:-2.41
[[ 9.99757620e-01  1.93314149e-02  1.05355646e-02  2.28878980e+02]
 [-1.93332096e-02  9.99813094e-01  6.85153426e-05  6.79477211e+00]
 [-1.05322709e-02 -2.72185015e-04  9.99944497e-01 -2.41350373e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.88770263799998
Centerline is valid?  [True, True]
Translation: X:228.94, Y:6.79, Z:-2.41
[[ 9.99795169e-01  1.72806715e-02  1.05355545e-02  2.28936603e+02]
 [-1.72823684e-02  9.99850646e-01  7.00311664e-05  6.79258227e+00]
 [-1.05327708e-02 -2.52096156e-04  9.99944497e-01 -2.41411185e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 226.94770263799998
Centerline is valid?  [True, True]
Translation: X:229.00, Y:6.79, Z:-2.41
[[ 9.99833974e-01  1.48669430e-02  1.05355425e-02  2.28995283e+02]
 [-1.48685245e-02  9.99889455e-01  7.17953212e-05  6.78978977e+00]
 [-1.05333105e-02 -2.28431373e-04  9.99944497e-01 -2.41473123e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.00770263799998
Centerline is valid?  [True, True]
Translation: X:229.05, Y:6.79, Z:-2.42
[[ 9.99870863e-01  1.21350609e-02  1.05355410e-02  2.29054597e+02]
 [-1.21364931e-02  9.99926347e-01  7.20179170e-05  6.78770670e+00]
 [-1.05338911e-02 -1.99873137e-04  9.99944497e-01 -2.41535618e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.067702638
Centerline is valid?  [True, True]
Translation: X:229.11, Y:6.79, Z:-2.42
[[ 9.99887255e-01  1.06995185e-02  1.05355399e-02  2.29112661e+02]
 [-1.07008726e-02  9.99942741e-01  7.21693906e-05  6.78662108e+00]
 [-1.05341645e-02 -1.84900725e-04  9.99944497e-01 -2.41596798e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.127702638
Centerline is valid?  [True, True]
Translation: X:229.17, Y:6.78, Z:-2.42
[[ 9.99899283e-01  9.50922837e-03  1.05355370e-02  2.29171131e+02]
 [-9.51052101e-03  9.99954771e-01  7.25976568e-05  6.78448406e+00]
 [-1.05343701e-02 -1.72788791e-04  9.99944497e-01 -2.41658420e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.187702638
Centerline is valid?  [True, True]
Translation: X:229.23, Y:6.78, Z:-2.42
[[ 9.99906542e-01  8.71259308e-03  1.05355339e-02  2.29231151e+02]
 [-8.71384626e-03  9.99962031e-01  7.30489383e-05  6.78370705e+00]
 [-1.05344974e-02 -1.64847134e-04  9.99944497e-01 -2.41721686e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.247702638
Centerline is valid?  [True, True]
Translation: X:229.29, Y:6.78, Z:-2.42
[[ 9.99917358e-01  7.36749116e-03  1.05355331e-02  2.29289450e+02]
 [-7.36867089e-03  9.99972848e-01  7.31626032e-05  6.78355064e+00]
 [-1.05347080e-02 -1.50789433e-04  9.99944497e-01 -2.41783118e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.307702638
Centerline is valid?  [True, True]
Translation: X:229.35, Y:6.78, Z:-2.42
[[ 9.99911402e-01  8.13579605e-03  1.05355301e-02  2.29348933e+02]
 [-8.13702294e-03  9.99966891e-01  7.35915350e-05  6.78495939e+00]
 [-1.05345825e-02 -1.59312865e-04  9.99944497e-01 -2.41845831e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.367702638
Centerline is valid?  [True, True]
Translation: X:229.41, Y:6.79, Z:-2.42
[[ 9.99910570e-01  8.23743872e-03  1.05355301e-02  2.29407307e+02]
 [-8.23867124e-03  9.99966059e-01  7.35915350e-05  6.78535992e+00]
 [-1.05345663e-02 -1.60383722e-04  9.99944497e-01 -2.41907337e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.427702638
Centerline is valid?  [True, True]
Translation: X:229.47, Y:6.79, Z:-2.42
[[ 9.99897611e-01  9.68350282e-03  1.05355272e-02  2.29467064e+02]
 [-9.68481990e-03  9.99953098e-01  7.40005369e-05  6.78646590e+00]
 [-1.05343165e-02 -1.76027644e-04  9.99944497e-01 -2.41970337e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.48770263799997
Centerline is valid?  [True, True]
Translation: X:229.53, Y:6.79, Z:-2.42
[[ 9.99869399e-01  1.22551189e-02  1.05355264e-02  2.29525732e+02]
 [-1.22565798e-02  9.99924883e-01  7.41086068e-05  6.78770353e+00]
 [-1.05338268e-02 -2.03228449e-04  9.99944497e-01 -2.42032167e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.54770263799998
Centerline is valid?  [True, True]
Translation: X:229.59, Y:6.79, Z:-2.42
[[ 9.99831366e-01  1.50413862e-02  1.05355214e-02  2.29585440e+02]
 [-1.50430092e-02  9.99886845e-01  7.48190999e-05  6.78851919e+00]
 [-1.05332039e-02 -2.33292428e-04  9.99944497e-01 -2.42095135e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.60770263799998
Centerline is valid?  [True, True]
Translation: X:229.65, Y:6.79, Z:-2.42
[[ 9.99747407e-01  1.98526005e-02  1.05355206e-02  2.29645253e+02]
 [-1.98544917e-02  9.99802877e-01  7.49320088e-05  6.79197710e+00]
 [-1.05319562e-02 -2.84090488e-04  9.99944497e-01 -2.42158189e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.66770263799998
Centerline is valid?  [True, True]
Translation: X:229.71, Y:6.79, Z:-2.42
[[ 9.99647975e-01  2.43501434e-02  1.05355198e-02  2.29705333e+02]
 [-2.43522853e-02  9.99703436e-01  7.50429201e-05  6.79395169e+00]
 [-1.05305680e-02 -3.31580487e-04  9.99944497e-01 -2.42221513e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.72770263799998
Centerline is valid?  [True, True]
Translation: X:229.77, Y:6.80, Z:-2.42
[[ 9.99554390e-01  2.79289123e-02  1.05355198e-02  2.29766116e+02]
 [-2.79312527e-02  9.99609844e-01  7.50429201e-05  6.79574711e+00]
 [-1.05293134e-02 -3.69279746e-04  9.99944497e-01 -2.42285568e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.78770263799998
Centerline is valid?  [True, True]
Translation: X:229.82, Y:6.80, Z:-2.42
[[ 9.99449118e-01  3.14716353e-02  1.05355198e-02  2.29824557e+02]
 [-3.14741723e-02  9.99504563e-01  7.50456969e-05  6.79696178e+00]
 [-1.05279383e-02 -4.06601121e-04  9.99944497e-01 -2.42347152e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.847702638
Centerline is valid?  [True, True]
Translation: X:229.88, Y:6.80, Z:-2.42
[[ 9.99386316e-01  3.34065072e-02  1.05355086e-02  2.29882953e+02]
 [-3.34091677e-02  9.99441755e-01  7.65812026e-05  6.79854661e+00]
 [-1.05270689e-02 -4.28516780e-04  9.99944497e-01 -2.42408805e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.907702638
Centerline is valid?  [True, True]
Translation: X:229.94, Y:6.80, Z:-2.42
[[ 9.99383606e-01  3.34874922e-02  1.05355048e-02  2.29942652e+02]
 [-3.34901628e-02  9.99439044e-01  7.71088992e-05  6.79911459e+00]
 [-1.05270126e-02 -4.29897139e-04  9.99944497e-01 -2.42471749e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 227.967702638
Centerline is valid?  [True, True]
Translation: X:230.00, Y:6.80, Z:-2.43
[[ 9.99248079e-01  3.73132689e-02  1.05355032e-02  2.30002011e+02]
 [-3.73161539e-02  9.99303507e-01  7.73206619e-05  6.80234296e+00]
 [-1.05252802e-02 -4.70406982e-04  9.99944497e-01 -2.42534331e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 228.027702638
Centerline is valid?  [True, True]
Translation: X:230.06, Y:6.80, Z:-2.43
[[ 9.99147532e-01  3.99150576e-02  1.05355020e-02  2.30062277e+02]
 [-3.99180886e-02  9.99202952e-01  7.74811564e-05  6.80382843e+00]
 [-1.05240121e-02 -4.97972210e-04  9.99944497e-01 -2.42597852e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.087702638
Centerline is valid?  [True, True]
Translation: X:230.12, Y:6.80, Z:-2.43
[[ 9.98973840e-01  4.40485069e-02  1.05355017e-02  2.30122341e+02]
 [-4.40517676e-02  9.99029247e-01  7.75276306e-05  6.80484732e+00]
 [-1.05218593e-02 -5.41555547e-04  9.99944497e-01 -2.42661147e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.147702638
Centerline is valid?  [True, True]
Translation: X:230.18, Y:6.81, Z:-2.43
[[ 9.98895694e-01  4.57864151e-02  1.05355008e-02  2.30180687e+02]
 [-4.57897734e-02  9.98951095e-01  7.76420525e-05  6.80549604e+00]
 [-1.05208952e-02 -5.59974508e-04  9.99944497e-01 -2.42722634e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.20770263799997
Centerline is valid?  [True, True]
Translation: X:230.24, Y:6.81, Z:-2.43
[[ 9.98756403e-01  4.87303823e-02  1.05354976e-02  2.30240671e+02]
 [-4.87339086e-02  9.98811794e-01  7.80847479e-05  6.80545990e+00]
 [-1.05191741e-02 -5.91423617e-04  9.99944497e-01 -2.42785867e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.26770263799997
Centerline is valid?  [True, True]
Translation: X:230.30, Y:6.81, Z:-2.43
[[ 9.98613347e-01  5.15789371e-02  1.05354976e-02  2.30300184e+02]
 [-5.15826214e-02  9.98668727e-01  7.80847479e-05  6.80570727e+00]
 [-1.05174444e-02 -6.21425053e-04  9.99944497e-01 -2.42848572e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.32770263799998
Centerline is valid?  [True, True]
Translation: X:230.36, Y:6.81, Z:-2.43
[[ 9.98476822e-01  5.41575392e-02  1.05354976e-02  2.30359357e+02]
 [-5.41613664e-02  9.98532193e-01  7.80747407e-05  6.80668189e+00]
 [-1.05158052e-02 -6.48572766e-04  9.99944497e-01 -2.42910924e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.38770263799998
Centerline is valid?  [True, True]
Translation: X:230.42, Y:6.81, Z:-2.43
[[ 9.98483332e-01  5.40373933e-02  1.05354966e-02  2.30418233e+02]
 [-5.40412153e-02  9.98538703e-01  7.82140263e-05  6.80642509e+00]
 [-1.05158746e-02 -6.47446441e-04  9.99944497e-01 -2.42972965e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.44770263799998
Centerline is valid?  [True, True]
Translation: X:230.48, Y:6.81, Z:-2.43
[[ 9.98408242e-01  5.54074533e-02  1.05354849e-02  2.30476425e+02]
 [-5.54113675e-02  9.98463607e-01  7.97579200e-05  6.80593954e+00]
 [-1.05148791e-02 -6.63416591e-04  9.99944497e-01 -2.43034390e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.50770263799998
Centerline is valid?  [True, True]
Translation: X:230.54, Y:6.81, Z:-2.43
[[ 9.98632436e-01  5.12080312e-02  1.05354712e-02  2.30536981e+02]
 [-5.12117311e-02  9.98687815e-01  8.15281004e-05  6.80508198e+00]
 [-1.05174718e-02 -6.20956324e-04  9.99944497e-01 -2.43098318e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.567702638
Centerline is valid?  [True, True]
Translation: X:230.60, Y:6.80, Z:-2.43
[[ 9.98946579e-01  4.46624781e-02  1.05354708e-02  2.30595729e+02]
 [-4.46658155e-02  9.99001981e-01  8.15812198e-05  6.80403855e+00]
 [-1.05213126e-02 -5.52070676e-04  9.99944497e-01 -2.43160211e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.627702638
Centerline is valid?  [True, True]
Translation: X:230.65, Y:6.80, Z:-2.43
[[ 9.99101788e-01  4.10441450e-02  1.05354688e-02  2.30654671e+02]
 [-4.10472845e-02  9.99157202e-01  8.18429875e-05  6.80331850e+00]
 [-1.05232303e-02 -5.14221859e-04  9.99944497e-01 -2.43222326e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.687702638
Centerline is valid?  [True, True]
Translation: X:230.72, Y:6.80, Z:-2.43
[[ 9.99293538e-01  3.60753227e-02  1.05354679e-02  2.30715260e+02]
 [-3.60781877e-02  9.99348967e-01  8.19490214e-05  6.80205134e+00]
 [-1.05256527e-02 -4.61991718e-04  9.99944497e-01 -2.43286160e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.747702638
Centerline is valid?  [True, True]
Translation: X:230.77, Y:6.80, Z:-2.43
[[ 9.99388312e-01  3.33467568e-02  1.05354667e-02  2.30774861e+02]
 [-3.33494721e-02  9.99443748e-01  8.21070457e-05  6.80207736e+00]
 [-1.05268683e-02 -4.33409075e-04  9.99944497e-01 -2.43348969e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.807702638
Centerline is valid?  [True, True]
Translation: X:230.83, Y:6.80, Z:-2.43
[[ 9.99450234e-01  3.14361935e-02  1.05354650e-02  2.30834099e+02]
 [-3.14388052e-02  9.99505675e-01  8.23318732e-05  6.80129654e+00]
 [-1.05276688e-02 -4.13509040e-04  9.99944497e-01 -2.43411393e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.867702638
Centerline is valid?  [True, True]
Translation: X:230.89, Y:6.80, Z:-2.43
[[ 9.99501042e-01  2.97770113e-02  1.05354531e-02  2.30893882e+02]
 [-2.97795466e-02  9.99556487e-01  8.38158389e-05  6.80164774e+00]
 [-1.05282848e-02 -3.97515036e-04  9.99944497e-01 -2.43474494e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.927702638
Centerline is valid?  [True, True]
Translation: X:230.95, Y:6.80, Z:-2.44
[[ 9.99565287e-01  2.75361903e-02  1.05354509e-02  2.30952603e+02]
 [-2.75386042e-02  9.99620737e-01  8.40963254e-05  6.80181049e+00]
 [-1.05291395e-02 -3.74191380e-04  9.99944497e-01 -2.43536384e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 228.98770263799997
Centerline is valid?  [True, True]
Translation: X:231.01, Y:6.80, Z:-2.44
[[ 9.99596207e-01  2.63899276e-02  1.05354472e-02  2.31011663e+02]
 [-2.63922827e-02  9.99651659e-01  8.45526873e-05  6.80191916e+00]
 [-1.05295460e-02 -3.62573048e-04  9.99944497e-01 -2.43598645e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.04770263799998
Centerline is valid?  [True, True]
Translation: X:231.07, Y:6.80, Z:-2.44
[[ 9.99637436e-01  2.47790356e-02  1.05354351e-02  2.31070665e+02]
 [-2.47813171e-02  9.99692892e-01  8.60419631e-05  6.80282192e+00]
 [-1.05300675e-02 -3.47092725e-04  9.99944497e-01 -2.43660929e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.10770263799998
Centerline is valid?  [True, True]
Translation: X:231.13, Y:6.80, Z:-2.44
[[ 9.99653655e-01  2.41158591e-02  1.05354315e-02  2.31128713e+02]
 [-2.41181084e-02  9.99709112e-01  8.64839246e-05  6.80317763e+00]
 [-1.05302812e-02 -3.40548649e-04  9.99944497e-01 -2.43722124e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.16770263799998
Centerline is valid?  [True, True]
Translation: X:231.19, Y:6.80, Z:-2.44
[[ 9.99721891e-01  2.10984466e-02  1.05354269e-02  2.31188255e+02]
 [-2.11005343e-02  9.99777355e-01  8.70345004e-05  6.80283561e+00]
 [-1.05312450e-02 -3.09313433e-04  9.99944497e-01 -2.43784896e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 229.22770263799998
Centerline is valid?  [True, True]
Translation: X:231.25, Y:6.80, Z:-2.44
[[ 9.99785058e-01  1.78561576e-02  1.05354260e-02  2.31247247e+02]
 [-1.78580666e-02  9.99840528e-01  8.71462581e-05  6.80268301e+00]
 [-1.05321898e-02 -2.75269865e-04  9.99944497e-01 -2.43847057e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.28770263799998
Centerline is valid?  [True, True]
Translation: X:231.30, Y:6.80, Z:-2.44
[[ 9.99866694e-01  1.24739407e-02  1.05354241e-02  2.31304963e+02]
 [-1.24755534e-02  9.99922173e-01  8.73698092e-05  6.80230441e+00]
 [-1.05335143e-02 -2.18793409e-04  9.99944497e-01 -2.43907880e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.347702638
Centerline is valid?  [True, True]
Translation: X:231.36, Y:6.80, Z:-2.44
[[ 9.99899603e-01  9.47572411e-03  1.05354197e-02  2.31364078e+02]
 [-9.47717605e-03  9.99955087e-01  8.78988411e-05  6.80381678e+00]
 [-1.05341136e-02 -1.87736044e-04  9.99944497e-01 -2.43970216e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.407702638
Centerline is valid?  [True, True]
Translation: X:231.42, Y:6.80, Z:-2.44
[[ 9.99925879e-01  6.10258547e-03  1.05354161e-02  2.31422743e+02]
 [-6.10385476e-03  9.99981367e-01  8.83280775e-05  6.80474558e+00]
 [-1.05346808e-02 -1.52628180e-04  9.99944497e-01 -2.44032066e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.467702638
Centerline is valid?  [True, True]
Translation: X:231.48, Y:6.80, Z:-2.44
[[ 9.99935035e-01  4.35098111e-03  1.05354143e-02  2.31482805e+02]
 [-4.35215546e-03  9.99990525e-01  8.85429856e-05  6.80454330e+00]
 [-1.05349292e-02 -1.34388994e-04  9.99944497e-01 -2.44095362e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.527702638
Centerline is valid?  [True, True]
Translation: X:231.54, Y:6.81, Z:-2.44
[[ 9.99944463e-01  2.77342273e-04  1.05354134e-02  2.31541306e+02]
 [-2.78291724e-04  9.99999957e-01  8.86540234e-05  6.80661259e+00]
 [-1.05353883e-02 -9.15810181e-05  9.99944497e-01 -2.44157025e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.587702638
Centerline is valid?  [True, True]
Translation: X:231.60, Y:6.81, Z:-2.44
[[ 9.99941383e-01 -2.49714467e-03  1.05354103e-02  2.31601959e+02]
 [ 2.49634534e-03  9.99996880e-01  8.90203744e-05  6.80821913e+00]
 [-1.05355997e-02 -6.27151339e-05  9.99944497e-01 -2.44220970e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.647702638
Centerline is valid?  [True, True]
Translation: X:231.66, Y:6.81, Z:-2.44
[[ 9.99926321e-01 -6.02974933e-03  1.05354095e-02  2.31662019e+02]
 [ 6.02914509e-03  9.99981821e-01  8.91127807e-05  6.80893327e+00]
 [-1.05357553e-02 -2.55867025e-05  9.99944497e-01 -2.44284264e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.70770263799997
Centerline is valid?  [True, True]
Translation: X:231.72, Y:6.81, Z:-2.44
[[ 9.99902775e-01 -9.13481892e-03  1.05354128e-02  2.31723986e+02]
 [ 9.13439120e-03  9.99958277e-01  8.87170876e-05  6.81033021e+00]
 [-1.05357837e-02  7.52612015e-06  9.99944497e-01 -2.44349534e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.76770263799997
Centerline is valid?  [True, True]
Translation: X:231.79, Y:6.81, Z:-2.44
[[ 9.99849950e-01 -1.37507003e-02  1.05354254e-02  2.31786225e+02]
 [ 1.37505448e-02  9.99905453e-01  8.71987840e-05  6.81087976e+00]
 [-1.05356284e-02  5.76821393e-05  9.99944497e-01 -2.44415000e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.82770263799998
Centerline is valid?  [True, True]
Translation: X:231.85, Y:6.81, Z:-2.44
[[ 9.99831316e-01 -1.50447077e-02  1.05354372e-02  2.31847186e+02]
 [ 1.50446394e-02  9.99886819e-01  8.57439721e-05  6.81264914e+00]
 [-1.05355348e-02  7.27723457e-05  9.99944497e-01 -2.44479135e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.88770263799998
Centerline is valid?  [True, True]
Translation: X:231.91, Y:6.81, Z:-2.45
[[ 9.99795964e-01 -1.72347197e-02  1.05354481e-02  2.31909141e+02]
 [ 1.72347872e-02  9.99851466e-01  8.43943847e-05  6.81455641e+00]
 [-1.05353377e-02  9.71990400e-05  9.99944497e-01 -2.44544327e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 229.94770263799998
Centerline is valid?  [True, True]
Translation: X:231.97, Y:6.82, Z:-2.45
[[ 9.99782336e-01 -1.80078989e-02  1.05354513e-02  2.31970527e+02]
 [ 1.80080136e-02  9.99837839e-01  8.39852484e-05  6.81570609e+00]
 [-1.05352553e-02  1.05755583e-04  9.99944497e-01 -2.44608982e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.00770263799998
Centerline is valid?  [True, True]
Translation: X:232.03, Y:6.82, Z:-2.45
[[ 9.99724323e-01 -2.09828814e-02  1.05354530e-02  2.32031713e+02]
 [ 2.09831634e-02  9.99779826e-01  8.37784232e-05  6.81581235e+00]
 [-1.05348912e-02  1.37311804e-04  9.99944497e-01 -2.44673433e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.067702638
Centerline is valid?  [True, True]
Translation: X:232.09, Y:6.82, Z:-2.45
[[ 9.99633465e-01 -2.49387060e-02  1.05354546e-02  2.32093679e+02]
 [ 2.49392099e-02  9.99688966e-01  8.35713004e-05  6.81521459e+00]
 [-1.05342619e-02  1.79205245e-04  9.99944497e-01 -2.44738700e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.127702638
Centerline is valid?  [True, True]
Translation: X:232.15, Y:6.81, Z:-2.45
[[ 9.99546256e-01 -2.82185242e-02  1.05354677e-02  2.32154976e+02]
 [ 2.82192279e-02  9.99601755e-01  8.18879883e-05  6.81333049e+00]
 [-1.05335827e-02  2.15451931e-04  9.99944497e-01 -2.44803141e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.187702638
Centerline is valid?  [True, True]
Translation: X:232.22, Y:6.81, Z:-2.45
[[ 9.99467251e-01 -3.08904249e-02  1.05354693e-02  2.32217437e+02]
 [ 3.08912792e-02  9.99522747e-01  8.16789354e-05  6.81223510e+00]
 [-1.05329643e-02  2.43818702e-04  9.99944497e-01 -2.44868925e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.247702638
Centerline is valid?  [True, True]
Translation: X:232.28, Y:6.81, Z:-2.45
[[ 9.99466036e-01 -3.09297015e-02  1.05354807e-02  2.32278461e+02]
 [ 3.09305736e-02  9.99521532e-01  8.01866367e-05  6.81043380e+00]
 [-1.05329199e-02  2.45724640e-04  9.99944497e-01 -2.44933095e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.307702638
Centerline is valid?  [True, True]
Translation: X:232.34, Y:6.81, Z:-2.45
[[ 9.99364214e-01 -3.40612885e-02  1.05354839e-02  2.32340169e+02]
 [ 3.40623391e-02  9.99419707e-01  7.97561046e-05  6.80732391e+00]
 [-1.05320868e-02  2.79157829e-04  9.99944497e-01 -2.44998054e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.367702638
Centerline is valid?  [True, True]
Translation: X:232.40, Y:6.81, Z:-2.45
[[ 9.99239087e-01 -3.75533142e-02  1.05354871e-02  2.32401283e+02]
 [ 3.75545631e-02  9.99294575e-01  7.93305873e-05  6.80517937e+00]
 [-1.05310343e-02  3.16385393e-04  9.99944497e-01 -2.45062396e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 230.42770263799997
Centerline is valid?  [True, True]
Translation: X:232.46, Y:6.80, Z:-2.45
[[ 9.99199286e-01 -3.85977970e-02  1.05354879e-02  2.32463943e+02]
 [ 3.85991051e-02  9.99254774e-01  7.92223855e-05  6.80361878e+00]
 [-1.05306944e-02  3.27501455e-04  9.99944497e-01 -2.45128395e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.48770263799997
Centerline is valid?  [True, True]
Translation: X:232.52, Y:6.80, Z:-2.45
[[ 9.99188545e-01 -3.88748557e-02  1.05354987e-02  2.32523474e+02]
 [ 3.88761946e-02  9.99244032e-01  7.77628009e-05  6.80100444e+00]
 [-1.05305572e-02  3.31880398e-04  9.99944497e-01 -2.45190989e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.54770263799998
Centerline is valid?  [True, True]
Translation: X:232.58, Y:6.80, Z:-2.45
[[ 9.99249506e-01 -3.72750258e-02  1.05354995e-02  2.32583558e+02]
 [ 3.72762770e-02  9.99304995e-01  7.76581548e-05  6.80015578e+00]
 [-1.05310720e-02  3.15124324e-04  9.99944497e-01 -2.45254280e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.60770263799998
Centerline is valid?  [True, True]
Translation: X:232.65, Y:6.80, Z:-2.45
[[ 9.99342639e-01 -3.46885089e-02  1.05354995e-02  2.32645223e+02]
 [ 3.46896164e-02  9.99398131e-01  7.76581548e-05  6.79805019e+00]
 [-1.05318523e-02  2.87865331e-04  9.99944497e-01 -2.45319234e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.66770263799998
Centerline is valid?  [True, True]
Translation: X:232.71, Y:6.80, Z:-2.45
[[ 9.99345723e-01 -3.45995525e-02  1.05355010e-02  2.32708355e+02]
 [ 3.46006573e-02  9.99401215e-01  7.74496568e-05  6.79531821e+00]
 [-1.05318722e-02  2.87136276e-04  9.99944497e-01 -2.45385714e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.72770263799998
Centerline is valid?  [True, True]
Translation: X:232.77, Y:6.79, Z:-2.45
[[ 9.99368896e-01 -3.39236250e-02  1.05355138e-02  2.32770670e+02]
 [ 3.39247110e-02  9.99424388e-01  7.56687665e-05  6.79393360e+00]
 [-1.05320164e-02  2.81793249e-04  9.99944497e-01 -2.45451230e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.78770263799998
Centerline is valid?  [True, True]
Translation: X:232.83, Y:6.79, Z:-2.46
[[ 9.99427441e-01 -3.21526413e-02  1.05355178e-02  2.32831106e+02]
 [ 3.21536348e-02  9.99482935e-01  7.51147430e-05  6.79108084e+00]
 [-1.05324854e-02  2.63683455e-04  9.99944497e-01 -2.45514845e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.847702638
Centerline is valid?  [True, True]
Translation: X:232.89, Y:6.79, Z:-2.46
[[ 9.99475586e-01 -3.06195202e-02  1.05355186e-02  2.32893979e+02]
 [ 3.06204297e-02  9.99531082e-01  7.50031258e-05  6.78913083e+00]
 [-1.05328748e-02  2.47638312e-04  9.99944497e-01 -2.45581066e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.907702638
Centerline is valid?  [True, True]
Translation: X:232.96, Y:6.78, Z:-2.46
[[ 9.99440958e-01 -3.17297083e-02  1.05355240e-02  2.32956282e+02]
 [ 3.17306876e-02  9.99496452e-01  7.42248459e-05  6.78048840e+00]
 [-1.05325740e-02  2.60116071e-04  9.99944497e-01 -2.45646590e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 230.967702638
Centerline is valid?  [True, True]
Translation: X:233.02, Y:6.78, Z:-2.46
[[ 9.99437219e-01 -3.18472452e-02  1.05355272e-02  2.33016085e+02]
 [ 3.18482358e-02  9.99492714e-01  7.37788628e-05  6.77942517e+00]
 [-1.05325323e-02  2.61800612e-04  9.99944497e-01 -2.45709559e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.027702638
Centerline is valid?  [True, True]
Translation: X:233.08, Y:6.78, Z:-2.46
[[ 9.99474056e-01 -3.06694191e-02  1.05355272e-02  2.33078308e+02]
 [ 3.06703443e-02  9.99529552e-01  7.37788628e-05  6.77796074e+00]
 [-1.05328335e-02  2.49388186e-04  9.99944497e-01 -2.45775107e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.087702638
Centerline is valid?  [True, True]
Translation: X:233.14, Y:6.78, Z:-2.46
[[ 9.99461020e-01 -3.10913651e-02  1.05355301e-02  2.33139488e+02]
 [ 3.10923182e-02  9.99516514e-01  7.33495403e-05  6.77946371e+00]
 [-1.05327169e-02  2.54264050e-04  9.99944497e-01 -2.45839548e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.147702638
Centerline is valid?  [True, True]
Translation: X:233.20, Y:6.78, Z:-2.46
[[ 9.99500764e-01 -2.97863211e-02  1.05355324e-02  2.33200934e+02]
 [ 2.97872052e-02  9.99556260e-01  7.30258358e-05  6.77757421e+00]
 [-1.05330325e-02  2.40834686e-04  9.99944497e-01 -2.45904251e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.20770263799997
Centerline is valid?  [True, True]
Translation: X:233.26, Y:6.78, Z:-2.46
[[ 9.99487472e-01 -3.02290470e-02  1.05355419e-02  2.33263066e+02]
 [ 3.02299704e-02  9.99542967e-01  7.16258113e-05  6.77713579e+00]
 [-1.05328920e-02  2.46900019e-04  9.99944497e-01 -2.45969612e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.26770263799997
Centerline is valid?  [True, True]
Translation: X:233.33, Y:6.78, Z:-2.46
[[ 9.99492874e-01 -3.00499038e-02  1.05355456e-02  2.33325018e+02]
 [ 3.00508231e-02  9.99548370e-01  7.10802828e-05  6.77766732e+00]
 [-1.05329234e-02  2.45557580e-04  9.99944497e-01 -2.46034852e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.32770263799998
Centerline is valid?  [True, True]
Translation: X:233.39, Y:6.78, Z:-2.46
[[ 9.99565552e-01 -2.75265334e-02  1.05355485e-02  2.33385207e+02]
 [ 2.75273171e-02  9.99621049e-01  7.06401293e-05  6.77594271e+00]
 [-1.05335006e-02  2.19405946e-04  9.99944497e-01 -2.46098224e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.38770263799998
Centerline is valid?  [True, True]
Translation: X:233.44, Y:6.78, Z:-2.46
[[ 9.99603469e-01 -2.61133599e-02  1.05355485e-02  2.33444821e+02]
 [ 2.61140651e-02  9.99658967e-01  7.06442945e-05  6.77734838e+00]
 [-1.05338003e-02  2.04509718e-04  9.99944497e-01 -2.46161044e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.44770263799998
Centerline is valid?  [True, True]
Translation: X:233.51, Y:6.78, Z:-2.46
[[ 9.99665883e-01 -2.36034973e-02  1.05355519e-02  2.33505185e+02]
 [ 2.36040686e-02  9.99721383e-01  7.01326019e-05  6.77925559e+00]
 [-1.05342719e-02  1.78572721e-04  9.99944497e-01 -2.46224622e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.50770263799998
Centerline is valid?  [True, True]
Translation: X:233.57, Y:6.78, Z:-2.46
[[ 9.99768970e-01 -1.87352061e-02  1.05355520e-02  2.33565914e+02]
 [ 1.87355073e-02  9.99824473e-01  7.01179725e-05  6.78161598e+00]
 [-1.05350164e-02  1.27287138e-04  9.99944497e-01 -2.46288622e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.567702638
Centerline is valid?  [True, True]
Translation: X:233.63, Y:6.78, Z:-2.46
[[ 9.99792634e-01 -1.74267281e-02  1.05355577e-02  2.33628318e+02]
 [ 1.74269657e-02  9.99848137e-01  6.92583797e-05  6.78435109e+00]
 [-1.05351646e-02  1.14358784e-04  9.99944497e-01 -2.46354330e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 231.627702638
Centerline is valid?  [True, True]
Translation: X:233.69, Y:6.79, Z:-2.46
[[ 9.99848378e-01 -1.38644843e-02  1.05355614e-02  2.33690002e+02]
 [ 1.38645301e-02  9.99903880e-01  6.86887940e-05  6.78612228e+00]
 [-1.05355010e-02  7.73922287e-05  9.99944497e-01 -2.46419293e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.687702638
Centerline is valid?  [True, True]
Translation: X:233.75, Y:6.79, Z:-2.46
[[ 9.99861875e-01 -1.28543121e-02  1.05355643e-02  2.33752482e+02]
 [ 1.28543067e-02  9.99917378e-01  6.82328567e-05  6.78932991e+00]
 [-1.05355709e-02  6.72039432e-05  9.99944497e-01 -2.46485112e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.747702638
Centerline is valid?  [True, True]
Translation: X:233.81, Y:6.79, Z:-2.47
[[ 9.99880054e-01 -1.13524690e-02  1.05355672e-02  2.33814734e+02]
 [ 1.13523849e-02  9.99935557e-01  6.77821347e-05  6.78993967e+00]
 [-1.05356578e-02  5.18298103e-05  9.99944497e-01 -2.46550675e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.807702638
Centerline is valid?  [True, True]
Translation: X:233.87, Y:6.79, Z:-2.47
[[ 9.99897103e-01 -9.73579727e-03  1.05355702e-02  2.33874479e+02]
 [ 9.73562833e-03  9.99952605e-01  6.73224268e-05  6.79233787e+00]
 [-1.05357263e-02  3.52548959e-05  9.99944497e-01 -2.46613606e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.867702638
Centerline is valid?  [True, True]
Translation: X:233.94, Y:6.80, Z:-2.47
[[ 9.99927406e-01 -5.84677763e-03  1.05355721e-02  2.33935728e+02]
 [ 5.84639608e-03  9.99982907e-01  6.70137483e-05  6.79516704e+00]
 [-1.05357839e-02 -5.41375584e-06  9.99944497e-01 -2.46678136e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.92770263799997
Centerline is valid?  [True, True]
Translation: X:234.00, Y:6.80, Z:-2.47
[[ 9.99944053e-01 -9.45239536e-04  1.05355742e-02  2.33996934e+02]
 [ 9.44589371e-04  9.99999552e-01  6.66872646e-05  6.79979427e+00]
 [-1.05356325e-02 -5.67317422e-05  9.99944497e-01 -2.46742631e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 231.98770263799997
Centerline is valid?  [True, True]
Translation: X:234.06, Y:6.80, Z:-2.47
[[ 9.99940161e-01  2.94536115e-03  1.05355749e-02  2.34057593e+02]
 [-2.94622607e-03  9.99995658e-01  6.65753985e-05  6.80217643e+00]
 [-1.05353331e-02 -9.76116001e-05  9.99944497e-01 -2.46806550e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.04770263799998
Centerline is valid?  [True, True]
Translation: X:234.12, Y:6.81, Z:-2.47
[[ 9.99881103e-01  1.12596899e-02  1.05355756e-02  2.34118017e+02]
 [-1.12610150e-02  9.99936591e-01  6.64636272e-05  6.80757930e+00]
 [-1.05341592e-02 -1.85097000e-04  9.99944497e-01 -2.46870241e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.10770263799998
Centerline is valid?  [True, True]
Translation: X:234.18, Y:6.81, Z:-2.47
[[ 9.99739556e-01  2.02440537e-02  1.05355754e-02  2.34178721e+02]
 [-2.02458778e-02  9.99795029e-01  6.64952039e-05  6.80911624e+00]
 [-1.05320698e-02 -2.79779858e-04  9.99944497e-01 -2.46934213e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.16770263799998
Centerline is valid?  [True, True]
Translation: X:234.24, Y:6.81, Z:-2.47
[[ 9.99577902e-01  2.70743354e-02  1.05355762e-02  2.34237377e+02]
 [-2.70765371e-02  9.99633361e-01  6.63700123e-05  6.81405838e+00]
 [-1.05299165e-02 -3.51608917e-04  9.99944497e-01 -2.46996038e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.22770263799998
Centerline is valid?  [True, True]
Translation: X:234.30, Y:6.82, Z:-2.47
[[ 9.99458158e-01  3.11832002e-02  1.05355730e-02  2.34296894e+02]
 [-3.11856351e-02  9.99513608e-01  6.68686977e-05  6.81511902e+00]
 [-1.05283634e-02 -3.95391002e-04  9.99944497e-01 -2.47058789e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.28770263799998
Centerline is valid?  [True, True]
Translation: X:234.36, Y:6.82, Z:-2.47
[[ 9.99243540e-01  3.74345957e-02  1.05355725e-02  2.34356713e+02]
 [-3.74373783e-02  9.99298973e-01  6.69523626e-05  6.81744535e+00]
 [-1.05256805e-02 -4.61325929e-04  9.99944497e-01 -2.47121837e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.347702638
Centerline is valid?  [True, True]
Translation: X:234.42, Y:6.82, Z:-2.47
[[ 9.99033432e-01  4.26755572e-02  1.05355729e-02  2.34417152e+02]
 [-4.26786300e-02  9.99088850e-01  6.68980638e-05  6.81804574e+00]
 [-1.05231185e-02 -5.16477218e-04  9.99944497e-01 -2.47185517e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.407702638
Centerline is valid?  [True, True]
Translation: X:234.47, Y:6.82, Z:-2.47
[[ 9.98954428e-01  4.44865358e-02  1.05355725e-02  2.34474899e+02]
 [-4.44897096e-02  9.99009840e-01  6.69497486e-05  6.82052725e+00]
 [-1.05221623e-02 -5.35604310e-04  9.99944497e-01 -2.47246381e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.467702638
Centerline is valid?  [True, True]
Translation: X:234.53, Y:6.82, Z:-2.47
[[ 9.98810397e-01  4.76108400e-02  1.05355622e-02  2.34534674e+02]
 [-4.76142038e-02  9.98865798e-01  6.85394164e-05  6.82092894e+00]
 [-1.05203495e-02 -5.70100286e-04  9.99944497e-01 -2.47309480e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.527702638
Centerline is valid?  [True, True]
Translation: X:234.59, Y:6.82, Z:-2.47
[[ 9.98874396e-01  4.62487088e-02  1.05355615e-02  2.34593617e+02]
 [-4.62519981e-02  9.98929801e-01  6.86450493e-05  6.82254263e+00]
 [-1.05211116e-02 -5.55858553e-04  9.99944497e-01 -2.47371603e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.587702638
Centerline is valid?  [True, True]
Translation: X:234.65, Y:6.82, Z:-2.47
[[ 9.98921593e-01  4.52178352e-02  1.05355597e-02  2.34651877e+02]
 [-4.52210703e-02  9.98977002e-01  6.89256314e-05  6.82322653e+00]
 [-1.05216651e-02 -5.45280585e-04  9.99944497e-01 -2.47433011e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.647702638
Centerline is valid?  [True, True]
Translation: X:234.71, Y:6.82, Z:-2.47
[[ 9.98986956e-01  4.37500116e-02  1.05355492e-02  2.34709886e+02]
 [-4.37531818e-02  9.99042369e-01  7.04910223e-05  6.82169686e+00]
 [-1.05223760e-02 -5.31383410e-04  9.99944497e-01 -2.47494236e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.70770263799997
Centerline is valid?  [True, True]
Translation: X:234.77, Y:6.82, Z:-2.48
[[ 9.99110256e-01  4.08374576e-02  1.05355436e-02  2.34770399e+02]
 [-4.08404749e-02  9.99165677e-01  7.13113349e-05  6.82327456e+00]
 [-1.05238414e-02 -5.01524491e-04  9.99944497e-01 -2.47558065e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.76770263799997
Centerline is valid?  [True, True]
Translation: X:234.83, Y:6.82, Z:-2.48
[[ 9.99222428e-01  3.79939664e-02  1.05355426e-02  2.34829753e+02]
 [-3.79968275e-02  9.99277857e-01  7.14632081e-05  6.82152242e+00]
 [-1.05252193e-02 -4.71724835e-04  9.99944497e-01 -2.47620599e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 232.82770263799998
Centerline is valid?  [True, True]
Translation: X:234.89, Y:6.82, Z:-2.48
[[ 9.99289439e-01  3.61886677e-02  1.05355414e-02  2.34889514e+02]
 [-3.61914305e-02  9.99344873e-01  7.16337562e-05  6.82185045e+00]
 [-1.05260470e-02 -4.52879172e-04  9.99944497e-01 -2.47683579e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.88770263799998
Centerline is valid?  [True, True]
Translation: X:234.95, Y:6.82, Z:-2.48
[[ 9.99263751e-01  3.68911746e-02  1.05355399e-02  2.34948101e+02]
 [-3.68939786e-02  9.99319183e-01  7.18576032e-05  6.81888690e+00]
 [-1.05257162e-02 -4.60502683e-04  9.99944497e-01 -2.47745303e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 232.94770263799998
Centerline is valid?  [True, True]
Translation: X:235.01, Y:6.82, Z:-2.48
[[ 9.99382996e-01  3.35056621e-02  1.05355287e-02  2.35006628e+02]
 [-3.35082954e-02  9.99438437e-01  7.34673669e-05  6.82190942e+00]
 [-1.05271507e-02 -4.26449644e-04  9.99944497e-01 -2.47807108e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.00770263799998
Centerline is valid?  [True, True]
Translation: X:235.07, Y:6.82, Z:-2.48
[[ 9.99295367e-01  3.60245976e-02  1.05355263e-02  2.35066407e+02]
 [-3.60273741e-02  9.99350801e-01  7.38034269e-05  6.81806746e+00]
 [-1.05260279e-02 -4.53318771e-04  9.99944497e-01 -2.47870088e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.067702638
Centerline is valid?  [True, True]
Translation: X:235.13, Y:6.82, Z:-2.48
[[ 9.99298390e-01  3.59406524e-02  1.05355255e-02  2.35126308e+02]
 [-3.59434254e-02  9.99353824e-01  7.39155210e-05  6.81929197e+00]
 [-1.05260612e-02 -4.52546537e-04  9.99944497e-01 -2.47933218e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.127702638
Centerline is valid?  [True, True]
Translation: X:235.18, Y:6.82, Z:-2.48
[[ 9.99267626e-01  3.67860608e-02  1.05355246e-02  2.35184712e+02]
 [-3.67888821e-02  9.99323057e-01  7.40514083e-05  6.81675353e+00]
 [-1.05256686e-02 -4.61587347e-04  9.99944497e-01 -2.47994744e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.187702638
Centerline is valid?  [True, True]
Translation: X:235.24, Y:6.82, Z:-2.48
[[ 9.99319116e-01  3.53596799e-02  1.05355131e-02  2.35244540e+02]
 [-3.53624389e-02  9.99374551e-01  7.56510104e-05  6.81788305e+00]
 [-1.05262487e-02 -4.48160940e-04  9.99944497e-01 -2.48057905e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.247702638
Centerline is valid?  [True, True]
Translation: X:235.31, Y:6.82, Z:-2.48
[[ 9.99416880e-01  3.24792712e-02  1.05355123e-02  2.35305271e+02]
 [-3.24818717e-02  9.99472322e-01  7.57673298e-05  6.81639322e+00]
 [-1.05274920e-02 -4.17936306e-04  9.99944497e-01 -2.48121889e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.307702638
Centerline is valid?  [True, True]
Translation: X:235.37, Y:6.82, Z:-2.48
[[ 9.99552089e-01  2.80111567e-02  1.05355120e-02  2.35365636e+02]
 [-2.80135097e-02  9.99607542e-01  7.58009166e-05  6.81524478e+00]
 [-1.05292540e-02 -3.70903633e-04  9.99944497e-01 -2.48185484e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.367702638
Centerline is valid?  [True, True]
Translation: X:235.42, Y:6.81, Z:-2.48
[[ 9.99599671e-01  2.62583524e-02  1.05355104e-02  2.35423232e+02]
 [-2.62606105e-02  9.99655128e-01  7.60225671e-05  6.81368351e+00]
 [-1.05298808e-02 -3.52661068e-04  9.99944497e-01 -2.48246172e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.42770263799997
Centerline is valid?  [True, True]
Translation: X:235.48, Y:6.81, Z:-2.48
[[ 9.99648980e-01  2.43088390e-02  1.05355064e-02  2.35482149e+02]
 [-2.43109948e-02  9.99704441e-01  7.65827106e-05  6.81198413e+00]
 [-1.05305309e-02 -3.32684469e-04  9.99944497e-01 -2.48308275e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.48770263799997
Centerline is valid?  [True, True]
Translation: X:235.54, Y:6.81, Z:-2.48
[[ 9.99734611e-01  2.04868667e-02  1.05355030e-02  2.35542044e+02]
 [-2.04888153e-02  9.99790079e-01  7.70457335e-05  6.81136795e+00]
 [-1.05317129e-02 -2.92885261e-04  9.99944497e-01 -2.48371409e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.54770263799998
Centerline is valid?  [True, True]
Translation: X:235.60, Y:6.81, Z:-2.48
[[ 9.99758147e-01  1.93041445e-02  1.05355020e-02  2.35601061e+02]
 [-1.93060289e-02  9.99813618e-01  7.71809560e-05  6.80961887e+00]
 [-1.05320484e-02 -2.80560996e-04  9.99944497e-01 -2.48433587e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.60770263799998
Centerline is valid?  [True, True]
Translation: X:235.66, Y:6.81, Z:-2.48
[[ 9.99765141e-01  1.89384759e-02  1.05354995e-02  2.35659713e+02]
 [-1.89403436e-02  9.99820613e-01  7.75240019e-05  6.80900078e+00]
 [-1.05321413e-02 -2.77051775e-04  9.99944497e-01 -2.48495403e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.66770263799998
Centerline is valid?  [True, True]
Translation: X:235.72, Y:6.81, Z:-2.49
[[ 9.99783639e-01  1.79354154e-02  1.05354874e-02  2.35718470e+02]
 [-1.79372444e-02  9.99839112e-01  7.91333143e-05  6.80805570e+00]
 [-1.05323730e-02 -2.68093805e-04  9.99944497e-01 -2.48557418e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.72770263799998
Centerline is valid?  [True, True]
Translation: X:235.78, Y:6.81, Z:-2.49
[[ 9.99819954e-01  1.57817648e-02  1.05354856e-02  2.35778112e+02]
 [-1.57834767e-02  9.99875430e-01  7.93616069e-05  6.80737630e+00]
 [-1.05329208e-02 -2.45633911e-04  9.99944497e-01 -2.48620268e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.78770263799998
Centerline is valid?  [True, True]
Translation: X:235.84, Y:6.81, Z:-2.49
[[ 9.99844257e-01  1.41585768e-02  1.05354848e-02  2.35838394e+02]
 [-1.41601998e-02  9.99899736e-01  7.94766644e-05  6.80599510e+00]
 [-1.05333032e-02 -2.28648856e-04  9.99944497e-01 -2.48683779e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.847702638
Centerline is valid?  [True, True]
Translation: X:235.90, Y:6.80, Z:-2.49
[[ 9.99891017e-01  1.03420159e-02  1.05354827e-02  2.35898301e+02]
 [-1.03434302e-02  9.99946502e-01  7.97529000e-05  6.80237158e+00]
 [-1.05340943e-02 -1.88717238e-04  9.99944497e-01 -2.48746888e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.907702638
Centerline is valid?  [True, True]
Translation: X:235.96, Y:6.80, Z:-2.49
[[ 9.99934319e-01  4.51228898e-03  1.05354818e-02  2.35957153e+02]
 [-4.51338089e-03  9.99989811e-01  7.98667810e-05  6.79957966e+00]
 [-1.05350141e-02 -1.27412178e-04  9.99944497e-01 -2.48808881e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 233.967702638
Centerline is valid?  [True, True]
Translation: X:236.02, Y:6.80, Z:-2.49
[[ 9.99941543e-01  2.43202496e-03  1.05354807e-02  2.36017115e+02]
 [-2.43300295e-03  9.99997037e-01  8.00126383e-05  6.79665399e+00]
 [-1.05352549e-02 -1.05640817e-04  9.99944497e-01 -2.48872044e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 234.027702638
Centerline is valid?  [True, True]
Translation: X:236.08, Y:6.79, Z:-2.49
[[ 9.99942973e-01 -1.74741412e-03  1.05354799e-02  2.36076271e+02]
 [ 1.74666690e-03  9.99998471e-01  8.01247320e-05  6.79357808e+00]
 [-1.05356038e-02 -6.17181888e-05  9.99944497e-01 -2.48934355e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.087702638
Centerline is valid?  [True, True]
Translation: X:236.14, Y:6.79, Z:-2.49
[[ 9.99932553e-01 -4.88802600e-03  1.05354782e-02  2.36137732e+02]
 [ 4.88745073e-03  9.99988053e-01  8.03489550e-05  6.78884180e+00]
 [-1.05357450e-02 -2.88519053e-05  9.99944497e-01 -2.48999088e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.147702638
Centerline is valid?  [True, True]
Translation: X:236.20, Y:6.79, Z:-2.49
[[ 9.99931229e-01 -5.15174340e-03  1.05354798e-02  2.36200002e+02]
 [ 5.15118508e-03  9.99986729e-01  8.01292569e-05  6.78892629e+00]
 [-1.05357528e-02 -2.58535398e-05  9.99944497e-01 -2.49064682e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.20770263799997
Centerline is valid?  [True, True]
Translation: X:236.26, Y:6.79, Z:-2.49
[[ 9.99936841e-01 -3.91379631e-03  1.05354918e-02  2.36261138e+02]
 [ 3.91318622e-03  9.99992340e-01  7.85218218e-05  6.78776107e+00]
 [-1.05357184e-02 -3.72895210e-05  9.99944497e-01 -2.49128973e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.26770263799997
Centerline is valid?  [True, True]
Translation: X:236.32, Y:6.79, Z:-2.49
[[ 9.99943459e-01 -1.44317390e-03  1.05354927e-02  2.36322238e+02]
 [ 1.44242790e-03  9.99998957e-01  7.84062949e-05  6.78761430e+00]
 [-1.05355948e-02 -6.32051731e-05  9.99944497e-01 -2.49193340e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.32770263799998
Centerline is valid?  [True, True]
Translation: X:236.38, Y:6.79, Z:-2.49
[[ 9.99942905e-01 -1.78615279e-03  1.05354946e-02  2.36383344e+02]
 [ 1.78542859e-03  9.99998403e-01  7.81441112e-05  6.78755618e+00]
 [-1.05356174e-02 -5.93292763e-05  9.99944497e-01 -2.49257703e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.38770263799998
Centerline is valid?  [True, True]
Translation: X:236.44, Y:6.79, Z:-2.49
[[ 9.99941676e-01 -2.37664283e-03  1.05354962e-02  2.36444124e+02]
 [ 2.37595363e-03  9.99997174e-01  7.79327561e-05  6.78653659e+00]
 [-1.05356516e-02 -5.28963604e-05  9.99944497e-01 -2.49321719e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.44770263799998
Centerline is valid?  [True, True]
Translation: X:236.50, Y:6.79, Z:-2.49
[[ 9.99943588e-01 -1.35061386e-03  1.05354970e-02  2.36504486e+02]
 [ 1.34986895e-03  9.99999086e-01  7.78151032e-05  6.78532761e+00]
 [-1.05355925e-02 -6.35891731e-05  9.99944497e-01 -2.49385299e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.50770263799998
Centerline is valid?  [True, True]
Translation: X:236.56, Y:6.79, Z:-2.49
[[ 9.99942145e-01  2.17021732e-03  1.05354970e-02  2.36564407e+02]
 [-2.17115763e-03  9.99997640e-01  7.78151032e-05  6.78533148e+00]
 [-1.05353033e-02 -1.00684826e-04  9.99944497e-01 -2.49448432e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.567702638
Centerline is valid?  [True, True]
Translation: X:236.62, Y:6.79, Z:-2.50
[[ 9.99921930e-01  6.71848267e-03  1.05354989e-02  2.36623513e+02]
 [-6.71967272e-03  9.99977420e-01  7.75613554e-05  6.78645064e+00]
 [-1.05347399e-02 -1.48350405e-04  9.99944497e-01 -2.49510699e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.627702638
Centerline is valid?  [True, True]
Translation: X:236.68, Y:6.79, Z:-2.50
[[ 9.99892295e-01  1.02177162e-02  1.05354963e-02  2.36682128e+02]
 [-1.02191042e-02  9.99947781e-01  7.79180995e-05  6.78719873e+00]
 [-1.05341500e-02 -1.85573041e-04  9.99944497e-01 -2.49572486e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.687702638
Centerline is valid?  [True, True]
Translation: X:236.74, Y:6.79, Z:-2.50
[[ 9.99839388e-01  1.44983373e-02  1.05354923e-02  2.36740701e+02]
 [-1.44999684e-02  9.99894867e-01  7.84482975e-05  6.79013524e+00]
 [-1.05332473e-02 -2.31200003e-04  9.99944497e-01 -2.49634258e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.747702638
Centerline is valid?  [True, True]
Translation: X:236.80, Y:6.79, Z:-2.50
[[ 9.99771901e-01  1.85782099e-02  1.05354858e-02  2.36801414e+02]
 [-1.85800765e-02  9.99827372e-01  7.93130550e-05  6.79220591e+00]
 [-1.05321936e-02 -2.75045096e-04  9.99944497e-01 -2.49698302e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.807702638
Centerline is valid?  [True, True]
Translation: X:236.86, Y:6.80, Z:-2.50
[[ 9.99691188e-01  2.25062810e-02  1.05354855e-02  2.36860207e+02]
 [-2.25083661e-02  9.99746651e-01  7.93598640e-05  6.79608335e+00]
 [-1.05310302e-02 -3.16471920e-04  9.99944497e-01 -2.49760281e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.867702638
Centerline is valid?  [True, True]
Translation: X:236.92, Y:6.80, Z:-2.50
[[ 9.99634615e-01  2.48925626e-02  1.05354731e-02  2.36919665e+02]
 [-2.48947969e-02  9.99690073e-01  8.09631685e-05  6.79824671e+00]
 [-1.05301925e-02 -3.43212050e-04  9.99944497e-01 -2.49823056e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.92770263799997
Centerline is valid?  [True, True]
Translation: X:236.98, Y:6.80, Z:-2.50
[[ 9.99638671e-01  2.47291433e-02  1.05354678e-02  2.36977394e+02]
 [-2.47313759e-02  9.99694129e-01  8.16553731e-05  6.79947980e+00]
 [-1.05302260e-02 -3.42182482e-04  9.99944497e-01 -2.49883938e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 234.98770263799997
Centerline is valid?  [True, True]
Translation: X:237.04, Y:6.80, Z:-2.50
[[ 9.99585271e-01  2.68009429e-02  1.05354611e-02  2.37036477e+02]
 [-2.68032993e-02  9.99640724e-01  8.25046131e-05  6.80364118e+00]
 [-1.05294648e-02 -3.64855514e-04  9.99944497e-01 -2.49946283e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.04770263799998
Centerline is valid?  [True, True]
Translation: X:237.10, Y:6.81, Z:-2.50
[[ 9.99563070e-01  2.76165520e-02  1.05354584e-02  2.37095397e+02]
 [-2.76189573e-02  9.99618520e-01  8.28495504e-05  6.80675834e+00]
 [-1.05291513e-02 -3.73791727e-04  9.99944497e-01 -2.50008410e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.10770263799998
Centerline is valid?  [True, True]
Translation: X:237.15, Y:6.81, Z:-2.50
[[ 9.99557912e-01  2.78025990e-02  1.05354566e-02  2.37153828e+02]
 [-2.78050170e-02  9.99613362e-01  8.30772327e-05  6.80909631e+00]
 [-1.05290735e-02 -3.75979055e-04  9.99944497e-01 -2.50070009e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.16770263799998
Centerline is valid?  [True, True]
Translation: X:237.21, Y:6.81, Z:-2.50
[[ 9.99599187e-01  2.62768059e-02  1.05354433e-02  2.37212780e+02]
 [-2.62791566e-02  9.99654640e-01  8.47311098e-05  6.81137063e+00]
 [-1.05295783e-02 -3.61559714e-04  9.99944497e-01 -2.50132258e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 235.22770263799998
Centerline is valid?  [True, True]
Translation: X:237.27, Y:6.81, Z:-2.50
[[ 9.99657794e-01  2.39436727e-02  1.05354300e-02  2.37271013e+02]
 [-2.39459111e-02  9.99713252e-01  8.63548527e-05  6.81451261e+00]
 [-1.05303413e-02 -3.38605772e-04  9.99944497e-01 -2.50193755e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.28770263799998
Centerline is valid?  [True, True]
Translation: X:237.33, Y:6.82, Z:-2.50
[[ 9.99673052e-01  2.32979550e-02  1.05354262e-02  2.37329978e+02]
 [-2.33001624e-02  9.99728511e-01  8.68124943e-05  6.81661102e+00]
 [-1.05305434e-02 -3.32261254e-04  9.99944497e-01 -2.50255931e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.347702638
Centerline is valid?  [True, True]
Translation: X:237.39, Y:6.82, Z:-2.50
[[ 9.99702463e-01  2.19997925e-02  1.05354128e-02  2.37390095e+02]
 [-2.20019448e-02  9.99757924e-01  8.84160057e-05  6.82040189e+00]
 [-1.05309173e-02 -3.20189269e-04  9.99944497e-01 -2.50319418e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.407702638
Centerline is valid?  [True, True]
Translation: X:237.45, Y:6.82, Z:-2.50
[[ 9.99726610e-01  2.08736821e-02  1.05354117e-02  2.37448812e+02]
 [-2.08757732e-02  9.99782073e-01  8.85394078e-05  6.82259566e+00]
 [-1.05312677e-02 -3.08450068e-04  9.99944497e-01 -2.50381311e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.467702638
Centerline is valid?  [True, True]
Translation: X:237.51, Y:6.82, Z:-2.50
[[ 9.99747362e-01  1.98548966e-02  1.05353977e-02  2.37507091e+02]
 [-1.98569485e-02  9.99802827e-01  9.01796999e-05  6.82478734e+00]
 [-1.05315299e-02 -2.99357766e-04  9.99944497e-01 -2.50442852e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.527702638
Centerline is valid?  [True, True]
Translation: X:237.57, Y:6.82, Z:-2.51
[[ 9.99738359e-01  2.03032076e-02  1.05353834e-02  2.37566822e+02]
 [-2.03053015e-02  9.99793822e-01  9.18160495e-05  6.82442046e+00]
 [-1.05313471e-02 -3.05716164e-04  9.99944497e-01 -2.50505898e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.587702638
Centerline is valid?  [True, True]
Translation: X:237.63, Y:6.83, Z:-2.51
[[ 9.99730939e-01  2.06653121e-02  1.05353815e-02  2.37625808e+02]
 [-2.06674285e-02  9.99786402e-01  9.20400188e-05  6.82818849e+00]
 [-1.05312291e-02 -3.09754498e-04  9.99944497e-01 -2.50568097e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.647702638
Centerline is valid?  [True, True]
Translation: X:237.68, Y:6.83, Z:-2.51
[[ 9.99722275e-01  2.10802863e-02  1.05353675e-02  2.37683756e+02]
 [-2.10824422e-02  9.99777736e-01  9.36087767e-05  6.83114342e+00]
 [-1.05310526e-02 -3.15694057e-04  9.99944497e-01 -2.50629292e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.70770263799997
Centerline is valid?  [True, True]
Translation: X:237.74, Y:6.83, Z:-2.51
[[ 9.99724134e-01  2.09919701e-02  1.05353512e-02  2.37742211e+02]
 [-2.09941401e-02  9.99779594e-01  9.54147733e-05  6.83251356e+00]
 [-1.05310262e-02 -3.16569091e-04  9.99944497e-01 -2.50691024e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.76770263799997
Centerline is valid?  [True, True]
Translation: X:237.80, Y:6.83, Z:-2.51
[[ 9.99749257e-01  1.97592886e-02  1.05353367e-02  2.37801149e+02]
 [-1.97614068e-02  9.99804720e-01  9.69850140e-05  6.83369327e+00]
 [-1.05313630e-02 -3.05153771e-04  9.99944497e-01 -2.50753246e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.82770263799998
Centerline is valid?  [True, True]
Translation: X:237.86, Y:6.83, Z:-2.51
[[ 9.99754793e-01  1.94771707e-02  1.05353325e-02  2.37859591e+02]
 [-1.94792781e-02  9.99810256e-01  9.74408773e-05  6.83403858e+00]
 [-1.05314356e-02 -3.02637656e-04  9.99944497e-01 -2.50814857e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.88770263799998
Centerline is valid?  [True, True]
Translation: X:237.92, Y:6.83, Z:-2.51
[[ 9.99770465e-01  1.86554274e-02  1.05353294e-02  2.37918932e+02]
 [-1.86574928e-02  9.99825929e-01  9.77810761e-05  6.83458391e+00]
 [-1.05316713e-02 -2.94321463e-04  9.99944497e-01 -2.50877409e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 235.94770263799998
Centerline is valid?  [True, True]
Translation: X:237.98, Y:6.84, Z:-2.51
[[ 9.99806422e-01  1.66170421e-02  1.05353153e-02  2.37978758e+02]
 [-1.66190100e-02  9.99861890e-01  9.92704033e-05  6.83784683e+00]
 [-1.05322107e-02 -2.74337698e-04  9.99944497e-01 -2.50940581e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.00770263799998
Centerline is valid?  [True, True]
Translation: X:238.04, Y:6.84, Z:-2.51
[[ 9.99839462e-01  1.44933750e-02  1.05353142e-02  2.38037899e+02]
 [-1.44952264e-02  9.99894934e-01  9.93857406e-05  6.83709727e+00]
 [-1.05327669e-02 -2.52081550e-04  9.99944497e-01 -2.51002893e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.067702638
Centerline is valid?  [True, True]
Translation: X:238.10, Y:6.84, Z:-2.51
[[ 9.99858414e-01  1.31209463e-02  1.05353000e-02  2.38095813e+02]
 [-1.31227372e-02  9.99913888e-01  1.00876427e-04  6.83787208e+00]
 [-1.05330692e-02 -2.39114117e-04  9.99944497e-01 -2.51064026e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.127702638
Centerline is valid?  [True, True]
Translation: X:238.15, Y:6.84, Z:-2.51
[[ 9.99901991e-01  9.22042114e-03  1.05352956e-02  2.38152792e+02]
 [-9.22200038e-03  9.99957471e-01  1.01328782e-04  6.83965949e+00]
 [-1.05339133e-02 -1.98475351e-04  9.99944497e-01 -2.51124110e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.187702638
Centerline is valid?  [True, True]
Translation: X:238.21, Y:6.84, Z:-2.51
[[ 9.99923520e-01  6.47785284e-03  1.05352879e-02  2.38212630e+02]
 [-6.47928823e-03  9.99979004e-01  1.02120055e-04  6.84175930e+00]
 [-1.05344052e-02 -1.70373412e-04  9.99944497e-01 -2.51187234e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.247702638
Centerline is valid?  [True, True]
Translation: X:238.27, Y:6.84, Z:-2.51
[[ 9.99940136e-01  2.95512594e-03  1.05352869e-02  2.38270494e+02]
 [-2.95636701e-03  9.99995625e-01  1.02229332e-04  6.84184036e+00]
 [-1.05349387e-02 -1.33369387e-04  9.99944497e-01 -2.51248207e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.307702638
Centerline is valid?  [True, True]
Translation: X:238.33, Y:6.84, Z:-2.51
[[ 9.99944471e-01  2.49923730e-04  1.05352816e-02  2.38329815e+02]
 [-2.51020433e-04  9.99999963e-01  1.02775972e-04  6.84388770e+00]
 [-1.05352555e-02 -1.05414836e-04  9.99944497e-01 -2.51310769e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.367702638
Centerline is valid?  [True, True]
Translation: X:238.39, Y:6.85, Z:-2.51
[[ 9.99937856e-01 -3.64592432e-03  1.05352805e-02  2.38390522e+02]
 [ 3.64504264e-03  9.99993352e-01  1.02888889e-04  6.84656537e+00]
 [-1.05355855e-02 -6.44809489e-05  9.99944497e-01 -2.51374765e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 236.42770263799997
Centerline is valid?  [True, True]
Translation: X:238.45, Y:6.85, Z:-2.51
[[ 9.99939196e-01 -3.25775184e-03  1.05352805e-02  2.38451568e+02]
 [ 3.25684861e-03  9.99994691e-01  1.02888889e-04  6.84796308e+00]
 [-1.05355597e-02 -6.85708198e-05  9.99944497e-01 -2.51439096e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.48770263799997
Centerline is valid?  [True, True]
Translation: X:238.51, Y:6.85, Z:-2.52
[[ 9.99944502e-01 -3.04077261e-05  1.05352848e-02  2.38513928e+02]
 [ 2.93300996e-05  9.99999994e-01  1.02441860e-04  6.85388765e+00]
 [-1.05352879e-02 -1.02127174e-04  9.99944497e-01 -2.51504826e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.54770263799998
Centerline is valid?  [True, True]
Translation: X:238.57, Y:6.86, Z:-2.52
[[ 9.99941993e-01  2.24020559e-03  1.05352891e-02  2.38573936e+02]
 [-2.24140451e-03  9.99997483e-01  1.01994189e-04  6.85592188e+00]
 [-1.05350341e-02 -1.25602117e-04  9.99944497e-01 -2.51568037e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.60770263799998
Centerline is valid?  [True, True]
Translation: X:238.63, Y:6.86, Z:-2.52
[[ 9.99935342e-01  4.28003283e-03  1.05352943e-02  2.38632752e+02]
 [-4.28133924e-03  9.99990830e-01  1.01452564e-04  6.85751198e+00]
 [-1.05347635e-02 -1.46551174e-04  9.99944497e-01 -2.51629980e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.66770263799998
Centerline is valid?  [True, True]
Translation: X:238.69, Y:6.86, Z:-2.52
[[ 9.99907011e-01  8.65889576e-03  1.05352799e-02  2.38691379e+02]
 [-8.66046071e-03  9.99962492e-01  1.02930256e-04  6.86025755e+00]
 [-1.05339935e-02 -1.94161062e-04  9.99944497e-01 -2.51691888e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.72770263799998
Centerline is valid?  [True, True]
Translation: X:238.75, Y:6.86, Z:-2.52
[[ 9.99870552e-01  1.21609069e-02  1.05352660e-02  2.38750275e+02]
 [-1.21626809e-02  9.99926026e-01  1.04331825e-04  6.86205346e+00]
 [-1.05332179e-02 -2.32455399e-04  9.99944497e-01 -2.51754063e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.78770263799998
Centerline is valid?  [True, True]
Translation: X:238.81, Y:6.86, Z:-2.52
[[ 9.99789248e-01  1.76200709e-02  1.05352658e-02  2.38809553e+02]
 [-1.76221479e-02  9.99844712e-01  1.04350885e-04  6.86391294e+00]
 [-1.05317912e-02 -2.89982906e-04  9.99944497e-01 -2.51816538e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.847702638
Centerline is valid?  [True, True]
Translation: X:238.87, Y:6.87, Z:-2.52
[[ 9.99689190e-01  2.25949656e-02  1.05352625e-02  2.38869531e+02]
 [-2.25973222e-02  9.99744642e-01  1.04686391e-04  6.86619668e+00]
 [-1.05302069e-02 -3.42722575e-04  9.99944497e-01 -2.51879778e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.907702638
Centerline is valid?  [True, True]
Translation: X:238.93, Y:6.87, Z:-2.52
[[ 9.99538277e-01  2.84998453e-02  1.05352615e-02  2.38930216e+02]
 [-2.85025305e-02  9.99593715e-01  1.04791732e-04  6.86689754e+00]
 [-1.05279946e-02 -4.05024958e-04  9.99944497e-01 -2.51943731e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 236.967702638
Centerline is valid?  [True, True]
Translation: X:238.99, Y:6.87, Z:-2.52
[[ 9.99571465e-01  2.73110751e-02  1.05352614e-02  2.38989678e+02]
 [-2.73136944e-02  9.99626906e-01  1.04795984e-04  6.86783780e+00]
 [-1.05284687e-02 -3.92507986e-04  9.99944497e-01 -2.52006389e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.027702638
Centerline is valid?  [True, True]
Translation: X:239.05, Y:6.87, Z:-2.52
[[ 9.99564447e-01  2.75667212e-02  1.05352594e-02  2.39050125e+02]
 [-2.75693568e-02  9.99619888e-01  1.04995155e-04  6.86740561e+00]
 [-1.05283605e-02 -3.95399750e-04  9.99944497e-01 -2.52070086e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.087702638
Centerline is valid?  [True, True]
Translation: X:239.11, Y:6.87, Z:-2.52
[[ 9.99600543e-01  2.62252165e-02  1.05352605e-02  2.39109460e+02]
 [-2.62277766e-02  9.99655987e-01  1.04885509e-04  6.86721645e+00]
 [-1.05288856e-02 -3.81160071e-04  9.99944497e-01 -2.52132590e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.147702638
Centerline is valid?  [True, True]
Translation: X:239.17, Y:6.87, Z:-2.52
[[ 9.99687942e-01  2.26500944e-02  1.05352594e-02  2.39168415e+02]
 [-2.26524573e-02  9.99743395e-01  1.04995544e-04  6.86565246e+00]
 [-1.05301779e-02 -3.43612294e-04  9.99944497e-01 -2.52194696e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.20770263799997
Centerline is valid?  [True, True]
Translation: X:239.23, Y:6.86, Z:-2.52
[[ 9.99787847e-01  1.76994338e-02  1.05352582e-02  2.39228347e+02]
 [-1.77015234e-02  9.99843310e-01  1.05119012e-04  6.86460566e+00]
 [-1.05317469e-02 -2.91586830e-04  9.99944497e-01 -2.52257838e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.26770263799997
Centerline is valid?  [True, True]
Translation: X:239.29, Y:6.86, Z:-2.52
[[ 9.99833268e-01  1.49145542e-02  1.05352547e-02  2.39287119e+02]
 [-1.49164930e-02  9.99888737e-01  1.05468166e-04  6.86484446e+00]
 [-1.05325095e-02 -2.62599633e-04  9.99944497e-01 -2.52319788e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.32770263799998
Centerline is valid?  [True, True]
Translation: X:239.35, Y:6.86, Z:-2.52
[[ 9.99883595e-01  1.10365018e-02  1.05352526e-02  2.39345637e+02]
 [-1.10382276e-02  9.99939071e-01  1.05676454e-04  6.86409773e+00]
 [-1.05334444e-02 -2.21954669e-04  9.99944497e-01 -2.52381449e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.38770263799998
Centerline is valid?  [True, True]
Translation: X:239.40, Y:6.86, Z:-2.52
[[ 9.99924366e-01  6.34592046e-03  1.05352495e-02  2.39404991e+02]
 [-6.34738924e-03  9.99979850e-01  1.05984482e-04  6.86451105e+00]
 [-1.05343647e-02 -1.72847796e-04  9.99944497e-01 -2.52444010e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.44770263799998
Centerline is valid?  [True, True]
Translation: X:239.46, Y:6.87, Z:-2.53
[[ 9.99896438e-01  9.80415181e-03  1.05352415e-02  2.39463119e+02]
 [-9.80582081e-03  9.99951916e-01  1.06776825e-04  6.86594466e+00]
 [-1.05336880e-02 -2.10072457e-04  9.99944497e-01 -2.52505328e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.50770263799998
Centerline is valid?  [True, True]
Translation: X:239.52, Y:6.87, Z:-2.53
[[ 9.99935259e-01  4.29963104e-03  1.05352366e-02  2.39522391e+02]
 [-4.30099964e-03  9.99990745e-01  1.07253223e-04  6.86850649e+00]
 [-1.05346780e-02 -1.52558328e-04  9.99944497e-01 -2.52567838e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.567702638
Centerline is valid?  [True, True]
Translation: X:239.58, Y:6.87, Z:-2.53
[[ 9.99939803e-01  3.06585680e-03  1.05352297e-02  2.39580813e+02]
 [-3.06716410e-03  9.99995290e-01  1.07933244e-04  6.86665385e+00]
 [-1.05348491e-02 -1.40240025e-04  9.99944497e-01 -2.52629421e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 237.627702638
Centerline is valid?  [True, True]
Translation: X:239.64, Y:6.87, Z:-2.53
[[ 9.99944468e-01 -2.66281533e-04  1.05352274e-02  2.39640257e+02]
 [ 2.65156858e-04  9.99999959e-01  1.08150401e-04  6.86633891e+00]
 [-1.05352558e-02 -1.05350907e-04  9.99944497e-01 -2.52692063e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.687702638
Centerline is valid?  [True, True]
Translation: X:239.70, Y:6.87, Z:-2.53
[[ 9.99939495e-01 -3.16468670e-03  1.05352252e-02  2.39701391e+02]
 [ 3.16372058e-03  9.99994990e-01  1.08367846e-04  6.86555928e+00]
 [-1.05355154e-02 -7.50307808e-05  9.99944497e-01 -2.52756480e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.747702638
Centerline is valid?  [True, True]
Translation: X:239.76, Y:6.87, Z:-2.53
[[ 9.99857811e-01 -1.31669002e-02  1.05352262e-02  2.39761939e+02]
 [ 1.31664902e-02  9.99913312e-01  1.08274972e-04  6.86622772e+00]
 [-1.05357385e-02  3.04523754e-05  9.99944497e-01 -2.52820273e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.807702638
Centerline is valid?  [True, True]
Translation: X:239.82, Y:6.87, Z:-2.53
[[ 9.99916380e-01 -7.49946599e-03  1.05352326e-02  2.39824224e+02]
 [ 7.49874807e-03  9.99971878e-01  1.07645219e-04  6.86729239e+00]
 [-1.05357436e-02 -2.86351629e-05  9.99944497e-01 -2.52885860e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.867702638
Centerline is valid?  [True, True]
Translation: X:239.88, Y:6.87, Z:-2.53
[[ 9.99870316e-01 -1.21803350e-02  1.05352405e-02  2.39884320e+02]
 [ 1.21798851e-02  9.99925817e-01  1.06865141e-04  6.87342914e+00]
 [-1.05357606e-02  2.14667366e-05  9.99944497e-01 -2.52949183e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.92770263799997
Centerline is valid?  [True, True]
Translation: X:239.95, Y:6.87, Z:-2.53
[[ 9.99862017e-01 -1.28434832e-02  1.05352471e-02  2.39945943e+02]
 [ 1.28430770e-02  9.99917519e-01  1.06213051e-04  6.87196277e+00]
 [-1.05357423e-02  2.91065937e-05  9.99944497e-01 -2.53014045e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 237.98770263799997
Centerline is valid?  [True, True]
Translation: X:240.01, Y:6.88, Z:-2.53
[[ 9.99787126e-01 -1.77401120e-02  1.05352608e-02  2.40008243e+02]
 [ 1.77399921e-02  9.99842628e-01  1.04833409e-04  6.87905273e+00]
 [-1.05354626e-02  8.20843513e-05  9.99944497e-01 -2.53079654e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.04770263799998
Centerline is valid?  [True, True]
Translation: X:240.07, Y:6.88, Z:-2.53
[[ 9.99786344e-01 -1.77840743e-02  1.05352773e-02  2.40070352e+02]
 [ 1.77839746e-02  9.99841847e-01  1.03152221e-04  6.87702026e+00]
 [-1.05354455e-02  8.42289212e-05  9.99944497e-01 -2.53144943e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.10770263799998
Centerline is valid?  [True, True]
Translation: X:240.13, Y:6.88, Z:-2.53
[[ 9.99740811e-01 -2.01821475e-02  1.05352824e-02  2.40131185e+02]
 [ 2.01821865e-02  9.99796314e-01  1.02624250e-04  6.87721383e+00]
 [-1.05352077e-02  1.10027383e-04  9.99944497e-01 -2.53208999e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.16770263799998
Centerline is valid?  [True, True]
Translation: X:240.19, Y:6.88, Z:-2.53
[[ 9.99600273e-01 -2.62354962e-02  1.05352957e-02  2.40192055e+02]
 [ 2.62358859e-02  9.99655775e-01  1.01243829e-04  6.87741716e+00]
 [-1.05343253e-02  1.75199456e-04  9.99944497e-01 -2.53273029e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.22770263799998
Centerline is valid?  [True, True]
Translation: X:240.25, Y:6.87, Z:-2.53
[[ 9.99536006e-01 -2.85793672e-02  1.05352959e-02  2.40254163e+02]
 [ 2.85798872e-02  9.99591506e-01  1.01225283e-04  6.87498225e+00]
 [-1.05338852e-02  1.99919252e-04  9.99944497e-01 -2.53338440e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.28770263799998
Centerline is valid?  [True, True]
Translation: X:240.32, Y:6.88, Z:-2.53
[[ 9.99295877e-01 -3.60105278e-02  1.05353101e-02  2.40315220e+02]
 [ 3.60114762e-02  9.99351371e-01  9.97227486e-05  6.87690013e+00]
 [-1.05320676e-02  2.79739537e-04  9.99944497e-01 -2.53402676e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.347702638
Centerline is valid?  [True, True]
Translation: X:240.38, Y:6.88, Z:-2.53
[[ 9.99112192e-01 -4.07901264e-02  1.05353121e-02  2.40375567e+02]
 [ 4.07913426e-02  9.99167682e-01  9.95075635e-05  6.87523011e+00]
 [-1.05306023e-02  3.30330305e-04  9.99944497e-01 -2.53466225e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.407702638
Centerline is valid?  [True, True]
Translation: X:240.44, Y:6.87, Z:-2.54
[[ 9.99010173e-01 -4.32166750e-02  1.05353132e-02  2.40436356e+02]
 [ 4.32180271e-02  9.99065660e-01  9.93913557e-05  6.87375548e+00]
 [-1.05297650e-02  3.56022476e-04  9.99944497e-01 -2.53530248e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.467702638
Centerline is valid?  [True, True]
Translation: X:240.50, Y:6.87, Z:-2.54
[[ 9.98980362e-01 -4.39003907e-02  1.05353143e-02  2.40498486e+02]
 [ 4.39017820e-02  9.99035847e-01  9.92733268e-05  6.87385724e+00]
 [-1.05295148e-02  3.63346969e-04  9.99944497e-01 -2.53595700e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.527702638
Centerline is valid?  [True, True]
Translation: X:240.56, Y:6.87, Z:-2.54
[[ 9.99020111e-01 -4.29863399e-02  1.05353285e-02  2.40560377e+02]
 [ 4.29876966e-02  9.99075597e-01  9.77417886e-05  6.87256272e+00]
 [-1.05297912e-02  3.55243494e-04  9.99944497e-01 -2.53660781e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.587702638
Centerline is valid?  [True, True]
Translation: X:240.62, Y:6.87, Z:-2.54
[[ 9.99078543e-01 -4.16061569e-02  1.05353424e-02  2.40622711e+02]
 [ 4.16074531e-02  9.99134030e-01  9.62191044e-05  6.87084760e+00]
 [-1.05302225e-02  3.42218323e-04  9.99944497e-01 -2.53726326e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.647702638
Centerline is valid?  [True, True]
Translation: X:240.68, Y:6.87, Z:-2.54
[[ 9.99127804e-01 -4.04059044e-02  1.05353475e-02  2.40684197e+02]
 [ 4.04071397e-02  9.99183293e-01  9.56648156e-05  6.86835838e+00]
 [-1.05306086e-02  3.30121880e-04  9.99944497e-01 -2.53791043e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.70770263799997
Centerline is valid?  [True, True]
Translation: X:240.75, Y:6.87, Z:-2.54
[[ 9.99113172e-01 -4.07661040e-02  1.05353603e-02  2.40746476e+02]
 [ 4.07673745e-02  9.99168661e-01  9.42251170e-05  6.86660305e+00]
 [-1.05304431e-02  3.35357424e-04  9.99944497e-01 -2.53856537e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.76770263799997
Centerline is valid?  [True, True]
Translation: X:240.81, Y:6.86, Z:-2.54
[[ 9.99107605e-01 -4.09023151e-02  1.05353741e-02  2.40808179e+02]
 [ 4.09036096e-02  9.99163093e-01  9.26625844e-05  6.86361716e+00]
 [-1.05303471e-02  3.38354936e-04  9.99944497e-01 -2.53921405e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 238.82770263799998
Centerline is valid?  [True, True]
Translation: X:240.87, Y:6.85, Z:-2.54
[[ 9.98930784e-01 -4.50143932e-02  1.05353779e-02  2.40868978e+02]
 [ 4.50159207e-02  9.98986265e-01  9.22241603e-05  6.85358437e+00]
 [-1.05288493e-02  3.82134184e-04  9.99944497e-01 -2.53985339e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.88770263799998
Centerline is valid?  [True, True]
Translation: X:240.93, Y:6.85, Z:-2.54
[[ 9.99006305e-01 -4.33059825e-02  1.05353789e-02  2.40930608e+02]
 [ 4.33074163e-02  9.99061789e-01  9.21118450e-05  6.85230477e+00]
 [-1.05294835e-02  3.64239726e-04  9.99944497e-01 -2.54050252e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 238.94770263799998
Centerline is valid?  [True, True]
Translation: X:240.99, Y:6.85, Z:-2.54
[[ 9.99197060e-01 -3.86554202e-02  1.05353914e-02  2.40991873e+02]
 [ 3.86566111e-02  9.99252550e-01  9.06586808e-05  6.85253318e+00]
 [-1.05310212e-02  3.16676641e-04  9.99944497e-01 -2.54114699e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.00770263799998
Centerline is valid?  [True, True]
Translation: X:241.05, Y:6.85, Z:-2.54
[[ 9.99292158e-01 -3.61135416e-02  1.05353931e-02  2.41053818e+02]
 [ 3.61145934e-02  9.99347651e-01  9.04572649e-05  6.85325202e+00]
 [-1.05317871e-02  2.90088204e-04  9.99944497e-01 -2.54179956e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.067702638
Centerline is valid?  [True, True]
Translation: X:241.11, Y:6.85, Z:-2.54
[[ 9.99511329e-01 -2.94297352e-02  1.05353969e-02  2.41114110e+02]
 [ 2.94304205e-02  9.99566827e-01  9.00136873e-05  6.85220830e+00]
 [-1.05334824e-02  2.20091461e-04  9.99944497e-01 -2.54243438e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.127702638
Centerline is valid?  [True, True]
Translation: X:241.18, Y:6.85, Z:-2.54
[[ 9.99563335e-01 -2.76069551e-02  1.05353973e-02  2.41176029e+02]
 [ 2.76075397e-02  9.99618835e-01  8.99688441e-05  6.85303295e+00]
 [-1.05338654e-02  2.00926841e-04  9.99944497e-01 -2.54308680e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.187702638
Centerline is valid?  [True, True]
Translation: X:241.24, Y:6.85, Z:-2.54
[[ 9.99728792e-01 -2.07688935e-02  1.05354105e-02  2.41237890e+02]
 [ 2.07691150e-02  9.99784295e-01  8.83980398e-05  6.85395109e+00]
 [-1.05349739e-02  1.30437086e-04  9.99944497e-01 -2.54373752e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.247702638
Centerline is valid?  [True, True]
Translation: X:241.30, Y:6.86, Z:-2.54
[[ 9.99801379e-01 -1.69176512e-02  1.05354232e-02  2.41300536e+02]
 [ 1.69176752e-02  9.99856882e-01  8.68505291e-05  6.85533398e+00]
 [-1.05353847e-02  9.14015893e-05  9.99944497e-01 -2.54439658e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.307702638
Centerline is valid?  [True, True]
Translation: X:241.36, Y:6.86, Z:-2.55
[[ 9.99853873e-01 -1.34624584e-02  1.05354269e-02  2.41360887e+02]
 [ 1.34622953e-02  9.99909375e-01  8.64034938e-05  6.85534937e+00]
 [-1.05356353e-02  5.54401600e-05  9.99944497e-01 -2.54503212e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.367702638
Centerline is valid?  [True, True]
Translation: X:241.42, Y:6.85, Z:-2.55
[[ 9.99900048e-01 -9.42864374e-03  1.05354269e-02  2.41423616e+02]
 [ 9.42825670e-03  9.99955549e-01  8.64050309e-05  6.85351440e+00]
 [-1.05357733e-02  1.29343147e-05  9.99944497e-01 -2.54569288e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.42770263799997
Centerline is valid?  [True, True]
Translation: X:241.49, Y:6.86, Z:-2.55
[[ 9.99927476e-01 -5.83507609e-03  1.05354331e-02  2.41485146e+02]
 [ 5.83449766e-03  9.99982976e-01  8.56378900e-05  6.85681768e+00]
 [-1.05357535e-02 -2.41627191e-05  9.99944497e-01 -2.54634089e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.48770263799997
Centerline is valid?  [True, True]
Translation: X:241.55, Y:6.86, Z:-2.55
[[ 9.99944380e-01 -4.91460177e-04  1.05354357e-02  2.41546261e+02]
 [ 4.90588549e-04  9.99999876e-01  8.53171541e-05  6.85745658e+00]
 [-1.05354764e-02 -8.01438447e-05  9.99944497e-01 -2.54698463e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.54770263799998
Centerline is valid?  [True, True]
Translation: X:241.61, Y:6.86, Z:-2.55
[[ 9.99925631e-01  6.14299305e-03  1.05354366e-02  2.41606602e+02]
 [-6.14423170e-03  9.99981120e-01  8.52067607e-05  6.85851155e+00]
 [-1.05347143e-02 -1.49932588e-04  9.99944497e-01 -2.54762039e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.60770263799998
Centerline is valid?  [True, True]
Translation: X:241.67, Y:6.86, Z:-2.55
[[ 9.99875160e-01  1.17757654e-02  1.05354366e-02  2.41666241e+02]
 [-1.17773167e-02  9.99930641e-01  8.52067607e-05  6.85816598e+00]
 [-1.05337025e-02 -2.09275297e-04  9.99944497e-01 -2.54824871e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.66770263799998
Centerline is valid?  [True, True]
Translation: X:241.73, Y:6.86, Z:-2.55
[[ 9.99829232e-01  1.51826292e-02  1.05354366e-02  2.41726867e+02]
 [-1.51843694e-02  9.99884707e-01  8.52067607e-05  6.85922925e+00]
 [-1.05329283e-02 -2.45166172e-04  9.99944497e-01 -2.54888757e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.72770263799998
Centerline is valid?  [True, True]
Translation: X:241.79, Y:6.86, Z:-2.55
[[ 9.99717402e-01  2.13100869e-02  1.05354366e-02  2.41787684e+02]
 [-2.13121671e-02  9.99772866e-01  8.52067607e-05  6.86117200e+00]
 [-1.05312279e-02 -3.09715668e-04  9.99944497e-01 -2.54952850e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.78770263799998
Centerline is valid?  [True, True]
Translation: X:241.85, Y:6.86, Z:-2.55
[[ 9.99592291e-01  2.65378229e-02  1.05354366e-02  2.41848097e+02]
 [-2.65401931e-02  9.99647743e-01  8.52059561e-05  6.86231268e+00]
 [-1.05294643e-02 -3.64783740e-04  9.99944497e-01 -2.55016511e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.847702638
Centerline is valid?  [True, True]
Translation: X:241.91, Y:6.86, Z:-2.55
[[ 9.99416183e-01  3.25007455e-02  1.05354355e-02  2.41907153e+02]
 [-3.25034480e-02  9.99471620e-01  8.53434955e-05  6.86392841e+00]
 [-1.05270951e-02 -4.27731651e-04  9.99944497e-01 -2.55078756e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.907702638
Centerline is valid?  [True, True]
Translation: X:241.97, Y:6.87, Z:-2.55
[[ 9.99245623e-01  3.73789878e-02  1.05354349e-02  2.41966525e+02]
 [-3.73819616e-02  9.99301047e-01  8.54170906e-05  6.86515797e+00]
 [-1.05248783e-02 -4.79187877e-04  9.99944497e-01 -2.55141326e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 239.967702638
Centerline is valid?  [True, True]
Translation: X:242.02, Y:6.87, Z:-2.55
[[ 9.99209297e-01  3.83377838e-02  1.05354344e-02  2.42024780e+02]
 [-3.83408115e-02  9.99264717e-01  8.54861381e-05  6.86668632e+00]
 [-1.05244105e-02 -4.89355647e-04  9.99944497e-01 -2.55202722e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 240.027702638
Centerline is valid?  [True, True]
Translation: X:242.08, Y:6.87, Z:-2.55
[[ 9.99140343e-01  4.00946239e-02  1.05354301e-02  2.42083715e+02]
 [-4.00977545e-02  9.99195758e-01  8.60023739e-05  6.86717419e+00]
 [-1.05235089e-02 -5.08375533e-04  9.99944497e-01 -2.55264858e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.087702638
Centerline is valid?  [True, True]
Translation: X:242.14, Y:6.87, Z:-2.55
[[ 9.99042249e-01  4.24687003e-02  1.05354182e-02  2.42143538e+02]
 [-4.24719777e-02  9.99097655e-01  8.74406379e-05  6.86643149e+00]
 [-1.05221981e-02 -5.34816938e-04  9.99944497e-01 -2.55327985e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.147702638
Centerline is valid?  [True, True]
Translation: X:242.20, Y:6.87, Z:-2.55
[[ 9.99103061e-01  4.10131384e-02  1.05354173e-02  2.42203431e+02]
 [-4.10163362e-02  9.99158472e-01  8.75475083e-05  6.86975750e+00]
 [-1.05229609e-02 -5.19593203e-04  9.99944497e-01 -2.55391124e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.20770263799997
Centerline is valid?  [True, True]
Translation: X:242.26, Y:6.87, Z:-2.55
[[ 9.99109293e-01  4.08610458e-02  1.05354173e-02  2.42262031e+02]
 [-4.08642351e-02  9.99164704e-01  8.75475083e-05  6.87063155e+00]
 [-1.05230399e-02 -5.17991300e-04  9.99944497e-01 -2.55452873e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.26770263799997
Centerline is valid?  [True, True]
Translation: X:242.32, Y:6.87, Z:-2.56
[[ 9.99189191e-01  3.88582822e-02  1.05354050e-02  2.42322049e+02]
 [-3.88613758e-02  9.99244607e-01  8.90025614e-05  6.87092842e+00]
 [-1.05239882e-02 -4.98350731e-04  9.99944497e-01 -2.55516216e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.32770263799998
Centerline is valid?  [True, True]
Translation: X:242.38, Y:6.87, Z:-2.56
[[ 9.99340834e-01  3.47405111e-02  1.05354031e-02  2.42380961e+02]
 [-3.47433787e-02  9.99396263e-01  8.92350716e-05  6.87455164e+00]
 [-1.05259424e-02 -4.55211750e-04  9.99944497e-01 -2.55578335e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.38770263799998
Centerline is valid?  [True, True]
Translation: X:242.44, Y:6.87, Z:-2.56
[[ 9.99450015e-01  3.14431691e-02  1.05354028e-02  2.42440894e+02]
 [-3.14458542e-02  9.99505453e-01  8.92694875e-05  6.87483250e+00]
 [-1.05273856e-02 -4.20515130e-04  9.99944497e-01 -2.55641485e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.44770263799998
Centerline is valid?  [True, True]
Translation: X:242.50, Y:6.88, Z:-2.56
[[ 9.99599523e-01  2.62640399e-02  1.05354025e-02  2.42500653e+02]
 [-2.62664380e-02  9.99654974e-01  8.92988929e-05  6.87675301e+00]
 [-1.05294222e-02 -3.65990628e-04  9.99944497e-01 -2.55704466e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.50770263799998
Centerline is valid?  [True, True]
Translation: X:242.56, Y:6.88, Z:-2.56
[[ 9.99739012e-01  2.02709726e-02  1.05354006e-02  2.42560032e+02]
 [-2.02730407e-02  9.99794477e-01  8.95287619e-05  6.87740266e+00]
 [-1.05314205e-02 -3.03090001e-04  9.99944497e-01 -2.55767050e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.567702638
Centerline is valid?  [True, True]
Translation: X:242.62, Y:6.88, Z:-2.56
[[ 9.99810986e-01  1.63400375e-02  1.05353990e-02  2.42619239e+02]
 [-1.63418894e-02  9.99866458e-01  8.97137617e-05  6.87848707e+00]
 [-1.05325262e-02 -2.61865130e-04  9.99944497e-01 -2.55829455e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.627702638
Centerline is valid?  [True, True]
Translation: X:242.68, Y:6.88, Z:-2.56
[[ 9.99875812e-01  1.17203528e-02  1.05353971e-02  2.42678841e+02]
 [-1.17219507e-02  9.99931292e-01  8.99393938e-05  6.87900391e+00]
 [-1.05336191e-02 -2.13423630e-04  9.99944497e-01 -2.55892272e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.687702638
Centerline is valid?  [True, True]
Translation: X:242.74, Y:6.88, Z:-2.56
[[ 9.99909716e-01  8.34057438e-03  1.05353952e-02  2.42737624e+02]
 [-8.34198719e-03  9.99965201e-01  9.01630136e-05  6.87872747e+00]
 [-1.05342765e-02 -1.78041005e-04  9.99944497e-01 -2.55954219e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.747702638
Centerline is valid?  [True, True]
Translation: X:242.80, Y:6.88, Z:-2.56
[[ 9.99931134e-01  5.17036448e-03  1.05353923e-02  2.42796250e+02]
 [-5.17160491e-03  9.99986623e-01  9.04990544e-05  6.88036328e+00]
 [-1.05347834e-02 -1.44977708e-04  9.99944497e-01 -2.56016027e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.807702638
Centerline is valid?  [True, True]
Translation: X:242.85, Y:6.88, Z:-2.56
[[ 9.99938579e-01  3.44152504e-03  1.05353894e-02  2.42854660e+02]
 [-3.44267307e-03  9.99994070e-01  9.08352145e-05  6.87911755e+00]
 [-1.05350143e-02 -1.27099537e-04  9.99944497e-01 -2.56077580e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.867702638
Centerline is valid?  [True, True]
Translation: X:242.91, Y:6.88, Z:-2.56
[[ 9.99937687e-01  3.69155895e-03  1.05353857e-02  2.42912223e+02]
 [-3.69272532e-03  9.99993178e-01  9.12588697e-05  6.88069945e+00]
 [-1.05349769e-02 -1.30157469e-04  9.99944497e-01 -2.56138274e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.92770263799997
Centerline is valid?  [True, True]
Translation: X:242.97, Y:6.88, Z:-2.56
[[ 9.99937969e-01  3.61456225e-03  1.05353727e-02  2.42971463e+02]
 [-3.61573995e-03  9.99993459e-01  9.27395984e-05  6.87962856e+00]
 [-1.05349685e-02 -1.30827013e-04  9.99944497e-01 -2.56200787e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 240.98770263799997
Centerline is valid?  [True, True]
Translation: X:243.03, Y:6.88, Z:-2.56
[[ 9.99941921e-01  2.27154528e-03  1.05353689e-02  2.43031467e+02]
 [-2.27265289e-03  9.99997413e-01  9.31618555e-05  6.87864018e+00]
 [-1.05351301e-02 -1.17099681e-04  9.99944497e-01 -2.56264028e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.04770263799998
Centerline is valid?  [True, True]
Translation: X:243.09, Y:6.88, Z:-2.56
[[ 9.99941042e-01  2.63032588e-03  1.05353665e-02  2.43091812e+02]
 [-2.63145625e-03  9.99996533e-01  9.34320346e-05  6.87665070e+00]
 [-1.05350843e-02 -1.21149882e-04  9.99944497e-01 -2.56327609e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.10770263799998
Centerline is valid?  [True, True]
Translation: X:243.15, Y:6.88, Z:-2.56
[[ 9.99937637e-01  3.70516328e-03  1.05353665e-02  2.43150131e+02]
 [-3.70635329e-03  9.99993127e-01  9.34320346e-05  6.87577398e+00]
 [-1.05349479e-02 -1.32473998e-04  9.99944497e-01 -2.56389045e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.16770263799998
Centerline is valid?  [True, True]
Translation: X:243.21, Y:6.87, Z:-2.56
[[ 9.99922726e-01  6.59904845e-03  1.05353521e-02  2.43208078e+02]
 [-6.60041587e-03  9.99978213e-01  9.50289056e-05  6.87427134e+00]
 [-1.05344955e-02 -1.64559268e-04  9.99944497e-01 -2.56450199e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 241.22770263799998
Centerline is valid?  [True, True]
Translation: X:243.27, Y:6.87, Z:-2.57
[[ 9.99944489e-01  1.61133716e-04  1.05353470e-02  2.43267322e+02]
 [-1.62149824e-04  9.99999982e-01  9.55934513e-05  6.87031138e+00]
 [-1.05353314e-02 -9.72964495e-05  9.99944497e-01 -2.56512620e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.28770263799998
Centerline is valid?  [True, True]
Translation: X:243.33, Y:6.88, Z:-2.57
[[ 9.99937137e-01  3.83784803e-03  1.05353409e-02  2.43326696e+02]
 [-3.83907520e-03  9.99992626e-01  9.62599370e-05  6.87614555e+00]
 [-1.05348938e-02 -1.36699852e-04  9.99944497e-01 -2.56575280e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.347702638
Centerline is valid?  [True, True]
Translation: X:243.39, Y:6.87, Z:-2.57
[[ 9.99944084e-01  9.13862985e-04  1.05353409e-02  2.43386835e+02]
 [-9.14927889e-04  9.99999577e-01  9.62599370e-05  6.87237850e+00]
 [-1.05352485e-02 -1.05893632e-04  9.99944497e-01 -2.56638606e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.407702638
Centerline is valid?  [True, True]
Translation: X:243.45, Y:6.87, Z:-2.57
[[ 9.99942152e-01 -2.16765778e-03  1.05353382e-02  2.43446430e+02]
 [ 2.16676073e-03  9.99997648e-01  9.65602992e-05  6.87221767e+00]
 [-1.05355227e-02 -7.37271564e-05  9.99944497e-01 -2.56701415e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.467702638
Centerline is valid?  [True, True]
Translation: X:243.51, Y:6.87, Z:-2.57
[[ 9.99929496e-01 -5.47816211e-03  1.05353371e-02  2.43508445e+02]
 [ 5.47744760e-03  9.99984994e-01  9.66736128e-05  6.87005925e+00]
 [-1.05357086e-02 -3.89600398e-05  9.99944497e-01 -2.56766740e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.527702638
Centerline is valid?  [True, True]
Translation: X:243.57, Y:6.87, Z:-2.57
[[ 9.99927551e-01 -5.82233617e-03  1.05353403e-02  2.43569569e+02]
 [ 5.82164443e-03  9.99983049e-01  9.63251002e-05  6.86656584e+00]
 [-1.05357226e-02 -3.49851162e-05  9.99944497e-01 -2.56831081e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.587702638
Centerline is valid?  [True, True]
Translation: X:243.63, Y:6.87, Z:-2.57
[[ 9.99905466e-01 -8.83547048e-03  1.05353473e-02  2.43631829e+02]
 [ 8.83495407e-03  9.99960966e-01  9.55568787e-05  6.86747841e+00]
 [-1.05357803e-02 -2.46853596e-06  9.99944497e-01 -2.56896633e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.647702638
Centerline is valid?  [True, True]
Translation: X:243.69, Y:6.87, Z:-2.57
[[ 9.99902058e-01 -9.21305812e-03  1.05353608e-02  2.43694383e+02]
 [ 9.21257858e-03  9.99957559e-01  9.40472883e-05  6.87028972e+00]
 [-1.05357801e-02  3.01976171e-06  9.99944497e-01 -2.56962458e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.70770263799997
Centerline is valid?  [True, True]
Translation: X:243.76, Y:6.87, Z:-2.57
[[ 9.99893578e-01 -1.00914838e-02  1.05353742e-02  2.43755518e+02]
 [ 1.00910691e-02  9.99949080e-01  9.25195802e-05  6.86810528e+00]
 [-1.05357714e-02  1.38034545e-05  9.99944497e-01 -2.57026741e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.76770263799997
Centerline is valid?  [True, True]
Translation: X:243.82, Y:6.87, Z:-2.57
[[ 9.99889328e-01 -1.05042181e-02  1.05353761e-02  2.43816950e+02]
 [ 1.05038286e-02  9.99944829e-01  9.23000689e-05  6.86777358e+00]
 [-1.05357644e-02  1.83719308e-05  9.99944497e-01 -2.57091447e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.82770263799998
Centerline is valid?  [True, True]
Translation: X:243.88, Y:6.87, Z:-2.57
[[ 9.99925819e-01 -6.11240908e-03  1.05353781e-02  2.43880064e+02]
 [ 6.11177824e-03  9.99981319e-01  9.20732003e-05  6.86643486e+00]
 [-1.05357440e-02 -2.76764758e-05  9.99944497e-01 -2.57157915e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.88770263799998
Centerline is valid?  [True, True]
Translation: X:243.94, Y:6.87, Z:-2.57
[[ 9.99938871e-01 -3.35570157e-03  1.05353849e-02  2.43941239e+02]
 [ 3.35492604e-03  9.99994368e-01  9.12837196e-05  6.86631149e+00]
 [-1.05356319e-02 -5.59327023e-05  9.99944497e-01 -2.57222313e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 241.94770263799998
Centerline is valid?  [True, True]
Translation: X:244.00, Y:6.87, Z:-2.57
[[ 9.99944097e-01 -8.98677292e-04  1.05353869e-02  2.44002514e+02]
 [ 8.97767803e-04  9.99999593e-01  9.10560211e-05  6.86680663e+00]
 [-1.05354644e-02 -8.15925997e-05  9.99944497e-01 -2.57286860e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.00770263799998
Centerline is valid?  [True, True]
Translation: X:244.06, Y:6.87, Z:-2.57
[[ 9.99944151e-01  8.37014806e-04  1.05353899e-02  2.44063674e+02]
 [-8.38016915e-04  9.99999645e-01  9.07041768e-05  6.86765698e+00]
 [-1.05353102e-02 -9.95279460e-05  9.99944497e-01 -2.57351281e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.067702638
Centerline is valid?  [True, True]
Translation: X:244.12, Y:6.87, Z:-2.57
[[ 9.99942160e-01  2.16395357e-03  1.05353919e-02  2.44123009e+02]
 [-2.16502683e-03  9.99997652e-01  9.04675621e-05  6.86665980e+00]
 [-1.05351714e-02 -1.13271736e-04  9.99944497e-01 -2.57413770e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.127702638
Centerline is valid?  [True, True]
Translation: X:244.18, Y:6.86, Z:-2.57
[[ 9.99943693e-01  1.27132889e-03  1.05353899e-02  2.44181849e+02]
 [-1.27235508e-03  9.99999186e-01  9.07017417e-05  6.86459788e+00]
 [-1.05352660e-02 -1.04101391e-04  9.99944497e-01 -2.57475762e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.187702638
Centerline is valid?  [True, True]
Translation: X:244.24, Y:6.86, Z:-2.58
[[ 9.99943986e-01 -1.01536478e-03  1.05353869e-02  2.44241675e+02]
 [ 1.01446185e-03  9.99999481e-01  9.10483950e-05  6.86391449e+00]
 [-1.05354739e-02 -8.03555469e-05  9.99944497e-01 -2.57538813e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.247702638
Centerline is valid?  [True, True]
Translation: X:244.30, Y:6.86, Z:-2.58
[[ 9.99940485e-01 -2.83401146e-03  1.05353849e-02  2.44302750e+02]
 [ 2.83320700e-03  9.99995982e-01  9.12818573e-05  6.86437743e+00]
 [-1.05356013e-02 -6.14274984e-05  9.99944497e-01 -2.57603182e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.307702638
Centerline is valid?  [True, True]
Translation: X:244.36, Y:6.87, Z:-2.58
[[ 9.99937651e-01 -3.70127576e-03  1.05353869e-02  2.44364728e+02]
 [ 3.70052190e-03  9.99993149e-01  9.10479896e-05  6.86525044e+00]
 [-1.05356517e-02 -5.20558829e-05  9.99944497e-01 -2.57668473e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.367702638
Centerline is valid?  [True, True]
Translation: X:244.43, Y:6.86, Z:-2.58
[[ 9.99924247e-01 -6.36434451e-03  1.05353909e-02  2.44425822e+02]
 [ 6.36374331e-03  9.99979747e-01  9.05874742e-05  6.86351022e+00]
 [-1.05357540e-02 -2.35360887e-05  9.99944497e-01 -2.57732794e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 242.42770263799997
Centerline is valid?  [True, True]
Translation: X:244.49, Y:6.86, Z:-2.58
[[ 9.99925122e-01 -6.22535163e-03  1.05354035e-02  2.44488442e+02]
 [ 6.22475846e-03  9.99980622e-01  8.90927391e-05  6.86473612e+00]
 [-1.05357540e-02 -2.35057257e-05  9.99944497e-01 -2.57798676e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.48770263799997
Centerline is valid?  [True, True]
Translation: X:244.55, Y:6.87, Z:-2.58
[[ 9.99919881e-01 -7.01682197e-03  1.05354092e-02  2.44549179e+02]
 [ 7.01627988e-03  9.99975382e-01  8.84147549e-05  6.86696881e+00]
 [-1.05357702e-02 -1.44882915e-05  9.99944497e-01 -2.57862642e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.54770263799998
Centerline is valid?  [True, True]
Translation: X:244.61, Y:6.87, Z:-2.58
[[ 9.99906479e-01 -8.71997539e-03  1.05354111e-02  2.44610351e+02]
 [ 8.71953024e-03  9.99961980e-01  8.81864411e-05  6.86869395e+00]
 [-1.05357796e-02  3.68564210e-06  9.99944497e-01 -2.57927092e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.60770263799998
Centerline is valid?  [True, True]
Translation: X:244.67, Y:6.87, Z:-2.58
[[ 9.99883016e-01 -1.10886805e-02  1.05354130e-02  2.44670173e+02]
 [ 1.10883692e-02  9.99938518e-01  8.79585005e-05  6.86883064e+00]
 [-1.05357406e-02  2.88723389e-05  9.99944497e-01 -2.57990106e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.66770263799998
Centerline is valid?  [True, True]
Translation: X:244.73, Y:6.87, Z:-2.58
[[ 9.99861161e-01 -1.29097997e-02  1.05354175e-02  2.44731600e+02]
 [ 1.29095952e-02  9.99916664e-01  8.74214877e-05  6.86949009e+00]
 [-1.05356681e-02  4.85986246e-05  9.99944497e-01 -2.58054793e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.72770263799998
Centerline is valid?  [True, True]
Translation: X:244.79, Y:6.87, Z:-2.58
[[ 9.99798085e-01 -1.71112096e-02  1.05354194e-02  2.44791482e+02]
 [ 1.71112407e-02  9.99853588e-01  8.71928204e-05  6.86901941e+00]
 [-1.05353688e-02  9.30988821e-05  9.99944497e-01 -2.58117865e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.78770263799998
Centerline is valid?  [True, True]
Translation: X:244.85, Y:6.87, Z:-2.58
[[ 9.99733476e-01 -2.05421766e-02  1.05354194e-02  2.44854281e+02]
 [ 2.05423981e-02  9.99788979e-01  8.71928204e-05  6.86865633e+00]
 [-1.05349873e-02  1.29253198e-04  9.99944497e-01 -2.58184027e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.847702638
Centerline is valid?  [True, True]
Translation: X:244.92, Y:6.87, Z:-2.58
[[ 9.99679144e-01 -2.30350611e-02  1.05354240e-02  2.44915548e+02]
 [ 2.30354269e-02  9.99734646e-01  8.66356683e-05  6.86923760e+00]
 [-1.05346240e-02  1.56080118e-04  9.99944497e-01 -2.58248544e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.907702638
Centerline is valid?  [True, True]
Translation: X:244.98, Y:6.87, Z:-2.58
[[ 9.99651613e-01 -2.42003436e-02  1.05354276e-02  2.44976877e+02]
 [ 2.42007788e-02  9.99707115e-01  8.61930204e-05  6.87038626e+00]
 [-1.05344278e-02  1.68802561e-04  9.99944497e-01 -2.58313139e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 242.967702638
Centerline is valid?  [True, True]
Translation: X:245.04, Y:6.87, Z:-2.58
[[ 9.99655371e-01 -2.40446101e-02  1.05354294e-02  2.45038726e+02]
 [ 2.40450389e-02  9.99710873e-01  8.59751936e-05  6.87111673e+00]
 [-1.05344505e-02  1.67379245e-04  9.99944497e-01 -2.58378294e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.027702638
Centerline is valid?  [True, True]
Translation: X:245.10, Y:6.87, Z:-2.58
[[ 9.99618152e-01 -2.55451384e-02  1.05354415e-02  2.45101184e+02]
 [ 2.55456666e-02  9.99673653e-01  8.44572837e-05  6.87229572e+00]
 [-1.05341608e-02  1.84709843e-04  9.99944497e-01 -2.58444004e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.087702638
Centerline is valid?  [True, True]
Translation: X:245.16, Y:6.87, Z:-2.59
[[ 9.99630786e-01 -2.50458981e-02  1.05354450e-02  2.45160715e+02]
 [ 2.50464032e-02  9.99686286e-01  8.40229988e-05  6.87265317e+00]
 [-1.05342443e-02  1.79883027e-04  9.99944497e-01 -2.58506698e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.147702638
Centerline is valid?  [True, True]
Translation: X:245.22, Y:6.88, Z:-2.59
[[ 9.99623683e-01 -2.53277720e-02  1.05354459e-02  2.45221710e+02]
 [ 2.53282938e-02  9.99679184e-01  8.39149890e-05  6.87604584e+00]
 [-1.05341913e-02  1.82961458e-04  9.99944497e-01 -2.58570984e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.20770263799997
Centerline is valid?  [True, True]
Translation: X:245.28, Y:6.88, Z:-2.59
[[ 9.99605558e-01 -2.60333164e-02  1.05354468e-02  2.45282092e+02]
 [ 2.60338786e-02  9.99661058e-01  8.38005945e-05  6.87665470e+00]
 [-1.05340575e-02  1.90511002e-04  9.99944497e-01 -2.58634599e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.26770263799997
Centerline is valid?  [True, True]
Translation: X:245.34, Y:6.87, Z:-2.59
[[ 9.99547253e-01 -2.81832181e-02  1.05354468e-02  2.45343249e+02]
 [ 2.81838996e-02  9.99602751e-01  8.38005946e-05  6.87452691e+00]
 [-1.05336233e-02  2.13167320e-04  9.99944497e-01 -2.58699016e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.32770263799998
Centerline is valid?  [True, True]
Translation: X:245.40, Y:6.88, Z:-2.59
[[ 9.99512185e-01 -2.94006300e-02  1.05354580e-02  2.45404799e+02]
 [ 2.94013944e-02  9.99567682e-01  8.23575857e-05  6.87922218e+00]
 [-1.05333247e-02  2.27439747e-04  9.99944497e-01 -2.58763803e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.38770263799998
Centerline is valid?  [True, True]
Translation: X:245.46, Y:6.88, Z:-2.59
[[ 9.99421676e-01 -3.23313825e-02  1.05354598e-02  2.45464542e+02]
 [ 3.23323120e-02  9.99477171e-01  8.21273058e-05  6.87858222e+00]
 [-1.05326069e-02  2.58555965e-04  9.99944497e-01 -2.58826727e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.44770263799998
Centerline is valid?  [True, True]
Translation: X:245.53, Y:6.88, Z:-2.59
[[ 9.99324015e-01 -3.52209845e-02  1.05354630e-02  2.45526486e+02]
 [ 3.52220787e-02  9.99379507e-01  8.17259498e-05  6.87837737e+00]
 [-1.05318042e-02  2.89410201e-04  9.99944497e-01 -2.58891962e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.50770263799998
Centerline is valid?  [True, True]
Translation: X:245.59, Y:6.88, Z:-2.59
[[ 9.99323511e-01 -3.52352553e-02  1.05354745e-02  2.45588242e+02]
 [ 3.52363663e-02  9.99379003e-01  8.02092276e-05  6.87852015e+00]
 [-1.05317582e-02  2.91076872e-04  9.99944497e-01 -2.58956923e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.567702638
Centerline is valid?  [True, True]
Translation: X:245.65, Y:6.88, Z:-2.59
[[ 9.99287935e-01 -3.62301887e-02  1.05354860e-02  2.45649295e+02]
 [ 3.62313712e-02  9.99343425e-01  7.86678849e-05  6.87803883e+00]
 [-1.05314188e-02  3.03103236e-04  9.99944497e-01 -2.59021137e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 243.627702638
Centerline is valid?  [True, True]
Translation: X:245.71, Y:6.88, Z:-2.59
[[ 9.99340806e-01 -3.47412927e-02  1.05354965e-02  2.45711270e+02]
 [ 3.47424076e-02  9.99396297e-01  7.72362157e-05  6.87826275e+00]
 [-1.05318195e-02  2.88843212e-04  9.99944497e-01 -2.59086335e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.687702638
Centerline is valid?  [True, True]
Translation: X:245.77, Y:6.88, Z:-2.59
[[ 9.99372555e-01 -3.38156824e-02  1.05355076e-02  2.45772364e+02]
 [ 3.38167621e-02  9.99428047e-01  7.56936383e-05  6.87682095e+00]
 [-1.05320414e-02  2.80630609e-04  9.99944497e-01 -2.59150586e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.747702638
Centerline is valid?  [True, True]
Translation: X:245.83, Y:6.88, Z:-2.59
[[ 9.99540490e-01 -2.84220433e-02  1.05355176e-02  2.45833275e+02]
 [ 2.84228384e-02  9.99595987e-01  7.42789126e-05  6.88073416e+00]
 [-1.05333722e-02  2.25204533e-04  9.99944497e-01 -2.59214692e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.807702638
Centerline is valid?  [True, True]
Translation: X:245.89, Y:6.88, Z:-2.59
[[ 9.99583086e-01 -2.68822784e-02  1.05355177e-02  2.45894742e+02]
 [ 2.68829883e-02  9.99638584e-01  7.42619175e-05  6.87979431e+00]
 [-1.05337063e-02  2.08995242e-04  9.99944497e-01 -2.59279446e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.867702638
Centerline is valid?  [True, True]
Translation: X:245.96, Y:6.88, Z:-2.59
[[ 9.99628898e-01 -2.51210720e-02  1.05355284e-02  2.45955434e+02]
 [ 2.51217005e-02  9.99684398e-01  7.27056596e-05  6.88074980e+00]
 [-1.05340298e-02  1.91991711e-04  9.99944497e-01 -2.59343289e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.92770263799997
Centerline is valid?  [True, True]
Translation: X:246.02, Y:6.88, Z:-2.59
[[ 9.99717544e-01 -2.13034177e-02  1.05355295e-02  2.46017379e+02]
 [ 2.13038357e-02  9.99773045e-01  7.25557008e-05  6.88267900e+00]
 [-1.05346840e-02  1.51911982e-04  9.99944497e-01 -2.59408559e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 243.98770263799997
Centerline is valid?  [True, True]
Translation: X:246.08, Y:6.88, Z:-2.59
[[ 9.99766953e-01 -1.88425591e-02  1.05355318e-02  2.46079064e+02]
 [ 1.88428442e-02  9.99822455e-01  7.22123000e-05  6.88275297e+00]
 [-1.05350219e-02  1.26323913e-04  9.99944497e-01 -2.59473528e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.04770263799998
Centerline is valid?  [True, True]
Translation: X:246.14, Y:6.89, Z:-2.60
[[ 9.99778058e-01 -1.82438127e-02  1.05355417e-02  2.46141787e+02]
 [ 1.82440802e-02  9.99833560e-01  7.07325414e-05  6.88511897e+00]
 [-1.05350786e-02  1.21494425e-04  9.99944497e-01 -2.59539526e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.10770263799998
Centerline is valid?  [True, True]
Translation: X:246.20, Y:6.88, Z:-2.60
[[ 9.99788482e-01 -1.76633294e-02  1.05355519e-02  2.46204209e+02]
 [ 1.76635809e-02  9.99843984e-01  6.91843885e-05  6.88473075e+00]
 [-1.05351302e-02  1.16925819e-04  9.99944497e-01 -2.59605183e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.16770263799998
Centerline is valid?  [True, True]
Translation: X:246.27, Y:6.89, Z:-2.60
[[ 9.99776163e-01 -1.83473522e-02  1.05355556e-02  2.46266137e+02]
 [ 1.83476476e-02  9.99831665e-01  6.86225499e-05  6.88557769e+00]
 [-1.05350411e-02  1.24695471e-04  9.99944497e-01 -2.59670397e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.22770263799998
Centerline is valid?  [True, True]
Translation: X:246.33, Y:6.89, Z:-2.60
[[ 9.99717183e-01 -2.13203317e-02  1.05355658e-02  2.46326392e+02]
 [ 2.13208090e-02  9.99772683e-01  6.70199978e-05  6.88627189e+00]
 [-1.05345997e-02  1.57625742e-04  9.99944497e-01 -2.59733774e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.28770263799998
Centerline is valid?  [True, True]
Translation: X:246.39, Y:6.89, Z:-2.60
[[ 9.99636332e-01 -2.48234915e-02  1.05355685e-02  2.46386856e+02]
 [ 2.48241679e-02  9.99691831e-01  6.65797842e-05  6.88698538e+00]
 [-1.05339746e-02  1.94981152e-04  9.99944497e-01 -2.59797454e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.347702638
Centerline is valid?  [True, True]
Translation: X:246.45, Y:6.89, Z:-2.60
[[ 9.99557881e-01 -2.78036901e-02  1.05355692e-02  2.46449192e+02]
 [ 2.78045332e-02  9.99613377e-01  6.64699441e-05  6.88592489e+00]
 [-1.05333441e-02  2.26496029e-04  9.99944497e-01 -2.59863117e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.407702638
Centerline is valid?  [True, True]
Translation: X:246.51, Y:6.89, Z:-2.60
[[ 9.99431888e-01 -3.20140939e-02  1.05355789e-02  2.46509247e+02]
 [ 3.20151873e-02  9.99487380e-01  6.48978356e-05  6.88557230e+00]
 [-1.05322558e-02  2.72437567e-04  9.99944497e-01 -2.59926279e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.467702638
Centerline is valid?  [True, True]
Translation: X:246.57, Y:6.89, Z:-2.60
[[ 9.99381237e-01 -3.35580694e-02  1.05355796e-02  2.46571281e+02]
 [ 3.35592498e-02  9.99436728e-01  6.47870860e-05  6.88569149e+00]
 [-1.05318193e-02  2.88819149e-04  9.99944497e-01 -2.59991633e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.527702638
Centerline is valid?  [True, True]
Translation: X:246.63, Y:6.88, Z:-2.60
[[ 9.99325053e-01 -3.51914738e-02  1.05355891e-02  2.46631982e+02]
 [ 3.51927615e-02  9.99380541e-01  6.31985964e-05  6.88489173e+00]
 [-1.05312868e-02  3.07620535e-04  9.99944497e-01 -2.60055472e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.587702638
Centerline is valid?  [True, True]
Translation: X:246.69, Y:6.88, Z:-2.60
[[ 9.99264834e-01 -3.68618096e-02  1.05355894e-02  2.46692860e+02]
 [ 3.68631906e-02  9.99320320e-01  6.31492944e-05  6.88403655e+00]
 [-1.05307564e-02  3.25272572e-04  9.99944497e-01 -2.60119605e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.647702638
Centerline is valid?  [True, True]
Translation: X:246.75, Y:6.88, Z:-2.60
[[ 9.99225076e-01 -3.79242484e-02  1.05355983e-02  2.46753590e+02]
 [ 3.79257045e-02  9.99280560e-01  6.16255709e-05  6.88212235e+00]
 [-1.05303557e-02  3.37992173e-04  9.99944497e-01 -2.60183473e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.70770263799997
Centerline is valid?  [True, True]
Translation: X:246.81, Y:6.88, Z:-2.60
[[ 9.99157618e-01 -3.96617678e-02  1.05355990e-02  2.46814775e+02]
 [ 3.96633215e-02  9.99213099e-01  6.15163928e-05  6.88050533e+00]
 [-1.05297484e-02  3.56412277e-04  9.99944497e-01 -2.60247920e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.76770263799997
Centerline is valid?  [True, True]
Translation: X:246.88, Y:6.88, Z:-2.60
[[ 9.99164651e-01 -3.94841880e-02  1.05356074e-02  2.46876526e+02]
 [ 3.94857473e-02  9.99220132e-01  6.00445536e-05  6.87743278e+00]
 [-1.05297618e-02  3.56011935e-04  9.99944497e-01 -2.60312861e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 244.82770263799998
Centerline is valid?  [True, True]
Translation: X:246.94, Y:6.88, Z:-2.60
[[ 9.99156677e-01 -3.96854534e-02  1.05356092e-02  2.46939111e+02]
 [ 3.96870274e-02  9.99212158e-01  5.97159619e-05  6.87652226e+00]
 [-1.05296787e-02  3.58461410e-04  9.99944497e-01 -2.60378775e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.88770263799998
Centerline is valid?  [True, True]
Translation: X:247.00, Y:6.88, Z:-2.60
[[ 9.99167444e-01 -3.94134552e-02  1.05356139e-02  2.47001564e+02]
 [ 3.94150228e-02  9.99222924e-01  5.88883236e-05  6.87522367e+00]
 [-1.05297479e-02  3.56422165e-04  9.99944497e-01 -2.60444511e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 244.94770263799998
Centerline is valid?  [True, True]
Translation: X:247.06, Y:6.87, Z:-2.61
[[ 9.99217574e-01 -3.81213994e-02  1.05356163e-02  2.47062649e+02]
 [ 3.81228998e-02  9.99273056e-01  5.84474638e-05  6.87329775e+00]
 [-1.05301856e-02  3.43246512e-04  9.99944497e-01 -2.60508830e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.00770263799998
Centerline is valid?  [True, True]
Translation: X:247.12, Y:6.87, Z:-2.61
[[ 9.99281991e-01 -3.63937311e-02  1.05356246e-02  2.47122663e+02]
 [ 3.63951518e-02  9.99337475e-01  5.69144647e-05  6.87229623e+00]
 [-1.05307158e-02  3.26572056e-04  9.99944497e-01 -2.60571950e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.067702638
Centerline is valid?  [True, True]
Translation: X:247.19, Y:6.87, Z:-2.61
[[ 9.99345152e-01 -3.46160016e-02  1.05356246e-02  2.47185275e+02]
 [ 3.46173236e-02  9.99400639e-01  5.69144647e-05  6.87234513e+00]
 [-1.05312801e-02  3.07837931e-04  9.99944497e-01 -2.60637921e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.127702638
Centerline is valid?  [True, True]
Translation: X:247.25, Y:6.87, Z:-2.61
[[ 9.99412567e-01 -3.26116666e-02  1.05356328e-02  2.47246434e+02]
 [ 3.26128937e-02  9.99468057e-01  5.53537854e-05  6.87108484e+00]
 [-1.05318336e-02  2.88276204e-04  9.99944497e-01 -2.60702245e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.187702638
Centerline is valid?  [True, True]
Translation: X:247.31, Y:6.87, Z:-2.61
[[ 9.99489953e-01 -3.01468798e-02  1.05356334e-02  2.47307954e+02]
 [ 3.01479713e-02  9.99545445e-01  5.52391285e-05  6.86968627e+00]
 [-1.05325096e-02  2.62417019e-04  9.99944497e-01 -2.60767048e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.247702638
Centerline is valid?  [True, True]
Translation: X:247.37, Y:6.87, Z:-2.61
[[ 9.99625520e-01 -2.52551145e-02  1.05356413e-02  2.47367273e+02]
 [ 2.52559508e-02  9.99681016e-01  5.36882690e-05  6.86811947e+00]
 [-1.05336365e-02  2.12419474e-04  9.99944497e-01 -2.60829434e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.307702638
Centerline is valid?  [True, True]
Translation: X:247.43, Y:6.87, Z:-2.61
[[ 9.99703875e-01 -2.19354237e-02  1.05356410e-02  2.47428985e+02]
 [ 2.19360750e-02  9.99759374e-01  5.37492954e-05  6.86800439e+00]
 [-1.05342848e-02  1.77377232e-04  9.99944497e-01 -2.60894458e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.367702638
Centerline is valid?  [True, True]
Translation: X:247.49, Y:6.87, Z:-2.61
[[ 9.99803887e-01 -1.67686698e-02  1.05356481e-02  2.47489960e+02]
 [ 1.67690494e-02  9.99859388e-01  5.23181368e-05  6.86832123e+00]
 [-1.05350440e-02  1.24364926e-04  9.99944497e-01 -2.60958608e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.42770263799997
Centerline is valid?  [True, True]
Translation: X:247.55, Y:6.87, Z:-2.61
[[ 9.99862191e-01 -1.28296305e-02  1.05356497e-02  2.47552678e+02]
 [ 1.28297949e-02  9.99917693e-01  5.19854998e-05  6.87159112e+00]
 [-1.05354495e-02  8.31918893e-05  9.99944497e-01 -2.61024683e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.48770263799997
Centerline is valid?  [True, True]
Translation: X:247.61, Y:6.87, Z:-2.61
[[ 9.99910174e-01 -8.28513983e-03  1.05356538e-02  2.47613054e+02]
 [ 8.28506073e-03  9.99965677e-01  5.11546684e-05  6.87136783e+00]
 [-1.05357160e-02  3.61384578e-05  9.99944497e-01 -2.61088239e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.54770263799998
Centerline is valid?  [True, True]
Translation: X:247.67, Y:6.87, Z:-2.61
[[ 9.99943104e-01 -1.67022857e-03  1.05356538e-02  2.47674887e+02]
 [ 1.66978245e-03  9.99998605e-01  5.11405229e-05  6.87327649e+00]
 [-1.05357245e-02 -3.35453634e-05  9.99944497e-01 -2.61153396e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.60770263799998
Centerline is valid?  [True, True]
Translation: X:247.74, Y:6.88, Z:-2.61
[[ 9.99944204e-01  7.67047299e-04  1.05356565e-02  2.47736470e+02]
 [-7.67622752e-04  9.99999704e-01  5.05759187e-05  6.87527097e+00]
 [-1.05356146e-02 -5.86605064e-05  9.99944497e-01 -2.61218253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.66770263799998
Centerline is valid?  [True, True]
Translation: X:247.80, Y:6.88, Z:-2.61
[[ 9.99939642e-01  3.11642157e-03  1.05356576e-02  2.47795960e+02]
 [-3.11712504e-03  9.99995140e-01  5.03498452e-05  6.87806877e+00]
 [-1.05354495e-02 -8.31877684e-05  9.99944497e-01 -2.61280932e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.72770263799998
Centerline is valid?  [True, True]
Translation: X:247.85, Y:6.88, Z:-2.61
[[ 9.99938023e-01  3.59857504e-03  1.05356565e-02  2.47854650e+02]
 [-3.59930773e-03  9.99993521e-01  5.05837708e-05  6.87897017e+00]
 [-1.05354062e-02 -8.85017057e-05  9.99944497e-01 -2.61342790e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.78770263799998
Centerline is valid?  [True, True]
Translation: X:247.91, Y:6.88, Z:-2.61
[[ 9.99931911e-01  5.01724516e-03  1.05356484e-02  2.47912819e+02]
 [-5.01807373e-03  9.99987408e-01  5.22105104e-05  6.87993690e+00]
 [-1.05352538e-02 -1.05075616e-04  9.99944497e-01 -2.61404195e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.847702638
Centerline is valid?  [True, True]
Translation: X:247.97, Y:6.89, Z:-2.61
[[ 9.99937259e-01  3.80504143e-03  1.05356462e-02  2.47971303e+02]
 [-3.80580753e-03  9.99992757e-01  5.26671374e-05  6.88575106e+00]
 [-1.05353694e-02 -9.27604745e-05  9.99944497e-01 -2.61465878e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.907702638
Centerline is valid?  [True, True]
Translation: X:248.03, Y:6.89, Z:-2.62
[[ 9.99936505e-01  3.99817042e-03  1.05356439e-02  2.48030472e+02]
 [-3.99895196e-03  9.99992003e-01  5.31153500e-05  6.88848321e+00]
 [-1.05353473e-02 -9.52435112e-05  9.99944497e-01 -2.61528265e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 245.967702638
Centerline is valid?  [True, True]
Translation: X:248.09, Y:6.89, Z:-2.62
[[ 9.99935709e-01  4.19271266e-03  1.05356356e-02  2.48089375e+02]
 [-4.19352176e-03  9.99991206e-01  5.47063388e-05  6.89156337e+00]
 [-1.05353136e-02 -9.88842390e-05  9.99944497e-01 -2.61590454e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 246.027702638
Centerline is valid?  [True, True]
Translation: X:248.15, Y:6.89, Z:-2.62
[[ 9.99934652e-01  4.43751166e-03  1.05356276e-02  2.48147122e+02]
 [-4.43835022e-03  9.99990149e-01  5.62131661e-05  6.89283405e+00]
 [-1.05352744e-02 -1.02970298e-04  9.99944497e-01 -2.61651410e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.087702638
Centerline is valid?  [True, True]
Translation: X:248.21, Y:6.90, Z:-2.62
[[ 9.99936804e-01  3.92289179e-03  1.05356245e-02  2.48205543e+02]
 [-3.92370789e-03  9.99992301e-01  5.67924291e-05  6.89521409e+00]
 [-1.05353206e-02 -9.81275528e-05  9.99944497e-01 -2.61713018e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.147702638
Centerline is valid?  [True, True]
Translation: X:248.27, Y:6.90, Z:-2.62
[[ 9.99939007e-01  3.31417051e-03  1.05356221e-02  2.48265798e+02]
 [-3.31495733e-03  9.99994504e-01  5.72201386e-05  6.89716952e+00]
 [-1.05353746e-02 -9.21417864e-05  9.99944497e-01 -2.61776545e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.20770263799997
Centerline is valid?  [True, True]
Translation: X:248.32, Y:6.90, Z:-2.62
[[ 9.99935278e-01  4.29414435e-03  1.05356200e-02  2.48324164e+02]
 [-4.29498977e-03  9.99990775e-01  5.76190877e-05  6.89955686e+00]
 [-1.05352753e-02 -1.02865738e-04  9.99944497e-01 -2.61838083e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.26770263799997
Centerline is valid?  [True, True]
Translation: X:248.38, Y:6.90, Z:-2.62
[[ 9.99924169e-01  6.37622025e-03  1.05356169e-02  2.48381970e+02]
 [-6.37718715e-03  9.99979664e-01  5.81815216e-05  6.90286375e+00]
 [-1.05350316e-02 -1.25364710e-04  9.99944497e-01 -2.61899047e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.32770263799998
Centerline is valid?  [True, True]
Translation: X:248.44, Y:6.91, Z:-2.62
[[ 9.99895499e-01  9.89912271e-03  1.05356137e-02  2.48441004e+02]
 [-9.90029103e-03  9.99950989e-01  5.87428644e-05  6.90588280e+00]
 [-1.05345159e-02 -1.63042368e-04  9.99944497e-01 -2.61961304e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.38770263799998
Centerline is valid?  [True, True]
Translation: X:248.50, Y:6.91, Z:-2.62
[[ 9.99858669e-01  1.31012629e-02  1.05356117e-02  2.48498593e+02]
 [-1.31026127e-02  9.99914155e-01  5.90962604e-05  6.90798990e+00]
 [-1.05339331e-02 -1.97131948e-04  9.99944497e-01 -2.62022019e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.44770263799998
Centerline is valid?  [True, True]
Translation: X:248.56, Y:6.91, Z:-2.62
[[ 9.99786732e-01  1.77620751e-02  1.05356066e-02  2.48558345e+02]
 [-1.77636931e-02  9.99842211e-01  6.00063416e-05  6.91016910e+00]
 [-1.05328783e-02 -2.47144826e-04  9.99944497e-01 -2.62085053e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.50770263799998
Centerline is valid?  [True, True]
Translation: X:248.62, Y:6.91, Z:-2.62
[[ 9.99714105e-01  2.14641254e-02  1.05356059e-02  2.48615852e+02]
 [-2.14659500e-02  9.99769578e-01  6.01196616e-05  6.91302291e+00]
 [-1.05318879e-02 -2.86259264e-04  9.99944497e-01 -2.62145669e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.567702638
Centerline is valid?  [True, True]
Translation: X:248.67, Y:6.91, Z:-2.62
[[ 9.99658796e-01  2.39017238e-02  1.05356026e-02  2.48674914e+02]
 [-2.39036896e-02  9.99714264e-01  6.06893327e-05  6.91376145e+00]
 [-1.05311417e-02 -3.12508401e-04  9.99944497e-01 -2.62207942e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.627702638
Centerline is valid?  [True, True]
Translation: X:248.73, Y:6.91, Z:-2.62
[[ 9.99606485e-01  2.59976096e-02  1.05356014e-02  2.48733359e+02]
 [-2.59996940e-02  9.99661949e-01  6.09000997e-05  6.91391277e+00]
 [-1.05304566e-02 -3.34798547e-04  9.99944497e-01 -2.62269538e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.687702638
Centerline is valid?  [True, True]
Translation: X:248.79, Y:6.92, Z:-2.62
[[ 9.99536962e-01  2.85457985e-02  1.05355928e-02  2.48791975e+02]
 [-2.85480396e-02  9.99592420e-01  6.23601020e-05  6.91633991e+00]
 [-1.05295186e-02 -3.63101747e-04  9.99944497e-01 -2.62331417e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.747702638
Centerline is valid?  [True, True]
Translation: X:248.85, Y:6.92, Z:-2.62
[[ 9.99499799e-01  2.98186719e-02  1.05355908e-02  2.48851880e+02]
 [-2.98209872e-02  9.99555254e-01  6.26968156e-05  6.91765771e+00]
 [-1.05290356e-02 -3.76847172e-04  9.99944497e-01 -2.62394566e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.807702638
Centerline is valid?  [True, True]
Translation: X:248.91, Y:6.92, Z:-2.62
[[ 9.99523867e-01  2.90006944e-02  1.05355899e-02  2.48908735e+02]
 [-2.90029658e-02  9.99579324e-01  6.28425255e-05  6.92071084e+00]
 [-1.05293353e-02 -3.68375958e-04  9.99944497e-01 -2.62454499e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.867702638
Centerline is valid?  [True, True]
Translation: X:248.97, Y:6.92, Z:-2.63
[[ 9.99524279e-01  2.89864867e-02  1.05355853e-02  2.48968576e+02]
 [-2.89887654e-02  9.99579735e-01  6.36014280e-05  6.92095677e+00]
 [-1.05293140e-02 -3.68984782e-04  9.99944497e-01 -2.62517605e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.92770263799997
Centerline is valid?  [True, True]
Translation: X:249.03, Y:6.92, Z:-2.63
[[ 9.99582835e-01  2.68915868e-02  1.05355847e-02  2.49026733e+02]
 [-2.68937504e-02  9.99638296e-01  6.37100194e-05  6.92160863e+00]
 [-1.05300606e-02 -3.47024826e-04  9.99944497e-01 -2.62578892e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 246.98770263799997
Centerline is valid?  [True, True]
Translation: X:249.09, Y:6.92, Z:-2.63
[[ 9.99629619e-01  2.50923737e-02  1.05355816e-02  2.49087165e+02]
 [-2.50944428e-02  9.99685083e-01  6.42173070e-05  6.92304776e+00]
 [-1.05306524e-02 -3.28578071e-04  9.99944497e-01 -2.62642611e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.04770263799998
Centerline is valid?  [True, True]
Translation: X:249.14, Y:6.92, Z:-2.63
[[ 9.99719159e-01  2.12274391e-02  1.05355814e-02  2.49144743e+02]
 [-2.12292940e-02  9.99774631e-01  6.42435910e-05  6.92228894e+00]
 [-1.05318433e-02 -2.87888504e-04  9.99944497e-01 -2.62703273e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.10770263799998
Centerline is valid?  [True, True]
Translation: X:249.20, Y:6.93, Z:-2.63
[[ 9.99803893e-01  1.67683121e-02  1.05355782e-02  2.49204198e+02]
 [-1.67699251e-02  9.99859373e-01  6.47720465e-05  6.92548944e+00]
 [-1.05330105e-02 -2.41440201e-04  9.99944497e-01 -2.62765974e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.16770263799998
Centerline is valid?  [True, True]
Translation: X:249.26, Y:6.92, Z:-2.63
[[ 9.99802852e-01  1.68303008e-02  1.05355769e-02  2.49262802e+02]
 [-1.68319194e-02  9.99858331e-01  6.49837822e-05  6.92377539e+00]
 [-1.05329906e-02 -2.42304952e-04  9.99944497e-01 -2.62827725e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 247.22770263799998
Centerline is valid?  [True, True]
Translation: X:249.32, Y:6.92, Z:-2.63
[[ 9.99847892e-01  1.38994355e-02  1.05355743e-02  2.49321208e+02]
 [-1.39008959e-02  9.99903376e-01  6.53993440e-05  6.92440910e+00]
 [-1.05336473e-02 -2.11843317e-04  9.99944497e-01 -2.62889297e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.28770263799998
Centerline is valid?  [True, True]
Translation: X:249.38, Y:6.93, Z:-2.63
[[ 9.99885388e-01  1.08726072e-02  1.05355717e-02  2.49379906e+02]
 [-1.08739039e-02  9.99940875e-01  6.58067367e-05  6.92646472e+00]
 [-1.05342333e-02 -1.80361989e-04  9.99944497e-01 -2.62951185e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.347702638
Centerline is valid?  [True, True]
Translation: X:249.44, Y:6.93, Z:-2.63
[[ 9.99923137e-01  6.53617333e-03  1.05355698e-02  2.49439617e+02]
 [-6.53723265e-03  9.99978630e-01  6.61122717e-05  6.92599995e+00]
 [-1.05349125e-02 -1.34980661e-04  9.99944497e-01 -2.63014117e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.407702638
Centerline is valid?  [True, True]
Translation: X:249.50, Y:6.93, Z:-2.63
[[ 9.99943243e-01  1.58494381e-03  1.05355684e-02  2.49497756e+02]
 [-1.58573072e-03  9.99998741e-01  6.63369883e-05  6.92508154e+00]
 [-1.05354500e-02 -8.30397976e-05  9.99944497e-01 -2.63075383e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.467702638
Centerline is valid?  [True, True]
Translation: X:249.56, Y:6.92, Z:-2.63
[[ 9.99940564e-01 -2.80546054e-03  1.05355648e-02  2.49557206e+02]
 [ 2.80491130e-03  9.99996064e-01  6.69079346e-05  6.92474741e+00]
 [-1.05357110e-02 -3.73526332e-05  9.99944497e-01 -2.63138059e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.527702638
Centerline is valid?  [True, True]
Translation: X:249.62, Y:6.92, Z:-2.63
[[ 9.99924159e-01 -6.37792099e-03  1.05355641e-02  2.49619752e+02]
 [ 6.37756892e-03  9.99979661e-01  6.70140198e-05  6.92388051e+00]
 [-1.05357772e-02  1.82348733e-07  9.99944497e-01 -2.63203961e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.587702638
Centerline is valid?  [True, True]
Translation: X:249.68, Y:6.92, Z:-2.63
[[ 9.99880138e-01 -1.13451136e-02  1.05355676e-02  2.49680068e+02]
 [ 1.13450431e-02  9.99935641e-01  6.64565827e-05  6.92266789e+00]
 [-1.05356435e-02  5.30778515e-05  9.99944497e-01 -2.63267462e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.647702638
Centerline is valid?  [True, True]
Translation: X:249.74, Y:6.92, Z:-2.63
[[ 9.99839350e-01 -1.45008774e-02  1.05355683e-02  2.49742554e+02]
 [ 1.45009833e-02  9.99894853e-01  6.63442733e-05  6.92263779e+00]
 [-1.05354226e-02  8.64424848e-05  9.99944497e-01 -2.63333290e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.70770263799997
Centerline is valid?  [True, True]
Translation: X:249.80, Y:6.92, Z:-2.63
[[ 9.99837466e-01 -1.46302211e-02  1.05355781e-02  2.49804181e+02]
 [ 1.46303509e-02  9.99892969e-01  6.47546945e-05  6.92199251e+00]
 [-1.05353978e-02  8.93950349e-05  9.99944497e-01 -2.63398103e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.76770263799997
Centerline is valid?  [True, True]
Translation: X:249.87, Y:6.92, Z:-2.63
[[ 9.99850238e-01 -1.37296576e-02  1.05355875e-02  2.49865926e+02]
 [ 1.37297540e-02  9.99905740e-01  6.31821599e-05  6.92191685e+00]
 [-1.05354619e-02  8.14783276e-05  9.99944497e-01 -2.63463044e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.82770263799998
Centerline is valid?  [True, True]
Translation: X:249.93, Y:6.92, Z:-2.64
[[ 9.99863986e-01 -1.26889656e-02  1.05355967e-02  2.49926861e+02]
 [ 1.26890207e-02  9.99919489e-01  6.16119696e-05  6.92246930e+00]
 [-1.05355303e-02  7.20828155e-05  9.99944497e-01 -2.63527137e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.88770263799998
Centerline is valid?  [True, True]
Translation: X:249.99, Y:6.92, Z:-2.64
[[ 9.99887605e-01 -1.06666677e-02  1.05355973e-02  2.49989468e+02]
 [ 1.06666118e-02  9.99943108e-01  6.15023039e-05  6.92392877e+00]
 [-1.05356540e-02  5.08837354e-05  9.99944497e-01 -2.63593102e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 247.94770263799998
Centerline is valid?  [True, True]
Translation: X:250.05, Y:6.92, Z:-2.64
[[ 9.99902306e-01 -9.18584139e-03  1.05356000e-02  2.50052021e+02]
 [ 9.18570802e-03  9.99957809e-01  6.10497602e-05  6.92335705e+00]
 [-1.05357162e-02  3.57331492e-05  9.99944497e-01 -2.63658973e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.00770263799998
Centerline is valid?  [True, True]
Translation: X:250.11, Y:6.92, Z:-2.64
[[ 9.99913973e-01 -7.81331589e-03  1.05356033e-02  2.50112183e+02]
 [ 7.81311239e-03  9.99969475e-01  6.04754280e-05  6.92423302e+00]
 [-1.05357542e-02  2.18456269e-05  9.99944497e-01 -2.63722325e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.067702638
Centerline is valid?  [True, True]
Translation: X:250.18, Y:6.92, Z:-2.64
[[ 9.99912664e-01 -7.97903527e-03  1.05356039e-02  2.50175249e+02]
 [ 7.97884216e-03  9.99968167e-01  6.03615984e-05  6.92454238e+00]
 [-1.05357502e-02  2.37055940e-05  9.99944497e-01 -2.63788766e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.127702638
Centerline is valid?  [True, True]
Translation: X:250.24, Y:6.92, Z:-2.64
[[ 9.99895843e-01 -9.86423305e-03  1.05356142e-02  2.50237709e+02]
 [ 9.86416402e-03  9.99951346e-01  5.85173550e-05  6.92431622e+00]
 [-1.05356788e-02  4.54137660e-05  9.99944497e-01 -2.63854440e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.187702638
Centerline is valid?  [True, True]
Translation: X:250.30, Y:6.92, Z:-2.64
[[ 9.99889278e-01 -1.05086809e-02  1.05356167e-02  2.50298105e+02]
 [ 1.05086525e-02  9.99944781e-01  5.80530015e-05  6.92416473e+00]
 [-1.05356450e-02  5.26685617e-05  9.99944497e-01 -2.63918041e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.247702638
Centerline is valid?  [True, True]
Translation: X:250.36, Y:6.92, Z:-2.64
[[ 9.99875197e-01 -1.17725134e-02  1.05356179e-02  2.50359580e+02]
 [ 1.17725576e-02  9.99930699e-01  5.78292808e-05  6.92418833e+00]
 [-1.05355686e-02  6.62091051e-05  9.99944497e-01 -2.63982797e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.307702638
Centerline is valid?  [True, True]
Translation: X:250.42, Y:6.93, Z:-2.64
[[ 9.99866468e-01 -1.24918400e-02  1.05356198e-02  2.50422229e+02]
 [ 1.24919277e-02  9.99921971e-01  5.74847750e-05  6.92516119e+00]
 [-1.05355158e-02  7.41331026e-05  9.99944497e-01 -2.64048786e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.367702638
Centerline is valid?  [True, True]
Translation: X:250.48, Y:6.93, Z:-2.64
[[ 9.99886282e-01 -1.07900018e-02  1.05356229e-02  2.50482335e+02]
 [ 1.07900011e-02  9.99941785e-01  5.69085218e-05  6.92518765e+00]
 [-1.05356236e-02  5.67773327e-05  9.99944497e-01 -2.64112073e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 248.42770263799997
Centerline is valid?  [True, True]
Translation: X:250.54, Y:6.93, Z:-2.64
[[ 9.99889784e-01 -1.04604343e-02  1.05356236e-02  2.50542416e+02]
 [ 1.04604165e-02  9.99945287e-01  5.67948231e-05  6.92729988e+00]
 [-1.05356412e-02  5.34184475e-05  9.99944497e-01 -2.64175379e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.48770263799997
Centerline is valid?  [True, True]
Translation: X:250.60, Y:6.93, Z:-2.64
[[ 9.99905814e-01 -8.79562461e-03  1.05356263e-02  2.50604617e+02]
 [ 8.79551988e-03  9.99961317e-01  5.62758677e-05  6.92679400e+00]
 [-1.05357138e-02  3.63957434e-05  9.99944497e-01 -2.64240875e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.54770263799998
Centerline is valid?  [True, True]
Translation: X:250.67, Y:6.93, Z:-2.64
[[ 9.99902484e-01 -9.16635760e-03  1.05356287e-02  2.50666219e+02]
 [ 9.16627817e-03  9.99957987e-01  5.58271174e-05  6.92513206e+00]
 [-1.05356978e-02  4.07508300e-05  9.99944497e-01 -2.64305739e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.60770263799998
Centerline is valid?  [True, True]
Translation: X:250.73, Y:6.92, Z:-2.64
[[ 9.99899384e-01 -9.49851717e-03  1.05356313e-02  2.50726634e+02]
 [ 9.49846141e-03  9.99954887e-01  5.53310727e-05  6.92365352e+00]
 [-1.05356816e-02  4.47467818e-05  9.99944497e-01 -2.64369349e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.66770263799998
Centerline is valid?  [True, True]
Translation: X:250.79, Y:6.92, Z:-2.64
[[ 9.99861970e-01 -1.28468815e-02  1.05356329e-02  2.50788201e+02]
 [ 1.28470148e-02  9.99917472e-01  5.50353706e-05  6.92336104e+00]
 [-1.05354704e-02  8.03236567e-05  9.99944497e-01 -2.64434195e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.72770263799998
Centerline is valid?  [True, True]
Translation: X:250.85, Y:6.92, Z:-2.64
[[ 9.99810605e-01 -1.63631842e-02  1.05356346e-02  2.50850427e+02]
 [ 1.63635161e-02  9.99866107e-01  5.47020124e-05  6.92277856e+00]
 [-1.05351190e-02  1.17708374e-04  9.99944497e-01 -2.64499731e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.78770263799998
Centerline is valid?  [True, True]
Translation: X:250.91, Y:6.92, Z:-2.65
[[ 9.99746524e-01 -1.98969343e-02  1.05356370e-02  2.50911893e+02]
 [ 1.98974673e-02  9.99802024e-01  5.42403781e-05  6.91945845e+00]
 [-1.05346304e-02  1.55405863e-04  9.99944497e-01 -2.64564442e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.847702638
Centerline is valid?  [True, True]
Translation: X:250.97, Y:6.92, Z:-2.65
[[ 9.99729759e-01 -2.07221667e-02  1.05356443e-02  2.50973237e+02]
 [ 2.07227610e-02  9.99785259e-01  5.27666870e-05  6.91809022e+00]
 [-1.05344753e-02  1.65575213e-04  9.99944497e-01 -2.64628964e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.907702638
Centerline is valid?  [True, True]
Translation: X:251.03, Y:6.92, Z:-2.65
[[ 9.99674897e-01 -2.32185325e-02  1.05356455e-02  2.51034190e+02]
 [ 2.32192678e-02  9.99730395e-01  5.25391796e-05  6.91537705e+00]
 [-1.05340249e-02  1.92107875e-04  9.99944497e-01 -2.64693155e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 248.967702638
Centerline is valid?  [True, True]
Translation: X:251.10, Y:6.91, Z:-2.65
[[ 9.99669299e-01 -2.34583099e-02  1.05356526e-02  2.51095604e+02]
 [ 2.34590740e-02  9.99724797e-01  5.10665104e-05  6.91422702e+00]
 [-1.05339511e-02  1.96107032e-04  9.99944497e-01 -2.64757751e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.027702638
Centerline is valid?  [True, True]
Translation: X:251.16, Y:6.91, Z:-2.65
[[ 9.99632862e-01 -2.49627844e-02  1.05356537e-02  2.51158312e+02]
 [ 2.49636344e-02  9.99688359e-01  5.08482532e-05  6.91289562e+00]
 [-1.05336396e-02  2.12178621e-04  9.99944497e-01 -2.64823800e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.087702638
Centerline is valid?  [True, True]
Translation: X:251.22, Y:6.91, Z:-2.65
[[ 9.99698802e-01 -2.21654116e-02  1.05356570e-02  2.51220231e+02]
 [ 2.21661136e-02  9.99754300e-01  5.01475138e-05  6.90895315e+00]
 [-1.05341799e-02  1.83402161e-04  9.99944497e-01 -2.64888970e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.147702638
Centerline is valid?  [True, True]
Translation: X:251.28, Y:6.91, Z:-2.65
[[ 9.99721935e-01 -2.10962824e-02  1.05356651e-02  2.51283083e+02]
 [ 2.10969435e-02  9.99777434e-01  4.83946520e-05  6.90591651e+00]
 [-1.05343411e-02  1.73889136e-04  9.99944497e-01 -2.64955056e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.20770263799997
Centerline is valid?  [True, True]
Translation: X:251.34, Y:6.90, Z:-2.65
[[ 9.99723621e-01 -2.10162016e-02  1.05356697e-02  2.51344176e+02]
 [ 2.10168691e-02  9.99779120e-01  4.73717699e-05  6.90439353e+00]
 [-1.05343381e-02  1.74068112e-04  9.99944497e-01 -2.65019347e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.26770263799997
Centerline is valid?  [True, True]
Translation: X:251.40, Y:6.90, Z:-2.65
[[ 9.99743438e-01 -2.00513848e-02  1.05356734e-02  2.51403973e+02]
 [ 2.00520076e-02  9.99798937e-01  4.65264975e-05  6.90313000e+00]
 [-1.05344880e-02  1.64746842e-04  9.99944497e-01 -2.65082286e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.32770263799998
Centerline is valid?  [True, True]
Translation: X:251.47, Y:6.90, Z:-2.65
[[ 9.99775414e-01 -1.83880689e-02  1.05356734e-02  2.51465576e+02]
 [ 1.83885993e-02  9.99830914e-01  4.65264975e-05  6.90079506e+00]
 [-1.05347475e-02  1.47220228e-04  9.99944497e-01 -2.65147181e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.38770263799998
Centerline is valid?  [True, True]
Translation: X:251.53, Y:6.90, Z:-2.65
[[ 9.99777598e-01 -1.82689472e-02  1.05356753e-02  2.51528247e+02]
 [ 1.82694757e-02  9.99833098e-01  4.60779523e-05  6.89902038e+00]
 [-1.05347587e-02  1.46413561e-04  9.99944497e-01 -2.65213173e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.44770263799998
Centerline is valid?  [True, True]
Translation: X:251.59, Y:6.90, Z:-2.65
[[ 9.99801206e-01 -1.69277098e-02  1.05356831e-02  2.51590678e+02]
 [ 1.69281834e-02  9.99856707e-01  4.42380283e-05  6.89601278e+00]
 [-1.05349222e-02  1.34120741e-04  9.99944497e-01 -2.65278813e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.50770263799998
Centerline is valid?  [True, True]
Translation: X:251.65, Y:6.89, Z:-2.65
[[ 9.99786811e-01 -1.77575871e-02  1.05356855e-02  2.51650924e+02]
 [ 1.77581128e-02  9.99842311e-01  4.36536572e-05  6.89369138e+00]
 [-1.05347993e-02  1.43449541e-04  9.99944497e-01 -2.65342239e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.567702638
Centerline is valid?  [True, True]
Translation: X:251.71, Y:6.89, Z:-2.65
[[ 9.99785610e-01 -1.78250774e-02  1.05356872e-02  2.51711706e+02]
 [ 1.78256112e-02  9.99841110e-01  4.32477731e-05  6.89224823e+00]
 [-1.05347840e-02  1.44566562e-04  9.99944497e-01 -2.65406247e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 249.627702638
Centerline is valid?  [True, True]
Translation: X:251.77, Y:6.89, Z:-2.65
[[ 9.99807550e-01 -1.65487843e-02  1.05356876e-02  2.51773123e+02]
 [ 1.65492484e-02  9.99863051e-01  4.31334886e-05  6.88994212e+00]
 [-1.05349586e-02  1.31232524e-04  9.99944497e-01 -2.65470940e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.687702638
Centerline is valid?  [True, True]
Translation: X:251.84, Y:6.89, Z:-2.66
[[ 9.99827338e-01 -1.53066293e-02  1.05356895e-02  2.51835512e+02]
 [ 1.53070293e-02  9.99882840e-01  4.26772849e-05  6.88761919e+00]
 [-1.05351084e-02  1.18600191e-04  9.99944497e-01 -2.65536634e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.747702638
Centerline is valid?  [True, True]
Translation: X:251.90, Y:6.89, Z:-2.66
[[ 9.99835424e-01 -1.47690056e-02  1.05356913e-02  2.51897592e+02]
 [ 1.47693805e-02  9.99890926e-01  4.22251082e-05  6.88646118e+00]
 [-1.05351657e-02  1.13387474e-04  9.99944497e-01 -2.65602007e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.807702638
Centerline is valid?  [True, True]
Translation: X:251.96, Y:6.89, Z:-2.66
[[ 9.99841344e-01 -1.43626444e-02  1.05356977e-02  2.51958639e+02]
 [ 1.43630144e-02  9.99896846e-01  4.05483090e-05  6.88535065e+00]
 [-1.05351933e-02  1.10782503e-04  9.99944497e-01 -2.65666211e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.867702638
Centerline is valid?  [True, True]
Translation: X:252.02, Y:6.88, Z:-2.66
[[ 9.99853672e-01 -1.34771171e-02  1.05357033e-02  2.52019893e+02]
 [ 1.34774539e-02  9.99909174e-01  3.90369548e-05  6.88416701e+00]
 [-1.05352725e-02  1.02963213e-04  9.99944497e-01 -2.65730644e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.92770263799997
Centerline is valid?  [True, True]
Translation: X:252.08, Y:6.89, Z:-2.66
[[ 9.99885239e-01 -1.08861062e-02  1.05357042e-02  2.52081869e+02]
 [ 1.08863016e-02  9.99940742e-01  3.88050373e-05  6.88522287e+00]
 [-1.05355023e-02  7.58942696e-05  9.99944497e-01 -2.65795932e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 249.98770263799997
Centerline is valid?  [True, True]
Translation: X:252.14, Y:6.89, Z:-2.66
[[ 9.99916843e-01 -7.43676710e-03  1.05357059e-02  2.52143658e+02]
 [ 7.43677593e-03  9.99972346e-01  3.83390807e-05  6.88631162e+00]
 [-1.05356997e-02  4.00157914e-05  9.99944497e-01 -2.65861008e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.04770263799998
Centerline is valid?  [True, True]
Translation: X:252.20, Y:6.89, Z:-2.66
[[ 9.99925575e-01 -6.15163897e-03  1.05357081e-02  2.52204936e+02]
 [ 6.15158291e-03  9.99981078e-01  3.77277690e-05  6.88760911e+00]
 [-1.05357408e-02  2.70863207e-05  9.99944497e-01 -2.65925536e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.10770263799998
Centerline is valid?  [True, True]
Translation: X:252.27, Y:6.89, Z:-2.66
[[ 9.99937977e-01 -3.61132358e-03  1.05357094e-02  2.52266097e+02]
 [ 3.61113039e-03  9.99993479e-01  3.73603057e-05  6.88999319e+00]
 [-1.05357756e-02  6.87831880e-07  9.99944497e-01 -2.65989961e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.16770263799998
Centerline is valid?  [True, True]
Translation: X:252.33, Y:6.89, Z:-2.66
[[ 9.99941705e-01  2.36339493e-03  1.05357102e-02  2.52326098e+02]
 [-2.36391720e-03  9.99997205e-01  3.71181830e-05  6.89342117e+00]
 [-1.05355931e-02 -6.20215658e-05  9.99944497e-01 -2.66053176e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.22770263799998
Centerline is valid?  [True, True]
Translation: X:252.38, Y:6.90, Z:-2.66
[[ 9.99913065e-01  7.92854547e-03  1.05357099e-02  2.52384370e+02]
 [-7.92937764e-03  9.99968561e-01  3.72154990e-05  6.89583946e+00]
 [-1.05350836e-02 -1.20753886e-04  9.99944497e-01 -2.66114589e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.28770263799998
Centerline is valid?  [True, True]
Translation: X:252.44, Y:6.90, Z:-2.66
[[ 9.99890183e-01  1.04221004e-02  1.05357039e-02  2.52443048e+02]
 [-1.04230880e-02  9.99945677e-01  3.88297806e-05  6.89789978e+00]
 [-1.05347269e-02 -1.48640086e-04  9.99944497e-01 -2.66176532e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.347702638
Centerline is valid?  [True, True]
Translation: X:252.50, Y:6.90, Z:-2.66
[[ 9.99870877e-01  1.21337740e-02  1.05356980e-02  2.52503317e+02]
 [-1.21348729e-02  9.99926369e-01  4.03793962e-05  6.90057613e+00]
 [-1.05344323e-02 -1.68223538e-04  9.99944497e-01 -2.66240149e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.407702638
Centerline is valid?  [True, True]
Translation: X:252.56, Y:6.90, Z:-2.66
[[ 9.99848392e-01  1.38633126e-02  1.05356966e-02  2.52563115e+02]
 [-1.38645112e-02  9.99903882e-01  4.07326303e-05  6.90264900e+00]
 [-1.05341193e-02 -1.86798739e-04  9.99944497e-01 -2.66303187e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.467702638
Centerline is valid?  [True, True]
Translation: X:252.62, Y:6.91, Z:-2.66
[[ 9.99856798e-01  1.32432030e-02  1.05356962e-02  2.52621777e+02]
 [-1.32443684e-02  9.99912289e-01  4.08482872e-05  6.90756865e+00]
 [-1.05342311e-02 -1.80381080e-04  9.99944497e-01 -2.66365023e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.527702638
Centerline is valid?  [True, True]
Translation: X:252.68, Y:6.91, Z:-2.66
[[ 9.99897786e-01  9.66520807e-03  1.05356944e-02  2.52680657e+02]
 [-9.66617972e-03  9.99953281e-01  4.13059404e-05  6.90837092e+00]
 [-1.05348029e-02 -1.43141634e-04  9.99944497e-01 -2.66427095e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.587702638
Centerline is valid?  [True, True]
Translation: X:252.74, Y:6.91, Z:-2.66
[[ 9.99922130e-01  6.68826638e-03  1.05356940e-02  2.52741021e+02]
 [-6.68907399e-03  9.99977627e-01  4.14184020e-05  6.90946261e+00]
 [-1.05351812e-02 -1.11889213e-04  9.99944497e-01 -2.66490709e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.647702638
Centerline is valid?  [True, True]
Translation: X:252.80, Y:6.91, Z:-2.67
[[ 9.99942001e-01  2.23460491e-03  1.05356935e-02  2.52799865e+02]
 [-2.23516652e-03  9.99997501e-01  4.15309837e-05  6.91092630e+00]
 [-1.05355744e-02 -6.50776044e-05  9.99944497e-01 -2.66552723e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.70770263799997
Centerline is valid?  [True, True]
Translation: X:252.86, Y:6.91, Z:-2.67
[[ 9.99942350e-01 -2.07285405e-03  1.05356917e-02  2.52858582e+02]
 [ 2.07252674e-03  9.99997851e-01  4.19842131e-05  6.91149050e+00]
 [-1.05357561e-02 -2.01462899e-05  9.99944497e-01 -2.66614622e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.76770263799997
Centerline is valid?  [True, True]
Translation: X:252.92, Y:6.91, Z:-2.67
[[ 9.99927603e-01 -5.81278366e-03  1.05356903e-02  2.52919554e+02]
 [ 5.81266039e-03  9.99983105e-01  4.23216691e-05  6.91276182e+00]
 [-1.05357584e-02  1.89217849e-05  9.99944497e-01 -2.66678893e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 250.82770263799998
Centerline is valid?  [True, True]
Translation: X:252.98, Y:6.91, Z:-2.67
[[ 9.99899840e-01 -9.45034185e-03  1.05356913e-02  2.52980608e+02]
 [ 9.45042287e-03  9.99955343e-01  4.20954580e-05  6.91368952e+00]
 [-1.05356186e-02  5.74754958e-05  9.99944497e-01 -2.66743210e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.88770263799998
Centerline is valid?  [True, True]
Translation: X:253.04, Y:6.91, Z:-2.67
[[ 9.99855877e-01 -1.33125435e-02  1.05356969e-02  2.53042757e+02]
 [ 1.33128544e-02  9.99911379e-01  4.06239913e-05  6.91454765e+00]
 [-1.05353041e-02  9.96420626e-05  9.99944497e-01 -2.66808592e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 250.94770263799998
Centerline is valid?  [True, True]
Translation: X:253.11, Y:6.92, Z:-2.67
[[ 9.99810521e-01 -1.63683227e-02  1.05356986e-02  2.53105343e+02]
 [ 1.63688079e-02  9.99866021e-01  4.01838384e-05  6.91702584e+00]
 [-1.05349448e-02  1.32280602e-04  9.99944497e-01 -2.66874514e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.00770263799998
Centerline is valid?  [True, True]
Translation: X:253.17, Y:6.92, Z:-2.67
[[ 9.99776976e-01 -1.83029380e-02  1.05357006e-02  2.53167520e+02]
 [ 1.83035363e-02  9.99832475e-01  3.96402868e-05  6.92095903e+00]
 [-1.05346612e-02  1.53209134e-04  9.99944497e-01 -2.66940003e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.067702638
Centerline is valid?  [True, True]
Translation: X:253.23, Y:6.92, Z:-2.67
[[ 9.99738942e-01 -2.02742735e-02  1.05357063e-02  2.53228451e+02]
 [ 2.02749978e-02  9.99794440e-01  3.80745340e-05  6.92246643e+00]
 [-1.05343125e-02  1.75546827e-04  9.99944497e-01 -2.67004097e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.127702638
Centerline is valid?  [True, True]
Translation: X:253.29, Y:6.92, Z:-2.67
[[ 9.99661709e-01 -2.37795531e-02  1.05357064e-02  2.53290602e+02]
 [ 2.37804722e-02  9.99717204e-01  3.80536537e-05  6.92337486e+00]
 [-1.05336318e-02  2.12503292e-04  9.99944497e-01 -2.67069583e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.187702638
Centerline is valid?  [True, True]
Translation: X:253.35, Y:6.92, Z:-2.67
[[ 9.99549750e-01 -2.80944216e-02  1.05357118e-02  2.53353108e+02]
 [ 2.80955968e-02  9.99605240e-01  3.64755327e-05  6.92460125e+00]
 [-1.05325775e-02  2.59548002e-04  9.99944497e-01 -2.67135335e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.247702638
Centerline is valid?  [True, True]
Translation: X:253.41, Y:6.93, Z:-2.67
[[ 9.99358266e-01 -3.42352917e-02  1.05357171e-02  2.53412984e+02]
 [ 3.42368244e-02  9.99413747e-01  3.48976249e-05  6.92508459e+00]
 [-1.05307352e-02  3.25834266e-04  9.99944497e-01 -2.67198312e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.307702638
Centerline is valid?  [True, True]
Translation: X:253.47, Y:6.93, Z:-2.67
[[ 9.99102513e-01 -4.10264129e-02  1.05357188e-02  2.53474175e+02]
 [ 4.10283282e-02  9.99157983e-01  3.43797918e-05  6.92508924e+00]
 [-1.05282580e-02  3.97913990e-04  9.99944497e-01 -2.67262748e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.367702638
Centerline is valid?  [True, True]
Translation: X:253.53, Y:6.92, Z:-2.67
[[ 9.98796279e-01 -4.79060806e-02  1.05357197e-02  2.53534568e+02]
 [ 4.79083807e-02  9.98851734e-01  3.41021201e-05  6.92436546e+00]
 [-1.05252555e-02  4.70688197e-04  9.99944497e-01 -2.67326358e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.42770263799997
Centerline is valid?  [True, True]
Translation: X:253.60, Y:6.92, Z:-2.67
[[ 9.98582217e-01 -5.21780965e-02  1.05357198e-02  2.53595400e+02]
 [ 5.21806343e-02  9.98637662e-01  3.40550474e-05  6.92354151e+00]
 [-1.05231435e-02  5.15753778e-04  9.99944497e-01 -2.67390446e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.48770263799997
Centerline is valid?  [True, True]
Translation: X:253.66, Y:6.92, Z:-2.67
[[ 9.98367494e-01 -5.61368481e-02  1.05357200e-02  2.53655157e+02]
 [ 5.61396062e-02  9.98422928e-01  3.40013905e-05  6.92454658e+00]
 [-1.05210131e-02  5.57525288e-04  9.99944497e-01 -2.67453408e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.54770263799998
Centerline is valid?  [True, True]
Translation: X:253.72, Y:6.92, Z:-2.68
[[ 9.98442830e-01 -5.47805962e-02  1.05357198e-02  2.53716070e+02]
 [ 5.47832785e-02  9.98498268e-01  3.40474545e-05  6.92272130e+00]
 [-1.05217631e-02  5.43186838e-04  9.99944497e-01 -2.67517585e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.60770263799998
Centerline is valid?  [True, True]
Translation: X:253.78, Y:6.93, Z:-2.68
[[ 9.98588251e-01 -5.20624879e-02  1.05357202e-02  2.53777460e+02]
 [ 5.20650206e-02  9.98643696e-01  3.39355521e-05  6.92606229e+00]
 [-1.05231973e-02  5.14654845e-04  9.99944497e-01 -2.67582270e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.66770263799998
Centerline is valid?  [True, True]
Translation: X:253.84, Y:6.93, Z:-2.68
[[ 9.98923549e-01 -4.51745664e-02  1.05357246e-02  2.53838152e+02]
 [ 4.51767317e-02  9.98979010e-01  3.25005917e-05  6.92782656e+00]
 [-1.05264360e-02  4.43503999e-04  9.99944497e-01 -2.67646122e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.72770263799998
Centerline is valid?  [True, True]
Translation: X:253.90, Y:6.93, Z:-2.68
[[ 9.99298591e-01 -3.59350175e-02  1.05357246e-02  2.53897801e+02]
 [ 3.59366699e-02  9.99354069e-01  3.25015977e-05  6.93076199e+00]
 [-1.05300872e-02  3.46140057e-04  9.99944497e-01 -2.67708979e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.78770263799998
Centerline is valid?  [True, True]
Translation: X:253.96, Y:6.93, Z:-2.68
[[ 9.99585507e-01 -2.67920273e-02  1.05357248e-02  2.53957747e+02]
 [ 2.67931726e-02  9.99640998e-01  3.24517329e-05  6.93351483e+00]
 [-1.05328119e-02  2.49847210e-04  9.99944497e-01 -2.67772146e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.847702638
Centerline is valid?  [True, True]
Translation: X:254.02, Y:6.94, Z:-2.68
[[ 9.99767340e-01 -1.88219203e-02  1.05357248e-02  2.54017714e+02]
 [ 1.88226231e-02  9.99822838e-01  3.24517329e-05  6.93650490e+00]
 [-1.05344691e-02  1.65865794e-04  9.99944497e-01 -2.67835338e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.907702638
Centerline is valid?  [True, True]
Translation: X:254.08, Y:6.94, Z:-2.68
[[ 9.99861658e-01 -1.28710255e-02  1.05357248e-02  2.54078333e+02]
 [ 1.28713980e-02  9.99917160e-01  3.24537697e-05  6.94061908e+00]
 [-1.05352697e-02  1.03160227e-04  9.99944497e-01 -2.67899222e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 251.967702638
Centerline is valid?  [True, True]
Translation: X:254.14, Y:6.94, Z:-2.68
[[ 9.99898321e-01 -9.60968077e-03  1.05357252e-02  2.54140632e+02]
 [ 9.60987374e-03  9.99953824e-01  3.23108060e-05  6.94394762e+00]
 [-1.05355492e-02  6.89394682e-05  9.99944497e-01 -2.67964863e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 252.027702638
Centerline is valid?  [True, True]
Translation: X:254.20, Y:6.95, Z:-2.68
[[ 9.99938097e-01 -3.57775458e-03  1.05357269e-02  2.54201804e+02]
 [ 3.57761856e-03  9.99993600e-01  3.17570795e-05  6.94546299e+00]
 [-1.05357731e-02  5.93769839e-06  9.99944497e-01 -2.68029280e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.087702638
Centerline is valid?  [True, True]
Translation: X:254.26, Y:6.95, Z:-2.68
[[ 9.99944495e-01  7.00954683e-05  1.05357282e-02  2.54263982e+02]
 [-7.04292839e-05  9.99999997e-01  3.13131309e-05  6.95053063e+00]
 [-1.05357260e-02 -3.20534167e-05  9.99944497e-01 -2.68094777e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.147702638
Centerline is valid?  [True, True]
Translation: X:254.32, Y:6.95, Z:-2.68
[[ 9.99937974e-01  3.61207901e-03  1.05357295e-02  2.54323821e+02]
 [-3.61260463e-03  9.99993474e-01  3.08584584e-05  6.95273923e+00]
 [-1.05355493e-02 -6.89179696e-05  9.99944497e-01 -2.68157799e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.20770263799997
Centerline is valid?  [True, True]
Translation: X:254.38, Y:6.95, Z:-2.68
[[ 9.99917718e-01  7.31819573e-03  1.05357292e-02  2.54383236e+02]
 [-7.31892824e-03  9.99973216e-01  3.09715262e-05  6.95424694e+00]
 [-1.05352203e-02 -1.08079224e-04  9.99944497e-01 -2.68220413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.26770263799997
Centerline is valid?  [True, True]
Translation: X:254.44, Y:6.96, Z:-2.68
[[ 9.99890701e-01  1.03722470e-02  1.05357285e-02  2.54441646e+02]
 [-1.03731513e-02  9.99946197e-01  3.11926301e-05  6.95612622e+00]
 [-1.05348381e-02 -1.40477927e-04  9.99944497e-01 -2.68281978e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.32770263799998
Centerline is valid?  [True, True]
Translation: X:254.50, Y:6.96, Z:-2.68
[[ 9.99866358e-01  1.25006020e-02  1.05357237e-02  2.54500907e+02]
 [-1.25016408e-02  9.99921851e-01  3.27485886e-05  6.95820784e+00]
 [-1.05344910e-02 -1.64458046e-04  9.99944497e-01 -2.68344538e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.38770263799998
Centerline is valid?  [True, True]
Translation: X:254.56, Y:6.96, Z:-2.68
[[ 9.99847832e-01  1.39036511e-02  1.05357226e-02  2.54559250e+02]
 [-1.39047715e-02  9.99903323e-01  3.30913366e-05  6.96009873e+00]
 [-1.05342440e-02 -1.79583117e-04  9.99944497e-01 -2.68406042e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.44770263799998
Centerline is valid?  [True, True]
Translation: X:254.62, Y:6.96, Z:-2.68
[[ 9.99836368e-01  1.47049725e-02  1.05357174e-02  2.54616766e+02]
 [-1.47061540e-02  9.99891858e-01  3.46755939e-05  6.96206483e+00]
 [-1.05340682e-02 -1.89609802e-04  9.99944497e-01 -2.68466766e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.50770263799998
Centerline is valid?  [True, True]
Translation: X:254.67, Y:6.96, Z:-2.69
[[ 9.99839741e-01  1.44738353e-02  1.05357146e-02  2.54674943e+02]
 [-1.44750128e-02  9.99895231e-01  3.55133166e-05  6.96302946e+00]
 [-1.05340968e-02 -1.88012229e-04  9.99944497e-01 -2.68528128e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.567702638
Centerline is valid?  [True, True]
Translation: X:254.73, Y:6.96, Z:-2.69
[[ 9.99856333e-01  1.32782979e-02  1.05357094e-02  2.54733570e+02]
 [-1.32794248e-02  9.99911824e-01  3.70038063e-05  6.96325769e+00]
 [-1.05342890e-02 -1.76906650e-04  9.99944497e-01 -2.68590011e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.627702638
Centerline is valid?  [True, True]
Translation: X:254.79, Y:6.96, Z:-2.69
[[ 9.99904070e-01  8.99167309e-03  1.05357068e-02  2.54792383e+02]
 [-8.99256941e-03  9.99959565e-01  3.77045729e-05  6.96251637e+00]
 [-1.05349418e-02 -1.32444031e-04  9.99944497e-01 -2.68652026e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.687702638
Centerline is valid?  [True, True]
Translation: X:254.85, Y:6.96, Z:-2.69
[[ 9.99912451e-01  8.00554789e-03  1.05357053e-02  2.54851131e+02]
 [-8.00639412e-03  9.99967948e-01  3.81437310e-05  6.96189034e+00]
 [-1.05350622e-02 -1.22493400e-04  9.99944497e-01 -2.68713955e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.747702638
Centerline is valid?  [True, True]
Translation: X:254.91, Y:6.96, Z:-2.69
[[ 9.99940198e-01  2.93241518e-03  1.05357036e-02  2.54911422e+02]
 [-2.93298452e-03  9.99995698e-01  3.85884444e-05  6.96066219e+00]
 [-1.05355451e-02 -6.94871923e-05  9.99944497e-01 -2.68777508e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.807702638
Centerline is valid?  [True, True]
Translation: X:254.97, Y:6.96, Z:-2.69
[[ 9.99942105e-01 -2.18745392e-03  1.05357022e-02  2.54970544e+02]
 [ 2.18716462e-03  9.99997607e-01  3.89811303e-05  6.95899335e+00]
 [-1.05357622e-02 -1.59355585e-05  9.99944497e-01 -2.68839823e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.867702638
Centerline is valid?  [True, True]
Translation: X:255.03, Y:6.96, Z:-2.69
[[ 9.99923650e-01 -6.45701426e-03  1.05357026e-02  2.55032184e+02]
 [ 6.45696313e-03  9.99979153e-01  3.88681199e-05  6.95544941e+00]
 [-1.05357339e-02  2.91634909e-05  9.99944497e-01 -2.68904747e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.92770263799997
Centerline is valid?  [True, True]
Translation: X:255.09, Y:6.95, Z:-2.69
[[ 9.99902885e-01 -9.12242463e-03  1.05357039e-02  2.55092315e+02]
 [ 9.12252509e-03  9.99958388e-01  3.85227951e-05  6.95445560e+00]
 [-1.05356169e-02  5.75931688e-05  9.99944497e-01 -2.68968073e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 252.98770263799997
Centerline is valid?  [True, True]
Translation: X:255.15, Y:6.95, Z:-2.69
[[ 9.99874974e-01 -1.17913394e-02  1.05357043e-02  2.55152673e+02]
 [ 1.17915892e-02  9.99930476e-01  3.84117768e-05  6.95283957e+00]
 [-1.05354247e-02  8.58257219e-05  9.99944497e-01 -2.69031653e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.04770263799998
Centerline is valid?  [True, True]
Translation: X:255.21, Y:6.95, Z:-2.69
[[ 9.99855902e-01 -1.33106873e-02  1.05357043e-02  2.55213464e+02]
 [ 1.33110215e-02  9.99911404e-01  3.84117768e-05  6.95092833e+00]
 [-1.05352821e-02  1.01834744e-04  9.99944497e-01 -2.69095697e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.10770263799998
Centerline is valid?  [True, True]
Translation: X:255.27, Y:6.95, Z:-2.69
[[ 9.99850003e-01 -1.37466461e-02  1.05357047e-02  2.55274785e+02]
 [ 1.37470055e-02  9.99905505e-01  3.83040797e-05  6.94971539e+00]
 [-1.05352356e-02  1.06536056e-04  9.99944497e-01 -2.69160295e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.16770263799998
Centerline is valid?  [True, True]
Translation: X:255.34, Y:6.95, Z:-2.69
[[ 9.99842378e-01 -1.42904541e-02  1.05357099e-02  2.55337146e+02]
 [ 1.42908596e-02  9.99897880e-01  3.67987568e-05  6.94796701e+00]
 [-1.05351599e-02  1.13771395e-04  9.99944497e-01 -2.69225885e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 253.22770263799998
Centerline is valid?  [True, True]
Translation: X:255.40, Y:6.95, Z:-2.69
[[ 9.99801870e-01 -1.68884629e-02  1.05357118e-02  2.55398791e+02]
 [ 1.68890183e-02  9.99857370e-01  3.62540488e-05  6.94610958e+00]
 [-1.05348213e-02  1.41690964e-04  9.99944497e-01 -2.69290789e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.28770263799998
Centerline is valid?  [True, True]
Translation: X:255.46, Y:6.94, Z:-2.69
[[ 9.99710890e-01 -2.16133207e-02  1.05357165e-02  2.55458740e+02]
 [ 2.16141533e-02  9.99766386e-01  3.48386986e-05  6.94482564e+00]
 [-1.05340082e-02  1.92891965e-04  9.99944497e-01 -2.69353847e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.347702638
Centerline is valid?  [True, True]
Translation: X:255.52, Y:6.94, Z:-2.69
[[ 9.99641415e-01 -2.46178751e-02  1.05357182e-02  2.55520953e+02]
 [ 2.46188800e-02  9.99696909e-01  3.43188135e-05  6.94061822e+00]
 [-1.05333697e-02  2.25071074e-04  9.99944497e-01 -2.69419344e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.407702638
Centerline is valid?  [True, True]
Translation: X:255.58, Y:6.94, Z:-2.69
[[ 9.99584027e-01 -2.68471852e-02  1.05357196e-02  2.55583172e+02]
 [ 2.68483185e-02  9.99639518e-01  3.38826948e-05  6.93837477e+00]
 [-1.05328313e-02  2.48997753e-04  9.99944497e-01 -2.69484861e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.467702638
Centerline is valid?  [True, True]
Translation: X:255.64, Y:6.94, Z:-2.70
[[ 9.99472378e-01 -3.07239879e-02  1.05357213e-02  2.55644025e+02]
 [ 3.07253423e-02  9.99527865e-01  3.33246251e-05  6.93536979e+00]
 [-1.05317709e-02  2.90406602e-04  9.99944497e-01 -2.69548929e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.527702638
Centerline is valid?  [True, True]
Translation: X:255.71, Y:6.94, Z:-2.70
[[ 9.99424554e-01 -3.22421981e-02  1.05357224e-02  2.55705768e+02]
 [ 3.22436403e-02  9.99480038e-01  3.29890588e-05  6.93569158e+00]
 [-1.05313078e-02  3.06739967e-04  9.99944497e-01 -2.69613960e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.587702638
Centerline is valid?  [True, True]
Translation: X:255.77, Y:6.93, Z:-2.70
[[ 9.99376774e-01 -3.36906711e-02  1.05357238e-02  2.55765560e+02]
 [ 3.36921984e-02  9.99432256e-01  3.25417321e-05  6.93285806e+00]
 [-1.05308385e-02  3.22450244e-04  9.99944497e-01 -2.69676918e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.647702638
Centerline is valid?  [True, True]
Translation: X:255.83, Y:6.93, Z:-2.70
[[ 9.99384097e-01 -3.34727419e-02  1.05357238e-02  2.55827764e+02]
 [ 3.34742571e-02  9.99439579e-01  3.25417321e-05  6.93250480e+00]
 [-1.05309086e-02  3.20153836e-04  9.99944497e-01 -2.69742456e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.70770263799997
Centerline is valid?  [True, True]
Translation: X:255.89, Y:6.93, Z:-2.70
[[ 9.99342900e-01 -3.46809264e-02  1.05357283e-02  2.55889592e+02]
 [ 3.46825249e-02  9.99398380e-01  3.10111485e-05  6.93225165e+00]
 [-1.05304652e-02  3.34414886e-04  9.99944497e-01 -2.69807491e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.76770263799997
Centerline is valid?  [True, True]
Translation: X:255.95, Y:6.93, Z:-2.70
[[ 9.99349740e-01 -3.44832500e-02  1.05357326e-02  2.55951342e+02]
 [ 3.44848538e-02  9.99405220e-01  2.94527649e-05  6.93197358e+00]
 [-1.05304818e-02  3.33889586e-04  9.99944497e-01 -2.69872443e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.82770263799998
Centerline is valid?  [True, True]
Translation: X:256.01, Y:6.93, Z:-2.70
[[ 9.99434815e-01 -3.19225449e-02  1.05357365e-02  2.56011185e+02]
 [ 3.19240222e-02  9.99490298e-01  2.79743883e-05  6.93082071e+00]
 [-1.05312595e-02  3.08384510e-04  9.99944497e-01 -2.69935388e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.88770263799998
Centerline is valid?  [True, True]
Translation: X:256.07, Y:6.93, Z:-2.70
[[ 9.99574540e-01 -2.71981059e-02  1.05357365e-02  2.56071702e+02]
 [ 2.71993209e-02  9.99630030e-01  2.79743883e-05  6.93317507e+00]
 [-1.05325995e-02  2.58602393e-04  9.99944497e-01 -2.69999158e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 253.94770263799998
Centerline is valid?  [True, True]
Translation: X:256.13, Y:6.93, Z:-2.70
[[ 9.99687462e-01 -2.26710691e-02  1.05357369e-02  2.56132681e+02]
 [ 2.26720343e-02  9.99742956e-01  2.78329719e-05  6.93457476e+00]
 [-1.05336598e-02  2.11042315e-04  9.99944497e-01 -2.70063400e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.00770263799998
Centerline is valid?  [True, True]
Translation: X:256.19, Y:6.94, Z:-2.70
[[ 9.99802131e-01 -1.68729868e-02  1.05357392e-02  2.56194255e+02]
 [ 1.68736395e-02  9.99857630e-01  2.69466688e-05  6.93581725e+00]
 [-1.05346939e-02  1.50834928e-04  9.99944497e-01 -2.70128218e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.067702638
Centerline is valid?  [True, True]
Translation: X:256.25, Y:6.94, Z:-2.70
[[ 9.99813417e-01 -1.61903885e-02  1.05357401e-02  2.56254940e+02]
 [ 1.61910069e-02  9.99868917e-01  2.65971692e-05  6.94033364e+00]
 [-1.05347896e-02  1.43992034e-04  9.99944497e-01 -2.70192145e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.127702638
Centerline is valid?  [True, True]
Translation: X:256.32, Y:6.94, Z:-2.70
[[ 9.99883825e-01 -1.10151684e-02  1.05357406e-02  2.56317218e+02]
 [ 1.10155021e-02  9.99939327e-01  2.63637920e-05  6.93579462e+00]
 [-1.05353918e-02  8.96957436e-05  9.99944497e-01 -2.70257734e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.187702638
Centerline is valid?  [True, True]
Translation: X:256.38, Y:6.94, Z:-2.70
[[ 9.99886149e-01 -1.08021585e-02  1.05357418e-02  2.56378224e+02]
 [ 1.08024852e-02  9.99941651e-01  2.59046946e-05  6.93589374e+00]
 [-1.05354069e-02  8.79104489e-05  9.99944497e-01 -2.70321980e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.247702638
Centerline is valid?  [True, True]
Translation: X:256.44, Y:6.93, Z:-2.70
[[ 9.99886013e-01 -1.08147797e-02  1.05357423e-02  2.56440072e+02]
 [ 1.08151095e-02  9.99941515e-01  2.56784586e-05  6.93488700e+00]
 [-1.05354039e-02  8.82696752e-05  9.99944497e-01 -2.70387126e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.307702638
Centerline is valid?  [True, True]
Translation: X:256.50, Y:6.94, Z:-2.70
[[ 9.99870933e-01 -1.21290894e-02  1.05357434e-02  2.56501607e+02]
 [ 1.21294968e-02  9.99926435e-01  2.52318554e-05  6.93562565e+00]
 [-1.05352744e-02  1.02564667e-04  9.99944497e-01 -2.70451932e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.367702638
Centerline is valid?  [True, True]
Translation: X:256.56, Y:6.94, Z:-2.71
[[ 9.99877943e-01 -1.15367474e-02  1.05357467e-02  2.56562775e+02]
 [ 1.15371370e-02  9.99933445e-01  2.37913056e-05  6.93603333e+00]
 [-1.05353199e-02  9.77639514e-05  9.99944497e-01 -2.70516280e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 254.42770263799997
Centerline is valid?  [True, True]
Translation: X:256.62, Y:6.94, Z:-2.71
[[ 9.99891703e-01 -1.02752057e-02  1.05357476e-02  2.56623477e+02]
 [ 1.02755299e-02  9.99947205e-01  2.33600896e-05  6.93743403e+00]
 [-1.05354314e-02  8.49028297e-05  9.99944497e-01 -2.70580210e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.48770263799997
Centerline is valid?  [True, True]
Translation: X:256.69, Y:6.94, Z:-2.71
[[ 9.99909873e-01 -8.32126879e-03  1.05357482e-02  2.56685044e+02]
 [ 8.32148748e-03  9.99965376e-01  2.30821543e-05  6.93642216e+00]
 [-1.05355755e-02  6.45930229e-05  9.99944497e-01 -2.70645057e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.54770263799998
Centerline is valid?  [True, True]
Translation: X:256.75, Y:6.94, Z:-2.71
[[ 9.99932991e-01 -4.79712040e-03  1.05357491e-02  2.56747238e+02]
 [ 4.79714802e-03  9.99988493e-01  2.26501330e-05  6.93629890e+00]
 [-1.05357366e-02  2.78929329e-05  9.99944497e-01 -2.70710556e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.60770263799998
Centerline is valid?  [True, True]
Translation: X:256.81, Y:6.94, Z:-2.71
[[ 9.99941050e-01 -2.62584034e-03  1.05357501e-02  2.56808417e+02]
 [ 2.62575234e-03  9.99996552e-01  2.21855028e-05  6.93608114e+00]
 [-1.05357721e-02  5.48007557e-06  9.99944497e-01 -2.70774982e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.66770263799998
Centerline is valid?  [True, True]
Translation: X:256.87, Y:6.94, Z:-2.71
[[ 9.99940174e-01  2.94051974e-03  1.05357504e-02  2.56869180e+02]
 [-2.94091548e-03  9.99995675e-01  2.20692916e-05  6.93575708e+00]
 [-1.05356399e-02 -5.30527226e-05  9.99944497e-01 -2.70838996e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.72770263799998
Centerline is valid?  [True, True]
Translation: X:256.93, Y:6.94, Z:-2.71
[[ 9.99899702e-01  9.46492689e-03  1.05357509e-02  2.56927321e+02]
 [-9.46568201e-03  9.99955199e-01  2.18076232e-05  6.93783261e+00]
 [-1.05350725e-02 -1.21533504e-04  9.99944497e-01 -2.70900241e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.78770263799998
Centerline is valid?  [True, True]
Translation: X:256.99, Y:6.94, Z:-2.71
[[ 9.99799253e-01  1.70426294e-02  1.05357497e-02  2.56986723e+02]
 [-1.70438112e-02  9.99854743e-01  2.23801595e-05  6.93945580e+00]
 [-1.05338379e-02 -2.01944995e-04  9.99944497e-01 -2.70962874e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.847702638
Centerline is valid?  [True, True]
Translation: X:257.05, Y:6.94, Z:-2.71
[[ 9.99666685e-01  2.35693991e-02  1.05357492e-02  2.57045728e+02]
 [-2.35709455e-02  9.99722166e-01  2.26087917e-05  6.93865075e+00]
 [-1.05322891e-02 -2.70938826e-04  9.99944497e-01 -2.71025057e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.907702638
Centerline is valid?  [True, True]
Translation: X:257.11, Y:6.94, Z:-2.71
[[ 9.99548465e-01  2.81400720e-02  1.05357492e-02  2.57105725e+02]
 [-2.81418718e-02  9.99603939e-01  2.25929139e-05  6.93836783e+00]
 [-1.05309407e-02 -3.19078417e-04  9.99944497e-01 -2.71088270e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 254.967702638
Centerline is valid?  [True, True]
Translation: X:257.17, Y:6.94, Z:-2.71
[[ 9.99331475e-01  3.50085866e-02  1.05357489e-02  2.57165413e+02]
 [-3.50107690e-02  9.99386935e-01  2.27279976e-05  6.93969939e+00]
 [-1.05284942e-02 -3.91577476e-04  9.99944497e-01 -2.71151172e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.027702638
Centerline is valid?  [True, True]
Translation: X:257.22, Y:6.94, Z:-2.71
[[ 9.99169629e-01  3.93579754e-02  1.05357487e-02  2.57224905e+02]
 [-3.93604004e-02  9.99225079e-01  2.28407652e-05  6.93940924e+00]
 [-1.05266854e-02 -4.37513086e-04  9.99944497e-01 -2.71213862e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.087702638
Centerline is valid?  [True, True]
Translation: X:257.28, Y:6.94, Z:-2.71
[[ 9.99121840e-01  4.05530189e-02  1.05357480e-02  2.57284700e+02]
 [-4.05555138e-02  9.99177286e-01  2.31745884e-05  6.93946970e+00]
 [-1.05261403e-02 -4.50436909e-04  9.99944497e-01 -2.71276888e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.147702638
Centerline is valid?  [True, True]
Translation: X:257.34, Y:6.94, Z:-2.71
[[ 9.99147306e-01  3.99206631e-02  1.05357474e-02  2.57342760e+02]
 [-3.99231254e-02  9.99202754e-01  2.34099751e-05  6.93882706e+00]
 [-1.05264133e-02 -4.44009980e-04  9.99944497e-01 -2.71338077e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.20770263799997
Centerline is valid?  [True, True]
Translation: X:257.40, Y:6.94, Z:-2.71
[[ 9.99194480e-01  3.87219419e-02  1.05357435e-02  2.57401597e+02]
 [-3.87243549e-02  9.99249931e-01  2.50524529e-05  6.93754055e+00]
 [-1.05268709e-02 -4.33022145e-04  9.99944497e-01 -2.71400183e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.26770263799997
Centerline is valid?  [True, True]
Translation: X:257.46, Y:6.94, Z:-2.71
[[ 9.99261437e-01  3.69537361e-02  1.05357393e-02  2.57460715e+02]
 [-3.69560685e-02  9.99316891e-01  2.67175510e-05  6.93520264e+00]
 [-1.05275549e-02 -4.16057322e-04  9.99944497e-01 -2.71462584e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.32770263799998
Centerline is valid?  [True, True]
Translation: X:257.52, Y:6.93, Z:-2.72
[[ 9.99384205e-01  3.34695251e-02  1.05357390e-02  2.57521198e+02]
 [-3.34716654e-02  9.99439666e-01  2.68334445e-05  6.93329267e+00]
 [-1.05289374e-02 -3.79465652e-04  9.99944497e-01 -2.71526313e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.38770263799998
Centerline is valid?  [True, True]
Translation: X:257.58, Y:6.93, Z:-2.72
[[ 9.99518200e-01  2.91953083e-02  1.05357389e-02  2.57580276e+02]
 [-2.91972117e-02  9.99573670e-01  2.68680199e-05  6.93080147e+00]
 [-1.05304628e-02 -3.34469275e-04  9.99944497e-01 -2.71588555e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.44770263799998
Centerline is valid?  [True, True]
Translation: X:257.64, Y:6.93, Z:-2.72
[[ 9.99628709e-01  2.51285188e-02  1.05357383e-02  2.57640920e+02]
 [-2.51301990e-02  9.99684186e-01  2.71026055e-05  6.92753350e+00]
 [-1.05317300e-02 -2.91857743e-04  9.99944497e-01 -2.71652459e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.50770263799998
Centerline is valid?  [True, True]
Translation: X:257.70, Y:6.93, Z:-2.72
[[ 9.99712394e-01  2.15436212e-02  1.05357380e-02  2.57701257e+02]
 [-2.15451037e-02  9.99767877e-01  2.72138102e-05  6.92644512e+00]
 [-1.05327062e-02 -2.54199552e-04  9.99944497e-01 -2.71716037e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.567702638
Centerline is valid?  [True, True]
Translation: X:257.76, Y:6.93, Z:-2.72
[[ 9.99776611e-01  1.83228629e-02  1.05357373e-02  2.57760093e+02]
 [-1.83241695e-02  9.99832098e-01  2.74891996e-05  6.92606130e+00]
 [-1.05334647e-02 -2.20541695e-04  9.99944497e-01 -2.71778047e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 255.627702638
Centerline is valid?  [True, True]
Translation: X:257.82, Y:6.93, Z:-2.72
[[ 9.99833035e-01  1.49298343e-02  1.05357332e-02  2.57820410e+02]
 [-1.49309685e-02  9.99888526e-01  2.89949723e-05  6.92532210e+00]
 [-1.05341258e-02 -1.86298831e-04  9.99944497e-01 -2.71841701e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.687702638
Centerline is valid?  [True, True]
Translation: X:257.88, Y:6.92, Z:-2.72
[[ 9.99859565e-01  1.30325935e-02  1.05357329e-02  2.57880719e+02]
 [-1.30336236e-02  9.99915058e-01  2.91122147e-05  6.92491912e+00]
 [-1.05344585e-02 -1.66426902e-04  9.99944497e-01 -2.71905252e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.747702638
Centerline is valid?  [True, True]
Translation: X:257.94, Y:6.92, Z:-2.72
[[ 9.99889119e-01  1.05236468e-02  1.05357325e-02  2.57938064e+02]
 [-1.05245389e-02  9.99944615e-01  2.92316202e-05  6.92491119e+00]
 [-1.05348414e-02 -1.40112105e-04  9.99944497e-01 -2.71965680e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.807702638
Centerline is valid?  [True, True]
Translation: X:258.00, Y:6.92, Z:-2.72
[[ 9.99918480e-01  7.21332734e-03  1.05357301e-02  2.57996503e+02]
 [-7.21404470e-03  9.99973978e-01  3.00861213e-05  6.92439867e+00]
 [-1.05352389e-02 -1.06088897e-04  9.99944497e-01 -2.72027311e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.867702638
Centerline is valid?  [True, True]
Translation: X:258.06, Y:6.93, Z:-2.72
[[ 9.99941905e-01  2.27708288e-03  1.05357288e-02  2.58055628e+02]
 [-2.27753100e-03  9.99997406e-01  3.05353198e-05  6.92558156e+00]
 [-1.05356319e-02 -5.45289947e-05  9.99944497e-01 -2.72089642e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.92770263799997
Centerline is valid?  [True, True]
Translation: X:258.12, Y:6.92, Z:-2.72
[[ 9.99942817e-01 -1.83311351e-03  1.05357274e-02  2.58116077e+02]
 [ 1.83288847e-03  9.99998320e-01  3.10148554e-05  6.92389994e+00]
 [-1.05357665e-02 -1.17022687e-05  9.99944497e-01 -2.72153361e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 255.98770263799997
Centerline is valid?  [True, True]
Translation: X:258.18, Y:6.92, Z:-2.72
[[ 9.99912575e-01 -7.99009994e-03  1.05357270e-02  2.58177770e+02]
 [ 7.99021521e-03  9.99968077e-01  3.11528436e-05  6.92480214e+00]
 [-1.05356395e-02  5.30326058e-05  9.99944497e-01 -2.72218375e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.047702638
Centerline is valid?  [True, True]
Translation: X:258.24, Y:6.92, Z:-2.72
[[ 9.99854811e-01 -1.33923771e-02  1.05357313e-02  2.58238805e+02]
 [ 1.33928085e-02  9.99910312e-01  2.96062841e-05  6.92324543e+00]
 [-1.05351829e-02  1.11501047e-04  9.99944497e-01 -2.72282571e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.107702638
Centerline is valid?  [True, True]
Translation: X:258.30, Y:6.92, Z:-2.72
[[ 9.99766958e-01 -1.88422104e-02  1.05357321e-02  2.58299068e+02]
 [ 1.88429472e-02  9.99822455e-01  2.93356791e-05  6.92214053e+00]
 [-1.05344142e-02  1.69195401e-04  9.99944497e-01 -2.72346045e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.167702638
Centerline is valid?  [True, True]
Translation: X:258.36, Y:6.92, Z:-2.72
[[ 9.99677090e-01 -2.31238879e-02  1.05357327e-02  2.58361790e+02]
 [ 2.31248649e-02  9.99732584e-01  2.91028663e-05  6.92225305e+00]
 [-1.05335883e-02  2.14543926e-04  9.99944497e-01 -2.72412114e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.227702638
Centerline is valid?  [True, True]
Translation: X:258.42, Y:6.92, Z:-2.72
[[ 9.99676211e-01 -2.31618659e-02  1.05357370e-02  2.58424143e+02]
 [ 2.31628622e-02  9.99731705e-01  2.74665587e-05  6.92153488e+00]
 [-1.05335465e-02  2.16580158e-04  9.99944497e-01 -2.72477697e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.287702638
Centerline is valid?  [True, True]
Translation: X:258.49, Y:6.92, Z:-2.73
[[ 9.99726470e-01 -2.08802130e-02  1.05357409e-02  2.58485793e+02]
 [ 2.08810995e-02  9.99781966e-01  2.58624276e-05  6.92042891e+00]
 [-1.05339838e-02  1.94142501e-04  9.99944497e-01 -2.72542541e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.347702638
Centerline is valid?  [True, True]
Translation: X:258.55, Y:6.92, Z:-2.73
[[ 9.99770167e-01 -1.86711377e-02  1.05357446e-02  2.58546179e+02]
 [ 1.86719187e-02  9.99825664e-01  2.42391912e-05  6.92395847e+00]
 [-1.05343605e-02  1.72488947e-04  9.99944497e-01 -2.72606062e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.407702638
Centerline is valid?  [True, True]
Translation: X:258.61, Y:6.92, Z:-2.73
[[ 9.99843771e-01 -1.41926402e-02  1.05357446e-02  2.58609307e+02]
 [ 1.41931726e-02  9.99899272e-01  2.42391912e-05  6.92485294e+00]
 [-1.05350274e-02  1.25300238e-04  9.99944497e-01 -2.72672578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.467702638
Centerline is valid?  [True, True]
Translation: X:258.67, Y:6.93, Z:-2.73
[[ 9.99893861e-01 -1.00629945e-02  1.05357462e-02  2.58670245e+02]
 [ 1.00633052e-02  9.99949363e-01  2.35293758e-05  6.92674334e+00]
 [-1.05354495e-02  8.24975513e-05  9.99944497e-01 -2.72736739e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.527702638
Centerline is valid?  [True, True]
Translation: X:258.73, Y:6.93, Z:-2.73
[[ 9.99943652e-01 -1.30010992e-03  1.05357467e-02  2.58732967e+02]
 [ 1.29993661e-03  9.99999155e-01  2.32974131e-05  6.92781567e+00]
 [-1.05357681e-02 -9.60029740e-06  9.99944497e-01 -2.72802812e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.587702638
Centerline is valid?  [True, True]
Translation: X:258.79, Y:6.93, Z:-2.73
[[ 9.99940596e-01  2.79337078e-03  1.05357483e-02  2.58794350e+02]
 [-2.79376387e-03  9.99996097e-01  2.25922583e-05  6.93232969e+00]
 [-1.05356440e-02 -5.20253090e-05  9.99944497e-01 -2.72867448e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.647702638
Centerline is valid?  [True, True]
Translation: X:258.85, Y:6.94, Z:-2.73
[[ 9.99920471e-01  6.93181445e-03  1.05357488e-02  2.58853956e+02]
 [-6.93243473e-03  9.99975970e-01  2.23543480e-05  6.93520076e+00]
 [-1.05353406e-02 -9.53909608e-05  9.99944497e-01 -2.72930242e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.707702638
Centerline is valid?  [True, True]
Translation: X:258.91, Y:6.94, Z:-2.73
[[ 9.99905038e-01  8.88332257e-03  1.05357485e-02  2.58912722e+02]
 [-8.88405240e-03  9.99960536e-01  2.24710943e-05  6.93689108e+00]
 [-1.05351331e-02 -1.16069102e-04  9.99944497e-01 -2.72992171e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.767702638
Centerline is valid?  [True, True]
Translation: X:258.97, Y:6.94, Z:-2.73
[[ 9.99903601e-01  9.04359943e-03  1.05357447e-02  2.58971249e+02]
 [-9.04435552e-03  9.99959099e-01  2.41193709e-05  6.94324163e+00]
 [-1.05350957e-02 -1.19406067e-04  9.99944497e-01 -2.73053968e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 256.827702638
Centerline is valid?  [True, True]
Translation: X:259.03, Y:6.95, Z:-2.73
[[ 9.99867321e-01  1.24233069e-02  1.05357436e-02  2.59031944e+02]
 [-1.24242555e-02  9.99922816e-01  2.45896313e-05  6.94618121e+00]
 [-1.05346250e-02 -1.55485139e-04  9.99944497e-01 -2.73117959e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.887702638
Centerline is valid?  [True, True]
Translation: X:259.09, Y:6.95, Z:-2.73
[[ 9.99838427e-01  1.45642747e-02  1.05357436e-02  2.59092019e+02]
 [-1.45653422e-02  9.99893919e-01  2.45973474e-05  6.94620186e+00]
 [-1.05342677e-02 -1.78050085e-04  9.99944497e-01 -2.73181256e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 256.947702638
Centerline is valid?  [True, True]
Translation: X:259.15, Y:6.95, Z:-2.73
[[ 9.99770679e-01  1.86436738e-02  1.05357434e-02  2.59151769e+02]
 [-1.86449689e-02  9.99826167e-01  2.47103625e-05  6.95025542e+00]
 [-1.05334512e-02 -2.21143304e-04  9.99944497e-01 -2.73244229e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.007702638
Centerline is valid?  [True, True]
Translation: X:259.21, Y:6.95, Z:-2.73
[[ 9.99743748e-01  2.00358975e-02  1.05357428e-02  2.59209050e+02]
 [-2.00372723e-02  9.99799233e-01  2.49370437e-05  6.95127130e+00]
 [-1.05331280e-02 -2.36038201e-04  9.99944497e-01 -2.73304601e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.06770263799996
Centerline is valid?  [True, True]
Translation: X:259.27, Y:6.95, Z:-2.73
[[ 9.99645258e-01  2.44613412e-02  1.05357412e-02  2.59268233e+02]
 [-2.44629687e-02  9.99700736e-01  2.56138189e-05  6.95191303e+00]
 [-1.05319617e-02 -2.83340239e-04  9.99944497e-01 -2.73367009e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.12770263799996
Centerline is valid?  [True, True]
Translation: X:259.33, Y:6.95, Z:-2.73
[[ 9.99623041e-01  2.53530078e-02  1.05357409e-02  2.59326762e+02]
 [-2.53546860e-02  9.99678518e-01  2.57261218e-05  6.95260710e+00]
 [-1.05317016e-02 -2.92846826e-04  9.99944497e-01 -2.73428686e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.18770263799996
Centerline is valid?  [True, True]
Translation: X:259.39, Y:6.95, Z:-2.73
[[ 9.99532533e-01  2.87004211e-02  1.05357367e-02  2.59386743e+02]
 [-2.87023022e-02  9.99588004e-01  2.73517324e-05  6.95188314e+00]
 [-1.05306110e-02 -3.29738845e-04  9.99944497e-01 -2.73491998e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.24770263799996
Centerline is valid?  [True, True]
Translation: X:259.45, Y:6.95, Z:-2.74
[[ 9.99398319e-01  3.30453897e-02  1.05357366e-02  2.59446565e+02]
 [-3.30475123e-02  9.99453781e-01  2.73820501e-05  6.94697567e+00]
 [-1.05290769e-02 -3.75545459e-04  9.99944497e-01 -2.73555018e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.30770263799997
Centerline is valid?  [True, True]
Translation: X:259.51, Y:6.95, Z:-2.74
[[ 9.99470787e-01  3.07757197e-02  1.05357347e-02  2.59505284e+02]
 [-3.07777236e-02  9.99526253e-01  2.80775680e-05  6.94660349e+00]
 [-1.05298794e-02 -3.52328641e-04  9.99944497e-01 -2.73616934e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.36770263799997
Centerline is valid?  [True, True]
Translation: X:259.57, Y:6.94, Z:-2.74
[[ 9.99543398e-01  2.83194881e-02  1.05357300e-02  2.59565466e+02]
 [-2.83213733e-02  9.99598869e-01  2.97527776e-05  6.94311465e+00]
 [-1.05306612e-02 -3.28125535e-04  9.99944497e-01 -2.73680453e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.42770263799997
Centerline is valid?  [True, True]
Translation: X:259.62, Y:6.94, Z:-2.74
[[ 9.99592186e-01  2.65416741e-02  1.05357300e-02  2.59624407e+02]
 [-2.65434607e-02  9.99647660e-01  2.97527776e-05  6.93866694e+00]
 [-1.05312282e-02 -3.09395380e-04  9.99944497e-01 -2.73742542e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.487702638
Centerline is valid?  [True, True]
Translation: X:259.68, Y:6.94, Z:-2.74
[[ 9.99766649e-01  1.88585604e-02  1.05357252e-02  2.59684553e+02]
 [-1.88599378e-02  9.99822135e-01  3.13827311e-05  6.94092815e+00]
 [-1.05332594e-02 -2.30078529e-04  9.99944497e-01 -2.73806035e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.547702638
Centerline is valid?  [True, True]
Translation: X:259.74, Y:6.94, Z:-2.74
[[ 9.99832835e-01  1.49432689e-02  1.05357244e-02  2.59744826e+02]
 [-1.49444318e-02  9.99888325e-01  3.16510105e-05  6.93626795e+00]
 [-1.05340748e-02 -1.89096133e-04  9.99944497e-01 -2.73869545e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.607702638
Centerline is valid?  [True, True]
Translation: X:259.80, Y:6.93, Z:-2.74
[[ 9.99899596e-01  9.47606074e-03  1.05357246e-02  2.59803770e+02]
 [-9.47691918e-03  9.99955093e-01  3.15556795e-05  6.93257969e+00]
 [-1.05349525e-02 -1.31398722e-04  9.99944497e-01 -2.73931632e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.667702638
Centerline is valid?  [True, True]
Translation: X:259.86, Y:6.93, Z:-2.74
[[ 9.99922190e-01  6.67928008e-03  1.05357232e-02  2.59862685e+02]
 [-6.67998824e-03  9.99977688e-01  3.20257856e-05  6.93197119e+00]
 [-1.05352742e-02 -1.02401801e-04  9.99944497e-01 -2.73993737e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.727702638
Centerline is valid?  [True, True]
Translation: X:259.92, Y:6.93, Z:-2.74
[[ 9.99938843e-01  3.36272907e-03  1.05357222e-02  2.59921878e+02]
 [-3.36325674e-03  9.99994344e-01  3.23671044e-05  6.92968672e+00]
 [-1.05355537e-02 -6.77994636e-05  9.99944497e-01 -2.74056121e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.787702638
Centerline is valid?  [True, True]
Translation: X:259.98, Y:6.93, Z:-2.74
[[ 9.99941138e-01  2.59214499e-03  1.05357215e-02  2.59980123e+02]
 [-2.59263229e-03  9.99996639e-01  3.25946626e-05  6.92634751e+00]
 [-1.05356016e-02 -5.99079956e-05  9.99944497e-01 -2.74117495e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.847702638
Centerline is valid?  [True, True]
Translation: X:260.04, Y:6.92, Z:-2.74
[[ 9.99944370e-01 -5.05259190e-04  1.05357204e-02  2.60039387e+02]
 [ 5.04940289e-04  9.99999872e-01  3.29285788e-05  6.92120912e+00]
 [-1.05357357e-02 -2.76068373e-05  9.99944497e-01 -2.74179943e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.907702638
Centerline is valid?  [True, True]
Translation: X:260.10, Y:6.92, Z:-2.74
[[ 9.99937764e-01 -3.66978752e-03  1.05357193e-02  2.60099799e+02]
 [ 3.66964062e-03  9.99993266e-01  3.32745525e-05  6.92055911e+00]
 [-1.05357705e-02  5.38982205e-06  9.99944497e-01 -2.74243616e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 257.967702638
Centerline is valid?  [True, True]
Translation: X:260.16, Y:6.92, Z:-2.74
[[ 9.99932274e-01 -4.94431155e-03  1.05357193e-02  2.60161676e+02]
 [ 4.94423539e-03  9.99987777e-01  3.32745525e-05  6.91743886e+00]
 [-1.05357551e-02  1.88187775e-05  9.99944497e-01 -2.74308801e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 258.027702638
Centerline is valid?  [True, True]
Translation: X:260.22, Y:6.91, Z:-2.74
[[ 9.99931573e-01 -5.08404364e-03  1.05357211e-02  2.60222666e+02]
 [ 5.08398134e-03  9.99987076e-01  3.26958760e-05  6.91206968e+00]
 [-1.05357512e-02  2.08697709e-05  9.99944497e-01 -2.74373006e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.087702638
Centerline is valid?  [True, True]
Translation: X:260.28, Y:6.91, Z:-2.74
[[ 9.99908437e-01 -8.49211801e-03  1.05357259e-02  2.60284822e+02]
 [ 8.49226204e-03  9.99963940e-01  3.10678486e-05  6.90778972e+00]
 [-1.05356098e-02  5.84071413e-05  9.99944497e-01 -2.74438372e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.147702638
Centerline is valid?  [True, True]
Translation: X:260.34, Y:6.90, Z:-2.75
[[ 9.99898426e-01 -9.59873397e-03  1.05357304e-02  2.60344988e+02]
 [ 9.59895650e-03  9.99953929e-01  2.94473392e-05  6.90111642e+00]
 [-1.05355277e-02  7.16876701e-05  9.99944497e-01 -2.74501636e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.207702638
Centerline is valid?  [True, True]
Translation: X:260.41, Y:6.89, Z:-2.75
[[ 9.99879566e-01 -1.13952441e-02  1.05357308e-02  2.60406198e+02]
 [ 1.13955675e-02  9.99935068e-01  2.93321489e-05  6.89483636e+00]
 [-1.05353809e-02  9.07320153e-05  9.99944497e-01 -2.74566103e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.267702638
Centerline is valid?  [True, True]
Translation: X:260.47, Y:6.89, Z:-2.75
[[ 9.99822759e-01 -1.56028373e-02  1.05357311e-02  2.60468628e+02]
 [ 1.56033955e-02  9.99878259e-01  2.92190291e-05  6.88655523e+00]
 [-1.05349044e-02  1.35179329e-04  9.99944497e-01 -2.74631850e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.327702638
Centerline is valid?  [True, True]
Translation: X:260.53, Y:6.88, Z:-2.75
[[ 9.99854233e-01 -1.34354380e-02  1.05357356e-02  2.60528913e+02]
 [ 1.34358943e-02  9.99909734e-01  2.74724480e-05  6.87734928e+00]
 [-1.05351537e-02  1.14088587e-04  9.99944497e-01 -2.74695230e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.387702638
Centerline is valid?  [True, True]
Translation: X:260.59, Y:6.88, Z:-2.75
[[ 9.99826864e-01 -1.53375587e-02  1.05357365e-02  2.60591343e+02]
 [ 1.53381241e-02  9.99882364e-01  2.71348605e-05  6.87724542e+00]
 [-1.05349133e-02  1.34468272e-04  9.99944497e-01 -2.74760987e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.447702638
Centerline is valid?  [True, True]
Translation: X:260.65, Y:6.87, Z:-2.75
[[ 9.99860617e-01 -1.29516685e-02  1.05357406e-02  2.60651391e+02]
 [ 1.29521193e-02  9.99916117e-01  2.54428654e-05  6.87111742e+00]
 [-1.05351864e-02  1.11020850e-04  9.99944497e-01 -2.74824131e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.507702638
Centerline is valid?  [True, True]
Translation: X:260.71, Y:6.86, Z:-2.75
[[ 9.99883936e-01 -1.10050993e-02  1.05357406e-02  2.60712899e+02]
 [ 1.10054421e-02  9.99939438e-01  2.54428654e-05  6.86398630e+00]
 [-1.05353825e-02  9.05105709e-05  9.99944497e-01 -2.74888919e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.56770263799996
Centerline is valid?  [True, True]
Translation: X:260.78, Y:6.86, Z:-2.75
[[ 9.99896333e-01 -9.81436983e-03  1.05357415e-02  2.60775564e+02]
 [ 9.81465044e-03  9.99951835e-01  2.50712179e-05  6.86223390e+00]
 [-1.05354801e-02  7.83360008e-05  9.99944497e-01 -2.74954918e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.62770263799996
Centerline is valid?  [True, True]
Translation: X:260.84, Y:6.86, Z:-2.75
[[ 9.99907435e-01 -8.60922565e-03  1.05357435e-02  2.60837644e+02]
 [ 8.60944844e-03  9.99962938e-01  2.42091420e-05  6.85536059e+00]
 [-1.05355614e-02  6.65000390e-05  9.99944497e-01 -2.75020257e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.68770263799996
Centerline is valid?  [True, True]
Translation: X:260.90, Y:6.85, Z:-2.75
[[ 9.99910227e-01 -8.27866251e-03  1.05357446e-02  2.60899073e+02]
 [ 8.27887211e-03  9.99965729e-01  2.37194810e-05  6.85029055e+00]
 [-1.05355799e-02  6.35067302e-05  9.99944497e-01 -2.75084939e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.74770263799996
Centerline is valid?  [True, True]
Translation: X:260.96, Y:6.85, Z:-2.75
[[ 9.99913706e-01 -7.84721936e-03  1.05357454e-02  2.60960549e+02]
 [ 7.84740894e-03  9.99969208e-01  2.33465474e-05  6.84558563e+00]
 [-1.05356042e-02  5.93337698e-05  9.99944497e-01 -2.75149678e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.80770263799997
Centerline is valid?  [True, True]
Translation: X:261.02, Y:6.84, Z:-2.75
[[ 9.99939324e-01 -3.21652905e-03  1.05357462e-02  2.61022602e+02]
 [ 3.21646553e-03  9.99994827e-01  2.29734231e-05  6.83957347e+00]
 [-1.05357656e-02  1.09158354e-05  9.99944497e-01 -2.75215023e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.86770263799997
Centerline is valid?  [True, True]
Translation: X:261.08, Y:6.84, Z:-2.75
[[ 9.99937999e-01 -3.60505398e-03  1.05357472e-02  2.61084043e+02]
 [ 3.60501707e-03  9.99993502e-01  2.24945522e-05  6.84021803e+00]
 [-1.05357599e-02  1.54883911e-05  9.99944497e-01 -2.75279732e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.92770263799997
Centerline is valid?  [True, True]
Translation: X:261.15, Y:6.84, Z:-2.75
[[ 9.99943891e-01 -1.10154382e-03  1.05357483e-02  2.61145111e+02]
 [ 1.10137314e-03  9.99999393e-01  2.20017195e-05  6.83895031e+00]
 [-1.05357661e-02 -1.03966948e-05  9.99944497e-01 -2.75344043e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 258.987702638
Centerline is valid?  [True, True]
Translation: X:261.21, Y:6.84, Z:-2.75
[[ 9.99942121e-01  2.17992735e-03  1.05357488e-02  2.61205221e+02]
 [-2.18027739e-03  9.99997623e-01  2.17381938e-05  6.83973165e+00]
 [-1.05356764e-02 -4.47077905e-05  9.99944497e-01 -2.75407362e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.047702638
Centerline is valid?  [True, True]
Translation: X:261.26, Y:6.84, Z:-2.75
[[ 9.99925773e-01  6.11937670e-03  1.05357488e-02  2.61263751e+02]
 [-6.11994540e-03  9.99981273e-01  2.17381938e-05  6.83761324e+00]
 [-1.05354185e-02 -8.62147876e-05  9.99944497e-01 -2.75469027e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.107702638
Centerline is valid?  [True, True]
Translation: X:261.32, Y:6.84, Z:-2.76
[[ 9.99912632e-01  7.98289654e-03  1.05357452e-02  2.61322894e+02]
 [-7.98358568e-03  9.99968130e-01  2.33532088e-05  6.83722640e+00]
 [-1.05352230e-02 -1.07464193e-04  9.99944497e-01 -2.75531438e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.167702638
Centerline is valid?  [True, True]
Translation: X:261.38, Y:6.83, Z:-2.76
[[ 9.99887741e-01  1.06537860e-02  1.05357444e-02  2.61382036e+02]
 [-1.06546273e-02  9.99943238e-01  2.37239602e-05  6.83423221e+00]
 [-1.05348936e-02 -1.35975726e-04  9.99944497e-01 -2.75593767e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 259.227702638
Centerline is valid?  [True, True]
Translation: X:261.44, Y:6.83, Z:-2.76
[[ 9.99874455e-01  1.18351981e-02  1.05357402e-02  2.61441145e+02]
 [-1.18361231e-02  9.99929950e-01  2.54452208e-05  6.83289789e+00]
 [-1.05347010e-02 -1.50144344e-04  9.99944497e-01 -2.75656144e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.287702638
Centerline is valid?  [True, True]
Translation: X:261.50, Y:6.83, Z:-2.76
[[ 9.99870376e-01  1.21749121e-02  1.05357359e-02  2.61500281e+02]
 [-1.21758735e-02  9.99925871e-01  2.71112615e-05  6.83275519e+00]
 [-1.05346249e-02 -1.55389535e-04  9.99944497e-01 -2.75718551e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.347702638
Centerline is valid?  [True, True]
Translation: X:261.56, Y:6.83, Z:-2.76
[[ 9.99856822e-01  1.32413355e-02  1.05357309e-02  2.61557749e+02]
 [-1.32423753e-02  9.99912315e-01  2.89398424e-05  6.83189087e+00]
 [-1.05344239e-02 -1.68453802e-04  9.99944497e-01 -2.75779207e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.407702638
Centerline is valid?  [True, True]
Translation: X:261.62, Y:6.83, Z:-2.76
[[ 9.99862196e-01  1.28291668e-02  1.05357254e-02  2.61617527e+02]
 [-1.28302036e-02  9.99917689e-01  3.08195467e-05  6.83018054e+00]
 [-1.05344628e-02 -1.65990802e-04  9.99944497e-01 -2.75842297e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.467702638
Centerline is valid?  [True, True]
Translation: X:261.68, Y:6.83, Z:-2.76
[[ 9.99859844e-01  1.30112200e-02  1.05357247e-02  2.61676631e+02]
 [-1.30122695e-02  9.99915336e-01  3.10727162e-05  6.82677333e+00]
 [-1.05344284e-02 -1.68162050e-04  9.99944497e-01 -2.75904574e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.527702638
Centerline is valid?  [True, True]
Translation: X:261.74, Y:6.83, Z:-2.76
[[ 9.99871184e-01  1.21083941e-02  1.05357231e-02  2.61736708e+02]
 [-1.21093990e-02  9.99926678e-01  3.15899901e-05  6.82569104e+00]
 [-1.05345681e-02 -1.59167196e-04  9.99944497e-01 -2.75967900e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.587702638
Centerline is valid?  [True, True]
Translation: X:261.80, Y:6.82, Z:-2.76
[[ 9.99872324e-01  1.20139299e-02  1.05357221e-02  2.61796747e+02]
 [-1.20149332e-02  9.99927818e-01  3.19378584e-05  6.82440830e+00]
 [-1.05345779e-02 -1.58519777e-04  9.99944497e-01 -2.76031175e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.647702638
Centerline is valid?  [True, True]
Translation: X:261.86, Y:6.82, Z:-2.76
[[ 9.99873542e-01  1.19121438e-02  1.05357221e-02  2.61855663e+02]
 [-1.19131415e-02  9.99929036e-01  3.19378584e-05  6.82444630e+00]
 [-1.05345940e-02 -1.57447367e-04  9.99944497e-01 -2.76093251e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.707702638
Centerline is valid?  [True, True]
Translation: X:261.91, Y:6.82, Z:-2.76
[[ 9.99888762e-01  1.05575239e-02  1.05357205e-02  2.61914039e+02]
 [-1.05584517e-02  9.99944257e-01  3.24364648e-05  6.82399738e+00]
 [-1.05347908e-02 -1.43673753e-04  9.99944497e-01 -2.76154785e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.767702638
Centerline is valid?  [True, True]
Translation: X:261.97, Y:6.82, Z:-2.76
[[ 9.99916675e-01  7.45939190e-03  1.05357190e-02  2.61973226e+02]
 [-7.46015297e-03  9.99972172e-01  3.29383532e-05  6.82400331e+00]
 [-1.05351801e-02 -1.11533684e-04  9.99944497e-01 -2.76217175e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.827702638
Centerline is valid?  [True, True]
Translation: X:262.03, Y:6.82, Z:-2.76
[[ 9.99937118e-01  3.84162719e-03  1.05357174e-02  2.62032510e+02]
 [-3.84219267e-03  9.99992618e-01  3.34316095e-05  6.82353982e+00]
 [-1.05355112e-02 -7.39097633e-05  9.99944497e-01 -2.76279666e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.887702638
Centerline is valid?  [True, True]
Translation: X:262.09, Y:6.82, Z:-2.76
[[ 9.99944177e-01 -8.01565192e-04  1.05357162e-02  2.62092316e+02]
 [ 8.01253547e-04  9.99999678e-01  3.38008352e-05  6.82443175e+00]
 [-1.05357399e-02 -2.53571683e-05  9.99944497e-01 -2.76342704e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 259.947702638
Centerline is valid?  [True, True]
Translation: X:262.15, Y:6.82, Z:-2.76
[[ 9.99933981e-01 -4.58618533e-03  1.05357154e-02  2.62152767e+02]
 [ 4.58608112e-03  9.99989483e-01  3.40511761e-05  6.82418417e+00]
 [-1.05357608e-02  1.42687174e-05  9.99944497e-01 -2.76406412e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.007702638
Centerline is valid?  [True, True]
Translation: X:262.22, Y:6.82, Z:-2.76
[[ 9.99903011e-01 -9.10859542e-03  1.05357158e-02  2.62215435e+02]
 [ 9.10874352e-03  9.99958514e-01  3.39289602e-05  6.82352609e+00]
 [-1.05355878e-02  6.20414635e-05  9.99944497e-01 -2.76472431e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.06770263799996
Centerline is valid?  [True, True]
Translation: X:262.28, Y:6.82, Z:-2.77
[[ 9.99871625e-01 -1.20719479e-02  1.05357177e-02  2.62277205e+02]
 [ 1.20722669e-02  9.99927127e-01  3.33158083e-05  6.82344153e+00]
 [-1.05353521e-02  9.38784652e-05  9.99944497e-01 -2.76537478e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.12770263799996
Centerline is valid?  [True, True]
Translation: X:262.34, Y:6.82, Z:-2.77
[[ 9.99861106e-01 -1.29138269e-02  1.05357228e-02  2.62339759e+02]
 [ 1.29142106e-02  9.99916608e-01  3.16220855e-05  6.81557033e+00]
 [-1.05352526e-02  1.04442850e-04  9.99944497e-01 -2.76603263e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.18770263799996
Centerline is valid?  [True, True]
Translation: X:262.40, Y:6.82, Z:-2.77
[[ 9.99813982e-01 -1.61554854e-02  1.05357247e-02  2.62402246e+02]
 [ 1.61560555e-02  9.99869482e-01  3.09986128e-05  6.81715013e+00]
 [-1.05348503e-02  1.39222906e-04  9.99944497e-01 -2.76669070e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.24770263799996
Centerline is valid?  [True, True]
Translation: X:262.46, Y:6.81, Z:-2.77
[[ 9.99854158e-01 -1.34410414e-02  1.05357261e-02  2.62463132e+02]
 [ 1.34414662e-02  9.99909659e-01  3.04990261e-05  6.81451949e+00]
 [-1.05351842e-02  1.11121028e-04  9.99944497e-01 -2.76733186e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.30770263799997
Centerline is valid?  [True, True]
Translation: X:262.52, Y:6.82, Z:-2.77
[[ 9.99744728e-01 -1.99869483e-02  1.05357275e-02  2.62524060e+02]
 [ 1.99877417e-02  9.99800225e-01  2.99988470e-05  6.82058606e+00]
 [-1.05342223e-02  1.80594211e-04  9.99944497e-01 -2.76797370e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.36770263799997
Centerline is valid?  [True, True]
Translation: X:262.59, Y:6.82, Z:-2.77
[[ 9.99734044e-01 -2.05143996e-02  1.05357279e-02  2.62585116e+02]
 [ 2.05152235e-02  9.99789540e-01  2.98709789e-05  6.82177585e+00]
 [-1.05341233e-02  1.86279778e-04  9.99944497e-01 -2.76861697e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 260.42770263799997
Centerline is valid?  [True, True]
Translation: X:262.65, Y:6.82, Z:-2.77
[[ 9.99763317e-01 -1.90344124e-02  1.05357292e-02  2.62647804e+02]
 [ 1.90351593e-02  9.99818815e-01  2.93952536e-05  6.81998142e+00]
 [-1.05343798e-02  1.71160987e-04  9.99944497e-01 -2.76927715e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.487702638
Centerline is valid?  [True, True]
Translation: X:262.71, Y:6.82, Z:-2.77
[[ 9.99726758e-01 -2.08664477e-02  1.05357321e-02  2.62710334e+02]
 [ 2.08673074e-02  9.99782254e-01  2.83357642e-05  6.81590634e+00]
 [-1.05340292e-02  1.91524338e-04  9.99944497e-01 -2.76993525e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.547702638
Centerline is valid?  [True, True]
Translation: X:262.77, Y:6.81, Z:-2.77
[[ 9.99699224e-01 -2.21463243e-02  1.05357365e-02  2.62772624e+02]
 [ 2.21472735e-02  9.99754719e-01  2.65870687e-05  6.81169163e+00]
 [-1.05337411e-02  2.06758765e-04  9.99944497e-01 -2.77059046e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.607702638
Centerline is valid?  [True, True]
Translation: X:262.83, Y:6.81, Z:-2.77
[[ 9.99607763e-01 -2.59483607e-02  1.05357406e-02  2.62832579e+02]
 [ 2.59495393e-02  9.99663254e-01  2.48407488e-05  6.81015440e+00]
 [-1.05328373e-02  2.48566609e-04  9.99944497e-01 -2.77122113e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.667702638
Centerline is valid?  [True, True]
Translation: X:262.89, Y:6.80, Z:-2.77
[[ 9.99650557e-01 -2.42438003e-02  1.05357420e-02  2.62894871e+02]
 [ 2.42448906e-02  9.99706049e-01  2.42475887e-05  6.80245575e+00]
 [-1.05332328e-02  2.31198795e-04  9.99944497e-01 -2.77187693e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.727702638
Centerline is valid?  [True, True]
Translation: X:262.96, Y:6.80, Z:-2.77
[[ 9.99596722e-01 -2.63702600e-02  1.05357433e-02  2.62955076e+02]
 [ 2.63714748e-02  9.99652212e-01  2.36335530e-05  6.79887982e+00]
 [-1.05327023e-02  2.54219068e-04  9.99944497e-01 -2.77251085e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.787702638
Centerline is valid?  [True, True]
Translation: X:263.02, Y:6.80, Z:-2.77
[[ 9.99553587e-01 -2.79575568e-02  1.05357436e-02  2.63017407e+02]
 [ 2.79588609e-02  9.99609074e-01  2.35108816e-05  6.79631183e+00]
 [-1.05322822e-02  2.71067004e-04  9.99944497e-01 -2.77316746e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.847702638
Centerline is valid?  [True, True]
Translation: X:263.08, Y:6.79, Z:-2.77
[[ 9.99593724e-01 -2.64836888e-02  1.05357471e-02  2.63078470e+02]
 [ 2.64849289e-02  9.99649213e-01  2.18245516e-05  6.78555672e+00]
 [-1.05326293e-02  2.57222828e-04  9.99944497e-01 -2.77380967e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.907702638
Centerline is valid?  [True, True]
Translation: X:263.14, Y:6.78, Z:-2.77
[[ 9.99505996e-01 -2.96101537e-02  1.05357476e-02  2.63139222e+02]
 [ 2.96115699e-02  9.99561481e-01  2.15831561e-05  6.78161645e+00]
 [-1.05317666e-02  2.90407532e-04  9.99944497e-01 -2.77444956e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 260.967702638
Centerline is valid?  [True, True]
Translation: X:263.20, Y:6.78, Z:-2.78
[[ 9.99517269e-01 -2.92271785e-02  1.05357476e-02  2.63200129e+02]
 [ 2.92285737e-02  9.99572754e-01  2.15586910e-05  6.77652105e+00]
 [-1.05318764e-02  2.86396593e-04  9.99944497e-01 -2.77509117e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.027702638
Centerline is valid?  [True, True]
Translation: X:263.26, Y:6.77, Z:-2.78
[[ 9.99580850e-01 -2.69652225e-02  1.05357479e-02  2.63263327e+02]
 [ 2.69664935e-02  9.99636338e-01  2.14341919e-05  6.77217388e+00]
 [-1.05324944e-02  2.62686969e-04  9.99944497e-01 -2.77575690e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.087702638
Centerline is valid?  [True, True]
Translation: X:263.33, Y:6.76, Z:-2.78
[[ 9.99596702e-01 -2.63710285e-02  1.05357496e-02  2.63325746e+02]
 [ 2.63722755e-02  9.99652191e-01  2.05692098e-05  6.76416884e+00]
 [-1.05326276e-02  2.57290777e-04  9.99944497e-01 -2.77641395e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.147702638
Centerline is valid?  [True, True]
Translation: X:263.39, Y:6.76, Z:-2.78
[[ 9.99638773e-01 -2.47249146e-02  1.05357527e-02  2.63388474e+02]
 [ 2.47260886e-02  9.99694263e-01  1.88341336e-05  6.75555100e+00]
 [-1.05329972e-02  2.41680624e-04  9.99944497e-01 -2.77707381e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.207702638
Centerline is valid?  [True, True]
Translation: X:263.45, Y:6.75, Z:-2.78
[[ 9.99596830e-01 -2.63661660e-02  1.05357543e-02  2.63449887e+02]
 [ 2.63674409e-02  9.99652318e-01  1.78991803e-05  6.74841651e+00]
 [-1.05325631e-02  2.59908915e-04  9.99944497e-01 -2.77772026e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.267702638
Centerline is valid?  [True, True]
Translation: X:263.51, Y:6.74, Z:-2.78
[[ 9.99524032e-01 -2.89949542e-02  1.05357567e-02  2.63510391e+02]
 [ 2.89963917e-02  9.99579516e-01  1.63133697e-05  6.73920029e+00]
 [-1.05317996e-02  2.89193324e-04  9.99944497e-01 -2.77835681e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.327702638
Centerline is valid?  [True, True]
Translation: X:263.57, Y:6.73, Z:-2.78
[[ 9.99357162e-01 -3.42674953e-02  1.05357570e-02  2.63571302e+02]
 [ 3.42692275e-02  9.99412637e-01  1.61261815e-05  6.72863143e+00]
 [-1.05301213e-02  3.44936440e-04  9.99944497e-01 -2.77899833e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.387702638
Centerline is valid?  [True, True]
Translation: X:263.63, Y:6.72, Z:-2.78
[[ 9.99223031e-01 -3.79780437e-02  1.05357571e-02  2.63632512e+02]
 [ 3.79799823e-02  9.99278500e-01  1.60940514e-05  6.72034096e+00]
 [-1.05287667e-02  3.84066320e-04  9.99944497e-01 -2.77964311e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.447702638
Centerline is valid?  [True, True]
Translation: X:263.69, Y:6.72, Z:-2.78
[[ 9.98759418e-01 -4.86684896e-02  1.05357576e-02  2.63693494e+02]
 [ 4.86710255e-02  9.98814863e-01  1.57191395e-05  6.72154817e+00]
 [-1.05240363e-02  4.97086490e-04  9.99944497e-01 -2.78028548e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.507702638
Centerline is valid?  [True, True]
Translation: X:263.75, Y:6.71, Z:-2.78
[[ 9.98910419e-01 -4.54639775e-02  1.05357577e-02  2.63754123e+02]
 [ 4.54663364e-02  9.98965871e-01  1.56391878e-05  6.71380258e+00]
 [-1.05255734e-02  4.63400158e-04  9.99944497e-01 -2.78092413e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.56770263799996
Centerline is valid?  [True, True]
Translation: X:263.81, Y:6.71, Z:-2.78
[[ 9.99068218e-01 -4.18532405e-02  1.05357579e-02  2.63814069e+02]
 [ 4.18554000e-02  9.99123679e-01  1.55449259e-05  6.70864267e+00]
 [-1.05271758e-02  4.25447919e-04  9.99944497e-01 -2.78155562e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 261.62770263799996
Centerline is valid?  [True, True]
Translation: X:263.88, Y:6.70, Z:-2.78
[[ 9.99213509e-01 -3.82277669e-02  1.05357578e-02  2.63875370e+02]
 [ 3.82297247e-02  9.99268977e-01  1.55872125e-05  6.69501829e+00]
 [-1.05286518e-02  3.87204167e-04  9.99944497e-01 -2.78220131e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.68770263799996
Centerline is valid?  [True, True]
Translation: X:263.94, Y:6.69, Z:-2.78
[[ 9.99469022e-01 -3.08329791e-02  1.05357581e-02  2.63935346e+02]
 [ 3.08345286e-02  9.99524503e-01  1.53717136e-05  6.68953479e+00]
 [-1.05312224e-02  3.09501584e-04  9.99944497e-01 -2.78283306e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.74770263799996
Centerline is valid?  [True, True]
Translation: X:264.00, Y:6.68, Z:-2.78
[[ 9.99690382e-01 -2.25418953e-02  1.05357580e-02  2.63996426e+02]
 [ 2.25429836e-02  9.99745875e-01  1.54643525e-05  6.67942278e+00]
 [-1.05334292e-02  2.22047856e-04  9.99944497e-01 -2.78347651e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.80770263799997
Centerline is valid?  [True, True]
Translation: X:264.06, Y:6.67, Z:-2.78
[[ 9.99838139e-01 -1.45840107e-02  1.05357577e-02  2.64057444e+02]
 [ 1.45846553e-02  9.99893638e-01  1.56546053e-05  6.66945095e+00]
 [-1.05348654e-02  1.38008323e-04  9.99944497e-01 -2.78411933e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.86770263799997
Centerline is valid?  [True, True]
Translation: X:264.12, Y:6.66, Z:-2.78
[[ 9.99879456e-01 -1.14048754e-02  1.05357572e-02  2.64118212e+02]
 [ 1.14053401e-02  9.99934957e-01  1.59820038e-05  6.65997597e+00]
 [-1.05352542e-02  1.04183817e-04  9.99944497e-01 -2.78475959e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.92770263799997
Centerline is valid?  [True, True]
Translation: X:264.18, Y:6.65, Z:-2.79
[[ 9.99917914e-01 -7.29125634e-03  1.05357576e-02  2.64179029e+02]
 [ 7.29149502e-03  9.99973417e-01  1.57576315e-05  6.65015239e+00]
 [-1.05355924e-02  6.10650857e-05  9.99944497e-01 -2.78540013e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 261.987702638
Centerline is valid?  [True, True]
Translation: X:264.24, Y:6.64, Z:-2.79
[[ 9.99923844e-01 -6.42688952e-03  1.05357581e-02  2.64241709e+02]
 [ 6.42708378e-03  9.99979346e-01  1.54198656e-05  6.63700153e+00]
 [-1.05356395e-02  5.22955084e-05  9.99944497e-01 -2.78606021e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.047702638
Centerline is valid?  [True, True]
Translation: X:264.30, Y:6.62, Z:-2.79
[[ 9.99891944e-01 -1.02517756e-02  1.05357589e-02  2.64303444e+02]
 [ 1.02521886e-02  9.99947445e-01  1.48163006e-05  6.62317328e+00]
 [-1.05353571e-02  9.31998873e-05  9.99944497e-01 -2.78671024e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.107702638
Centerline is valid?  [True, True]
Translation: X:264.36, Y:6.61, Z:-2.79
[[ 9.99875876e-01 -1.17145566e-02  1.05357595e-02  2.64364529e+02]
 [ 1.17150556e-02  9.99931376e-01  1.43508558e-05  6.61132235e+00]
 [-1.05352046e-02  1.09077934e-04  9.99944497e-01 -2.78735350e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.167702638
Centerline is valid?  [True, True]
Translation: X:264.43, Y:6.60, Z:-2.79
[[ 9.99841362e-01 -1.43613392e-02  1.05357614e-02  2.64425382e+02]
 [ 1.43620010e-02  9.99896861e-01  1.28400852e-05  6.60078590e+00]
 [-1.05348591e-02  1.38476567e-04  9.99944497e-01 -2.78799398e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.227702638
Centerline is valid?  [True, True]
Translation: X:264.49, Y:6.59, Z:-2.79
[[ 9.99856685e-01 -1.32516878e-02  1.05357617e-02  2.64486614e+02]
 [ 1.32522913e-02  9.99912184e-01  1.25337948e-05  6.59244626e+00]
 [-1.05350026e-02  1.27090985e-04  9.99944497e-01 -2.78863893e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.287702638
Centerline is valid?  [True, True]
Translation: X:264.55, Y:6.58, Z:-2.79
[[ 9.99788893e-01 -1.76399410e-02  1.05357623e-02  2.64548949e+02]
 [ 1.76407930e-02  9.99844389e-01  1.20675631e-05  6.57821737e+00]
 [-1.05343357e-02  1.73794186e-04  9.99944497e-01 -2.78929539e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.347702638
Centerline is valid?  [True, True]
Translation: X:264.61, Y:6.56, Z:-2.79
[[ 9.99754762e-01 -1.94785533e-02  1.05357639e-02  2.64611727e+02]
 [ 1.94795246e-02  9.99810256e-01  1.04328666e-05  6.56408920e+00]
 [-1.05339680e-02  1.94801364e-04  9.99944497e-01 -2.78995615e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.407702638
Centerline is valid?  [True, True]
Translation: X:264.67, Y:6.55, Z:-2.79
[[ 9.99739862e-01 -2.02288448e-02  1.05357647e-02  2.64674392e+02]
 [ 2.02298676e-02  9.99795355e-01  9.49812493e-06  6.54579804e+00]
 [-1.05338008e-02  2.03641471e-04  9.99944497e-01 -2.79061594e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.467702638
Centerline is valid?  [True, True]
Translation: X:264.73, Y:6.54, Z:-2.79
[[ 9.99734030e-01 -2.05150363e-02  1.05357652e-02  2.64733882e+02]
 [ 2.05160813e-02  9.99789523e-01  8.90157761e-06  6.54051351e+00]
 [-1.05337303e-02  2.07253406e-04  9.99944497e-01 -2.79124253e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.527702638
Centerline is valid?  [True, True]
Translation: X:264.80, Y:6.53, Z:-2.79
[[ 9.99720750e-01 -2.11522983e-02  1.05357652e-02  2.64796656e+02]
 [ 2.11533782e-02  9.99776242e-01  8.94318648e-06  6.52790633e+00]
 [-1.05335969e-02  2.13926337e-04  9.99944497e-01 -2.79190383e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.587702638
Centerline is valid?  [True, True]
Translation: X:264.86, Y:6.52, Z:-2.79
[[ 9.99738039e-01 -2.03187223e-02  1.05357660e-02  2.64858608e+02]
 [ 2.03197673e-02  9.99793532e-01  7.85551584e-06  6.51543665e+00]
 [-1.05337503e-02  2.06230856e-04  9.99944497e-01 -2.79255618e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.647702638
Centerline is valid?  [True, True]
Translation: X:264.92, Y:6.51, Z:-2.79
[[ 9.99686789e-01 -2.27006864e-02  1.05357670e-02  2.64919890e+02]
 [ 2.27018814e-02  9.99742279e-01  6.16549588e-06  6.50932096e+00]
 [-1.05331917e-02  2.33018169e-04  9.99944497e-01 -2.79320137e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.707702638
Centerline is valid?  [True, True]
Translation: X:264.98, Y:6.50, Z:-2.79
[[ 9.99585364e-01 -2.67973272e-02  1.05357677e-02  2.64981080e+02]
 [ 2.67987662e-02  9.99640849e-01  4.59633913e-06  6.50420056e+00]
 [-1.05321069e-02  2.77751142e-04  9.99944497e-01 -2.79384567e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.767702638
Centerline is valid?  [True, True]
Translation: X:265.04, Y:6.50, Z:-2.79
[[ 9.99499435e-01 -2.98308109e-02  1.05357677e-02  2.65042675e+02]
 [ 2.98324195e-02  9.99554914e-01  4.47650466e-06  6.49735577e+00]
 [-1.05312120e-02  3.09833179e-04  9.99944497e-01 -2.79449459e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 262.827702638
Centerline is valid?  [True, True]
Translation: X:265.10, Y:6.49, Z:-2.80
[[ 9.99525944e-01 -2.89289642e-02  1.05357679e-02  2.65104626e+02]
 [ 2.89305266e-02  9.99581425e-01  4.11205856e-06  6.48588415e+00]
 [-1.05314768e-02  3.00695204e-04  9.99944497e-01 -2.79514719e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.887702638
Centerline is valid?  [True, True]
Translation: X:265.17, Y:6.48, Z:-2.80
[[ 9.99171133e-01 -3.93197780e-02  1.05357681e-02  2.65165227e+02]
 [ 3.93219228e-02  9.99226594e-01  3.57518757e-06  6.48236530e+00]
 [-1.05277602e-02  4.10714434e-04  9.99944497e-01 -2.79578556e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 262.947702638
Centerline is valid?  [True, True]
Translation: X:265.23, Y:6.47, Z:-2.80
[[ 9.99070351e-01 -4.18022903e-02  1.05357681e-02  2.65226061e+02]
 [ 4.18045751e-02  9.99125807e-01  3.36446065e-06  6.47398331e+00]
 [-1.05266985e-02  4.37081978e-04  9.99944497e-01 -2.79642646e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.007702638
Centerline is valid?  [True, True]
Translation: X:265.29, Y:6.48, Z:-2.80
[[ 9.98491605e-01 -5.38842574e-02  1.05357681e-02  2.65285887e+02]
 [ 5.38872131e-02  9.98547029e-01  3.34412619e-06  6.47863612e+00]
 [-1.05206402e-02  5.64404101e-04  9.99944497e-01 -2.79705682e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.06770263799996
Centerline is valid?  [True, True]
Translation: X:265.35, Y:6.47, Z:-2.80
[[ 9.98216229e-01 -5.87652810e-02  1.05357682e-02  2.65347200e+02]
 [ 5.87685090e-02  9.98271638e-01  3.21291814e-06  6.46744911e+00]
 [-1.05177474e-02  6.15964200e-04  9.99944497e-01 -2.79770276e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.12770263799996
Centerline is valid?  [True, True]
Translation: X:265.41, Y:6.47, Z:-2.80
[[ 9.97724830e-01 -6.65895036e-02  1.05357683e-02  2.65407398e+02]
 [ 6.65931697e-02  9.97780211e-01  2.85551720e-06  6.46784934e+00]
 [-1.05125712e-02  6.98761185e-04  9.99944497e-01 -2.79833696e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.18770263799996
Centerline is valid?  [True, True]
Translation: X:265.47, Y:6.46, Z:-2.80
[[ 9.97444316e-01 -7.06670678e-02  1.05357682e-02  2.65466753e+02]
 [ 7.06709592e-02  9.97499682e-01  2.95354675e-06  6.46387039e+00]
 [-1.05096342e-02  7.41626850e-04  9.99944497e-01 -2.79896234e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.24770263799996
Centerline is valid?  [True, True]
Translation: X:265.53, Y:6.46, Z:-2.80
[[ 9.97094520e-01 -7.54421338e-02  1.05357683e-02  2.65526010e+02]
 [ 7.54462929e-02  9.97149867e-01  2.70126537e-06  6.46126868e+00]
 [-1.05059438e-02  7.92191245e-04  9.99944497e-01 -2.79958664e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.30770263799997
Centerline is valid?  [True, True]
Translation: X:265.59, Y:6.45, Z:-2.80
[[ 9.97849007e-01 -6.47020674e-02  1.05357683e-02  2.65586666e+02]
 [ 6.47056293e-02  9.97904395e-01  2.79551139e-06  6.44795652e+00]
 [-1.05138704e-02  6.78934019e-04  9.99944497e-01 -2.80022571e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.36770263799997
Centerline is valid?  [True, True]
Translation: X:265.65, Y:6.46, Z:-2.80
[[ 9.97038758e-01 -7.61755339e-02  1.05357683e-02  2.65647616e+02]
 [ 7.61797326e-02  9.97094102e-01  2.80610666e-06  6.45991755e+00]
 [-1.05053662e-02  7.99814213e-04  9.99944497e-01 -2.80086794e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.42770263799997
Centerline is valid?  [True, True]
Translation: X:265.71, Y:6.45, Z:-2.80
[[ 9.97367059e-01 -7.17491955e-02  1.05357683e-02  2.65708579e+02]
 [ 7.17531487e-02  9.97422421e-01  2.78402155e-06  6.44821959e+00]
 [-1.05088113e-02  7.53197858e-04  9.99944497e-01 -2.80151023e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.487702638
Centerline is valid?  [True, True]
Translation: X:265.77, Y:6.45, Z:-2.80
[[ 9.96978592e-01 -7.69589798e-02  1.05357682e-02  2.65768694e+02]
 [ 7.69632183e-02  9.97033933e-01  3.15435380e-06  6.45427649e+00]
 [-1.05047611e-02  8.07721803e-04  9.99944497e-01 -2.80214372e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.547702638
Centerline is valid?  [True, True]
Translation: X:265.83, Y:6.45, Z:-2.80
[[ 9.97434996e-01 -7.07984951e-02  1.05357682e-02  2.65829463e+02]
 [ 7.08023924e-02  9.97490361e-01  3.08531777e-06  6.44785095e+00]
 [-1.05095457e-02  7.42880191e-04  9.99944497e-01 -2.80278397e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.607702638
Centerline is valid?  [True, True]
Translation: X:265.89, Y:6.44, Z:-2.80
[[ 9.98043098e-01 -6.16358021e-02  1.05357682e-02  2.65890034e+02]
 [ 6.16391908e-02  9.98098497e-01  3.09295820e-06  6.44331683e+00]
 [-1.05159250e-02  6.46329320e-04  9.99944497e-01 -2.80342215e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.667702638
Centerline is valid?  [True, True]
Translation: X:265.95, Y:6.44, Z:-2.80
[[ 9.98082048e-01 -6.10018258e-02  1.05357682e-02  2.65952550e+02]
 [ 6.10051798e-02  9.98137449e-01  3.03773889e-06  6.43877695e+00]
 [-1.05163301e-02  6.39704522e-04  9.99944497e-01 -2.80408082e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.727702638
Centerline is valid?  [True, True]
Translation: X:266.01, Y:6.44, Z:-2.80
[[ 9.98184849e-01 -5.92959050e-02  1.05357684e-02  2.66012196e+02]
 [ 5.92991834e-02  9.98240255e-01  1.22444266e-06  6.43760760e+00]
 [-1.05173008e-02  6.23540244e-04  9.99944497e-01 -2.80470892e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.787702638
Centerline is valid?  [True, True]
Translation: X:266.07, Y:6.44, Z:-2.81
[[ 9.98364199e-01 -5.61954092e-02  1.05357684e-02  2.66072197e+02]
 [ 5.61985155e-02  9.98419615e-01  1.22444266e-06  6.43625837e+00]
 [-1.05191867e-02  5.90872105e-04  9.99944497e-01 -2.80534112e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.847702638
Centerline is valid?  [True, True]
Translation: X:266.13, Y:6.43, Z:-2.81
[[ 9.98365909e-01 -5.61650249e-02  1.05357684e-02  2.66134819e+02]
 [ 5.61681295e-02  9.98421325e-01  1.22444266e-06  6.42881274e+00]
 [-1.05192046e-02  5.90551963e-04  9.99944497e-01 -2.80600092e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.907702638
Centerline is valid?  [True, True]
Translation: X:266.19, Y:6.40, Z:-2.81
[[ 9.99299330e-01 -3.59144454e-02  1.05357685e-02  2.66194275e+02]
 [ 3.59164325e-02  9.99354797e-01  6.04674556e-07  6.40275170e+00]
 [-1.05289925e-02  3.77802966e-04  9.99944497e-01 -2.80662724e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 263.967702638
Centerline is valid?  [True, True]
Translation: X:266.26, Y:6.39, Z:-2.81
[[ 9.99393115e-01 -3.32023853e-02  1.05357685e-02  2.66255307e+02]
 [ 3.32042229e-02  9.99448588e-01  4.99678368e-07  6.39321057e+00]
 [-1.05299755e-02  3.49332630e-04  9.99944497e-01 -2.80727027e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

Centerline goodness : 0.979201 with order 1
Centerline goodness : 0.078889 with order 1
Centerline goodness : 0.974617 with order 1
Centerline goodness : 0.987789 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.954555 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 0.994918 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
Centerline goodness : 1.000000 with order 1
SLAMing on frame at distance 264.027702638
Centerline is valid?  [True, True]
Translation: X:266.32, Y:6.41, Z:-2.81
[[ 9.98544437e-01 -5.28961661e-02  1.05357685e-02  2.66315356e+02]
 [ 5.28990986e-02  9.98599862e-01  3.38078642e-07  6.40854952e+00]
 [-1.05210348e-02  5.56995069e-04  9.99944497e-01 -2.80790295e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.087702638
Centerline is valid?  [True, True]
Translation: X:266.38, Y:6.41, Z:-2.81
[[ 9.98642891e-01 -5.10036717e-02  1.05357685e-02  2.66376265e+02]
 [ 5.10064991e-02  9.98698321e-01  3.41511030e-07  6.40762256e+00]
 [-1.05220717e-02  5.37051617e-04  9.99944497e-01 -2.80854471e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.147702638
Centerline is valid?  [True, True]
Translation: X:266.44, Y:6.40, Z:-2.81
[[ 9.98737366e-01 -4.91189593e-02  1.05357684e-02  2.66438086e+02]
 [ 4.91216928e-02  9.98792801e-01 -6.77393077e-07  6.39964040e+00]
 [-1.05230164e-02  5.18211317e-04  9.99944497e-01 -2.80919592e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.207702638
Centerline is valid?  [True, True]
Translation: X:266.50, Y:6.39, Z:-2.81
[[ 9.98852221e-01 -4.67251305e-02  1.05357684e-02  2.66499805e+02]
 [ 4.67277351e-02  9.98907663e-01 -1.04832144e-06  6.39114894e+00]
 [-1.05242108e-02  4.93359711e-04  9.99944497e-01 -2.80984617e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.267702638
Centerline is valid?  [True, True]
Translation: X:266.56, Y:6.38, Z:-2.81
[[ 9.98839310e-01 -4.70003214e-02  1.05357683e-02  2.66561278e+02]
 [ 4.70029452e-02  9.98894751e-01 -1.42740652e-06  6.38435539e+00]
 [-1.05240566e-02  4.96637890e-04  9.99944497e-01 -2.81049383e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.327702638
Centerline is valid?  [True, True]
Translation: X:266.62, Y:6.38, Z:-2.81
[[ 9.98832749e-01 -4.71395420e-02  1.05357683e-02  2.66623223e+02]
 [ 4.71421762e-02  9.98888190e-01 -1.68064538e-06  6.37671597e+00]
 [-1.05239753e-02  4.98357728e-04  9.99944497e-01 -2.81114647e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.387702638
Centerline is valid?  [True, True]
Translation: X:266.68, Y:6.37, Z:-2.81
[[ 9.98817497e-01 -4.74616276e-02  1.05357682e-02  2.66683367e+02]
 [ 4.74642856e-02  9.98872936e-01 -2.23667259e-06  6.37039355e+00]
 [-1.05237875e-02  5.02306736e-04  9.99944497e-01 -2.81178012e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.447702638
Centerline is valid?  [True, True]
Translation: X:266.74, Y:6.35, Z:-2.81
[[ 9.98590844e-01 -5.20127304e-02  1.05357680e-02  2.66743376e+02]
 [ 5.20156486e-02  9.98646270e-01 -2.96165286e-06  6.35473534e+00]
 [-1.05213513e-02  5.50982283e-04  9.99944497e-01 -2.81241235e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.507702638
Centerline is valid?  [True, True]
Translation: X:266.80, Y:6.34, Z:-2.81
[[ 9.98499997e-01 -5.37285102e-02  1.05357680e-02  2.66804328e+02]
 [ 5.37315233e-02  9.98555418e-01 -2.93096251e-06  6.34162620e+00]
 [-1.05203907e-02  5.69029428e-04  9.99944497e-01 -2.81305461e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.56770263799996
Centerline is valid?  [True, True]
Translation: X:266.87, Y:6.34, Z:-2.81
[[ 9.98459644e-01 -5.44732738e-02  1.05357679e-02  2.66865182e+02]
 [ 5.44763309e-02  9.98515062e-01 -3.18532863e-06  6.33506968e+00]
 [-1.05199494e-02  5.77130400e-04  9.99944497e-01 -2.81369578e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.62770263799996
Centerline is valid?  [True, True]
Translation: X:266.93, Y:6.32, Z:-2.81
[[ 9.98576100e-01 -5.22950291e-02  1.05357678e-02  2.66925902e+02]
 [ 5.22979680e-02  9.98631525e-01 -3.44091402e-06  6.31840086e+00]
 [-1.05211699e-02  5.54435262e-04  9.99944497e-01 -2.81433559e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.68770263799996
Centerline is valid?  [True, True]
Translation: X:266.99, Y:6.31, Z:-2.81
[[ 9.98610550e-01 -5.16330021e-02  1.05357677e-02  2.66987193e+02]
 [ 5.16359081e-02  9.98665977e-01 -3.81051690e-06  6.31184372e+00]
 [-1.05215160e-02  5.47829154e-04  9.99944497e-01 -2.81498137e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.74770263799996
Centerline is valid?  [True, False]
Translation: X:267.06, Y:6.30, Z:-2.82
[[ 9.98674517e-01 -5.04167698e-02  1.03613647e-02  2.67059676e+02]
 [ 5.04259521e-02  9.98727606e-01 -6.26708992e-04  6.30044928e+00]
 [-1.03165843e-02  1.14835998e-03  9.99946123e-01 -2.81635558e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]

SLAMing on frame at distance 264.80770263799997
Centerline is valid?  [False, True]
Translation: X:267.13, Y:6.29, Z:-2.82
[[ 9.98803090e-01 -4.73047654e-02  1.24356747e-02  2.67131310e+02]
 [ 4.73203687e-02  9.98879299e-01 -9.63323461e-04  6.28947484e+00]
 [-1.23761683e-02  1.55063116e-03  9.99922210e-01 -2.81747927e+00]
 [ 0.00000000e+00  0.00000000e+00  0.00000000e+00  1.00000000e+00]]


 Total time of SLAM: 5570.46 sec!

=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
Saving Lidar 3D alignment track ...                        Completed!
Saving Lidar 2D alignment track ...                        Completed!
Writing Lidar 2D slices PTD file in binary format...       Completed!
Filtering the 2D slices ...
|- Filtering the 2D slices ... Number of 2D slices and alignment frames are not equal!
 The alignment track is not used for filteration!

  0%|          | 0/8828 [00:00<?, ?it/s]
  0%|          | 22/8828 [00:00<00:41, 214.01it/s]
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Writing Lidar 2D slices PTD file in binary format...       Completed!